Support system, plant for storing rolling mill rolls and installation for rolling metal strip

Abstract

Support system for storing rolling mill rolls, apparatus and installation for rolling metal strips, the support system comprising: - a support frame (Cha) comprising a first support (Cha1) and a second support (Cha2), the first and second supports being fastened respectively parallel to the ground, - a pair of independent non-movable roll stands (Bc), each pair comprising a first roll stand and a second roll stand, spaced apart by a certain distance, rigidly connected respectively to the first support (Cha1) and to the second support (Cha2), in order to support the rolls transversely on the support frame in different support positions, - a handling system configured to release and lift a roll located in one of the support positions of the pair of non-movable roll stands by lifting one or more movable roll stands using lifting means, to displace the movable frame (SMCH) and to place the roll in another support position of a non-movable roll stand displaced along the length of the support frame (Cha) by lowering of the lifting means.

Description

[0001] This disclosure relates to a roll support system and a rolling mill facility including such a support system. This disclosure also relates to equipment including such a support system and an automated guided vehicle (AGV).

[0002] This disclosure also describes a method for removing worn rolls, which is implemented by a support system according to this disclosure.

[0003] This disclosure also describes a method for supplying new or reworked rolls, the method being implemented by a support system according to this disclosure. Technical Field

[0004] More specifically, the field of this invention relates to equipment for maintenance operations on a 20-roll rolling mill. For example, a 20-roll rolling mill is known from existing documents US 5,193,377 and US 5,471,859. In this mill, the rolls (and support rolls) are distributed in a lower group G. I and upper group G S Furthermore, they are symmetrically configured relative to the running plane of the metal strip to be rolled. For example, in document US 5,193,377... Figure 5 The upper assembly is shown, which has a work roll, two first intermediate rolls, three second intermediate rolls and four sets of support rolls.

[0005] During rolling operations, the surface condition of the rolling mill rolls needs to be updated. This is done by opening the access door of the roll stand and removing the rolls from the roll stand. The rolls are then reworked before being reinserted into the roll stand.

[0006] Typically, each set of support rolls includes a support shaft along which the rolls are distributed, usually formed by bearings. For this purpose, the inner race of each bearing is mounted on the support shaft, and the outer race of the bearing is used for running on one or possibly two adjacent rolls belonging to the second intermediate roll. All support rolls also include a saddle, whose arcuate body extends longitudinally along the length of the support shaft, its convex surface supporting a recess in the roll stand mounting portion. The saddle also has an extension projecting from the concave surface of the body through which the support shaft passes, the extension being distributed along the length of the shaft, particularly between the rolls. An eccentric ring is also provided between the support shaft and these extensions, the shaft having a pinion for meshing with a corresponding pinion or rack in the mill housing. Thus, the pinion (or rack) allows the support shaft to be driven to rotate, and therefore allows the position of the support shaft and the rolls it carries to move away from or towards the arcuate body of the saddle, thanks to the eccentric ring. Of course, these support roll sets also require maintenance, which is accomplished by removing the assembly from the roll stand along the axis of the support shaft.

[0007] The removal (or setup via insertion) of internal components (rolls or support roll assemblies) is typically carried out using a transport device fixed to the end of the component to be removed (i.e., the end of the roll to be removed or the end of the support shaft of the support roll assembly to be removed), the transport device being equipped with a counterweight. The counterweight is used to balance the component to be grasped and keep it approximately horizontal during transport by the hoist of the workshop's overhead crane, while the hoist's hook grips a lifting eye located on the equipment between the counterweight and the grasped component. During component removal (or conversely, during its setup), the grasped component is rigidly secured to the equipment's counterweight, which may swing at the lower end of the hoist's rope.

[0008] During the retrieval operation, the operator must be near the component being retrieved in order to guide the retrieval (or set up) operation. This operation is particularly dangerous because the heavy components suspended on the bridge crane's gantry may swing. Background Technology

[0009] Nevertheless, robot systems are known from the prior art, particularly the robot systems disclosed in the applicant's document WO 2022 / 223927 A1, such as Figure 1 and Figure 2 As shown.

[0010] Therefore, the mill has a roll stand and a set of rolls located inside the roll stand, including two working rolls 12, support rolls or support rolls A, B, C, D, E, F, G, H, and possibly intermediate rolls, particularly a first intermediate roll 13 and second intermediate rolls 14, 15. The roll stand has maintenance openings, which can be closed by a door system. Figure 1 and Figure 2 In the middle, the metal strip Bm extends longitudinally along the horizontal direction X and laterally along the horizontal direction Y, with the direction Y parallel to the axis of the rolling mill rolls.

[0011] The facility includes a robotic system 1 adapted to ensure the operation of changing mill rolls by removing worn rolls from the roll stand and / or inserting new (or reworked) rolls into the roll stand. The robotic system has a robot Ro, which includes: - A bracket, comprising a frame 2, the frame 2 having wheels that engage with a track Ra1 extending along the Y direction on the ground, the track being aligned with the maintenance opening of the roll mill base, the frame being configured to move along the track Ra1 in the Y direction. - A gripping system configured to control the gripping of end piece Eb fixed to the roll, or to control the gripping of end piece of the mill roll clamping system.

[0012] The rolling facility also includes a rack system comprising a support frame Cha that supports a removable rack Rac.

[0013] The support frame is a certain distance from the rolling mill in the transverse direction Y and is anchored to the ground at the anchoring position transverse to the track Ra1. The position of the support frame in the direction X ensures that the maintenance passage AL is unobstructed along the maintenance opening of the rolling mill.

[0014] The support frame Cha includes a first support member Cha1 and a second support member Cha2. Each rack Rac rests on the first support member Cha1 and the second support member Cha2, and the first support member and the second support member are oriented longitudinally along the lateral direction Y.

[0015] Robot system 1 is configured to remove worn rolls by gripping end pieces fixed to the rolls, or by gripping the rolls through a locking clamping system, and place the rolls on a first frame supported on a support frame Cha, transverse to the track Ra1. Conversely, the robot system can grip new work rolls pre-set on the frame for insertion into the roll mill stand.

[0016] In particular, the automated guided vehicle can remove a stand filled with worn rolls by entering the free gap from the far end of the stand furthest from the roll stand.

[0017] According to the applicant's observation, the rolling facility, including, in particular, the robotic system and the rack system, is satisfactory, but still requires a considerable amount of work by the automated guided vehicle to feed or extract the rack onto the support frame.

[0018] In particular, when multiple removable stands are arranged on the support frame, the automated guided vehicle (AGV) cannot approach the stand closest to the mill unless the stand between the closest stands to the mill is removed beforehand. This is because the AGV has access to the maintenance openings, and the AGV's openings are located at the far end of the stand, i.e., the position furthest from the roll stand.

[0019] When the capacity of the automated guided vehicle (AGV) is insufficient, due to time constraints, the stand can only be removed from the far end section (farthest from the roll stand), and not from the near end section (closest to the roll stand). Only stands located in the far end section can be retrieved / fed, which increases the distance the robot must travel from the roll stand to place or retrieve rolls on the stand, thus increasing maintenance cycle time and significantly increasing the downtime of rolling operations in the rolling mill.

[0020] Patent document EP 4.414.095 A1 solves this problem by disclosing a rack system for storing mill rolls, the rack system comprising: a support frame configured to support multiple racks at different locations along the length of the rack, the racks being distributed along the length of the support frame.

[0021] The frame includes a first support member and a second support member, which are fixed to the ground in parallel. A free gap is left between the first support member and the second support member, which is located below the frame, which is supported on the support frame.

[0022] The system includes at least one first frame and one second frame, the first frame and the second frame being configured to be supported on a support frame Cha, and supported on a first support member and a second support member at two opposite edges of the first frame and at two positions along the length of the first frame, and at two opposite edges of the second frame and at two positions along the length of the second frame, the second frame being arranged at a midpoint along the length of the support frame.

[0023] The first frame supports multiple work rollers and is configured to move from a storage position to a transport position. At the storage position, the first frame is supported on both a first support and a second support. At the transport position, the first frame is configured to be placed in a free gap (at an intermediate position) below the second frame resting on the support frame.

[0024] A motor-driven transport system is configured to move within the free clearance between a first support and a second support. The transport system includes: a frame provided with a drive device configured to circulate between the first and second supports along the length of the support frame; and a lifting device configured to ensure support of at least the first frame in the transport position.

[0025] This handling system is configured such that, starting from the storage location on the first rack, it is simultaneously supported on the first and second supports, ensuring that: / a / The first rack enters the transport position of the first rack, allowing it to be placed in the free clearance. / b / The first frame descends in the free gap between the first and second supports, reaching a lower position than the second frame, while the second frame rests on the support frame at the intermediate position. / c / The combined movement of the transport system and the first frame supported by the lifting device along the length of the frame is carried out at the lowered position of the first frame, thereby moving the first frame below the second frame, which rests on the support frame at the intermediate position, starting from the first side of the second frame and moving to the opposite second side.

[0026] Compared with the prior art described above, the advantage is that, as in this application... Figure 1 and Figure 2 As shown, rack systems according to EP 4.414.095A1 allow: - During the evacuation operation, compared to the prior art shown, in order to evacuate the first stand on the proximal section of the support frame near the rolling mill to the distal section of the support stand away from the rolling mill, where the automated guided vehicle operates, it is not necessary to first remove the second stand supported in the intermediate position. - During the supply operation, compared with the prior art shown, in order to feed the far end section of the support frame operated by the automated guided vehicle to the near end section of the support frame close to the mill, it is not necessary to first remove the second stand supported in the intermediate position.

[0027] According to the applicant's observation, although the frame structure including the frame, rack and intermediate handling system according to EP 4.414.095 A1 represents a significant improvement in capacity compared to the prior art, it involves the use of a special frame specifically designed to support the work rolls, which includes functional surfaces configured to not only be simultaneously supported by bearings on the first and second supports in the storage position, but also allow movement and lowering between the two supports during movement.

[0028] However, in some cases, the roll support frame must be able to adapt to various stations in the rolling mill and be compatible with other equipment such as roll turning stations, which may not be allowed by the frame structure according to EP 4.414.095 A.

[0029] This disclosure improves upon this situation. Utility Model Content

[0030] This disclosure relates to a support system for storing rolling mill rolls, comprising: - A support frame, comprising a first support member and a second support member, which are respectively and parallel to each other, and fastened to the ground, with a free gap between the first support member and the second support member. - Immovable, independent roll frame pairs, each pair including a first roll frame and a second roll frame, the first roll frame and the second roll frame being spaced apart by a certain distance and rigidly connected to a first support member and a second support member, respectively. The roll frame pairs are distributed and spaced apart at different support positions along the length of the frame. The roll frame pairs are respectively configured to support rolls transverse to the support frame at different support positions. Each roll is transverse to the frame supported on a first roll frame rigidly connected to the first support member and a second roll frame rigidly connected to the second support member. - A handling system, comprising: -- At least one movable frame is provided with a displacement device configured to travel along the length of the support frame in a free gap between a first support member and a second support member. -- One or more movable roll stands, and a lifting device mounted on the movable frame, the lifting device being configured to lift the one or more movable roll stands by engaging rolls whose ends are supported on a first immovable roll stand and a second immovable roll stand, so as to release rolls from immovable roll stands in a pair of immovable roll stands, or to place rolls displaced by the one or more movable roll stands and place them on the first and second roll stands of a pair of immovable roll stands. Furthermore, the conveying system is configured to release and lift a roll located at one of the support positions of a pair of immovable roll frames by lifting one or more movable roll frames using a lifting device, to displace the roll by shifting a movable frame, and to place the roll at another support position of the immovable roll frame that has been shifted along the length of the support frame by lowering the lifting device.

[0031] Based on the optional features, consider the following features individually or in combination: According to one embodiment, a non-movable, independent roll frame pair comprises part or all of a roll frame pair, each pair comprising two roll frames. The spacing between the two roll frames is less than the size of the roll to be supported. The spacing between the roll frame pairs along the length of the frame is greater than the diameter of the roll to be supported. The non-movable roll frames protrude inward relative to the intermediate gap, leaving a free opening between two consecutive roll frame pairs. The opening provides a passage in the transverse direction of the frame, its size exceeding the size of the roll, and its length along the frame exceeds the diameter of the roll. Furthermore, the material handling system is configured as follows: / a / By raising one or more movable roll stands, the roll in one of the support positions of the immovable roll stand pair is released and the roll is raised. / b / By shifting the movable frame, the rolls engaged with the movable roll holders are moved to a position aligned with the free opening between two consecutive pairs of roll holders. / c / By lowering one or more movable roll holders, the engaged rolls are lowered through free openings below the horizontal plane of the immovable roll holders. / d / By moving the engaged rolls into the free gap, below the immovable roll holder pair, or even below the rolls supported on the immovable roll holder pair, the engaged rolls are displaced along the length of the support frame by shifting the movable frame until they are displaced to two other free openings. / e / By lifting one or more movable roll supports, the engaged rolls are raised through a free opening. / f / By shifting the movable frame, the rolls engaged with the movable roll holder are moved to align with the immovable roll holder in another supported position. / g / Lower the roll that is engaged with the movable roll stand and place it on the first roll stand and the second roll stand in another support position.

[0032] Specifically, the support system is immovable and may include: - A first independent roll stand pair for supporting rolls of length and diameter, the first roll stand and the second roll stand being spaced apart by a first spacing in a direction transverse to the frame. Furthermore, the conveying system is configured to move the roll from one support position of the first independent roll stand pair to the other support position of the other pair of first independent roll stands by causing the roll to pass through the free opening according to operations / c / and / e / , and via displacement in the intermediate gap below the independent roll stand in ( / d / ). - A second independent roll stand pair, for supporting rolls longer than a specified length, is arranged on a support frame above the first roll stand pair, wherein the first and second roll stands of the second independent roll stand pair are each spaced apart by a second gap greater than the specified gap. Furthermore, the conveying system is configured to move the roll from one support position of one pair of second independent roll stands to the other support position of another pair of second independent roll stands by moving the roll above the second independent roll stand pair.

[0033] According to one embodiment, the at least one movable frame includes: - A first conveying device comprising a first movable frame guided along the length of a support frame by internal tracks rigidly connected to a first support member, and a first lifting device for a first movable roll holder adjacent to the first support member. - A second conveying device, comprising a second movable frame guided along the length of the support frame by an internal track rigidly connected to a second support member, and a second lifting device for a second movable roll frame adjacent to the second support member.

[0034] According to the second aspect, this disclosure relates to a device comprising: - According to the supporting system of this disclosure, - An automated guided vehicle (AGV) configured to move on a horizontal surface (e.g., the ground) and including a system for lifting loads. - At least one removable frame, the size of which is smaller than the width of the free gap between the first frame and the second frame, the frame including lateral recesses for supporting rolls, the rolls protruding from both sides of the frame, said at least one frame being configured to be moved by an automated guided vehicle and moved up and down by the vehicle's lifting system. Furthermore, the automated guided vehicle is configured to load the rolls onto a first length section of the support frame in the following manner: / A1 / The automated guided vehicle carrying the at least one frame is moved to a raised position of the lifting system and the at least one frame, wherein the at least one frame supports rolls located within a lateral recess and protruding on both sides of the at least one frame, and the raised position is greater than the height of the immovable roll frame. / B1 / By moving the vehicle into the free gap in the first length section of the frame, the automated guided vehicle is at least partially inserted. / C1 / Lower the at least one stand supporting the rolls to a lowered position until a free gap forms between the first and second supports, at least until the rolls are transferred from the at least one stand to the support frame, each roll supported on the first and second roll stands of a non-movable roll stand pair. / D1 / When the lifting system and at least one frame are in the lowered position, the automated guided vehicle and the frame with unloaded rolls are removed. and / or The automated guided vehicle is configured to unload the rolls supported on a first length section of the frame in the following manner: / A2 / When the lifting system and the at least one frame are in the lowered position, move the automated guided vehicle carrying at least one empty frame. / B2 / When the lifting system and frame are in the lowered position in the free clearance, the car is at least partially inserted into the free clearance in the first length section of the frame. / C2 / Raise the at least one stand to the elevated position until the rolls are transferred from the immovable roll stand pair to the lateral recess of the at least one stand. / D2 / Remove the car loaded with the rolls in the elevated position and the at least one frame.

[0035] According to one embodiment of the device, the support frame includes: - The first length segment of the frame, located at one end, includes continuous, immovable roll frames spaced at a first center distance along the length direction of the frame, and spaced according to the center distance interval corresponding to the spacing of the transverse recesses of the frame. - At least one second length segment of the frame, for which continuous, immovable roll frames are spaced apart along the length of the frame by a second center distance, which is shorter than a first center distance. Furthermore, the conveying device is configured to transfer rolls supported on one pair of roll frames in the first length section to one pair of roll frames in the at least one second length section.

[0036] According to one embodiment, the device includes an intermediate, removable support member configured to be moved by an automated guided vehicle, the width of which is less than the free clearance. Furthermore, the automated guided vehicle is configured to load the rolls onto the first length section of the frame in the following manner: / A3 / Move the automated guided vehicle carrying the intermediate support member. / B3 / At least partially insert the vehicle and the intermediate support into the free gap in the first length section of the support frame. / C3 / Lower the intermediate support member and place it on the ground within the free gap. / D3 / Remove the vehicle from which the intermediate support component has been unloaded. / E3 / Move a vehicle or vehicle carrying at least one frame to an elevated position, wherein at least one frame supports mill components, such as rolls or manifolds. / F3 / Lower the frame supporting the component and place the frame on the intermediate support.

[0037] According to one embodiment, the device includes a centering pin anchored to the ground and configured to center the intermediate support between a first support and a second support.

[0038] According to a third aspect, this disclosure relates to an apparatus for rolling metal strip, comprising a rolling mill and a system or device according to this disclosure, said rolling mill having a roll stand and a set of rolls located inside the roll stand, including two work rolls, support rolls or support rolls, and possibly intermediate rolls, particularly a first intermediate roll and a second intermediate roll, the roll stand having an access opening capable of being closed by a door system, the metal strip extending longitudinally in a horizontal direction X and laterally in a horizontal direction Y, the direction Y being parallel to the axis of the rolls of the rolling mill. The facility includes a robotic system adapted to ensure the operation of changing mill rolls by removing worn rolls from the roll stand and / or inserting new or reworked rolls into the roll stand. The robotic system includes a robot comprising: - A bracket comprising a frame having wheels that engage with a track extending in the Y direction on the ground, the track being aligned with an access opening of the mill stand. The frame is configured to move along the track Ra1 in the Y direction. The bracket also includes a gripping system configured to control the gripping of end pieces locked and unlocked to the mill rolls, or to control the gripping of end pieces of the mill roll clamping system. Furthermore, the support frame is a certain distance away from the rolling mill in the transverse direction Y and is fixed to the ground at the anchoring position transverse to the track Ra1. The maintenance passage extending in the direction X along the maintenance opening of the rolling mill is unobstructed. The support frame includes a first support member, a second support member, and a free gap oriented longitudinally in the transverse direction Y. Furthermore, the robot system is configured to extract the roll by gripping the end piece rigidly connected to the roll, or by gripping the roll using a clamping system locked by the gripping system, and to place the roll laterally across the track on one of a pair of immovable roll frames at a first support position of the support frame, wherein the transport system is configured to move the roll from the first support position to a second support position.

[0039] According to a fourth aspect, this disclosure describes a method for removing worn rolls, the method being implemented by an apparatus or facility according to this disclosure, wherein one or more worn work rolls are resting on a support frame, the worn roll being supported on a non-movable roll stand pair above a proximal length section of the support frame, the proximal length section of the support frame being opposite to a distal length section of the support frame, close to the roll stand of the mill. The conveying system is controlled to move the worn work roll from its support position on the proximal section of the support frame to another support position on the distal section of the support frame of the immovable roll stand pair, particularly when performing system operation / a / to / g / . Furthermore, one or more worn rolls are removed from the far end section of the support frame, particularly by an automated guided vehicle.

[0040] According to a fifth aspect, this disclosure describes a method for supplying new or reworked rolls, the method being implemented by a support system according to this disclosure or a facility according to this disclosure, wherein a distal length section of the support frame, opposite a proximal length section of the support frame near the roll mill stand, is supplied with one or more new or reworked work rolls arranged on a fixed roll stand pair on the distal section, particularly by means of an automated carriage. Furthermore, the conveying system is controlled to move new or reworked rolls from a support position on the far end section to another support position on the immovable roll stand pair on the near end section of the support frame, particularly when operations / a / to / g / are performed.

[0041] According to an embodiment of the withdrawal method of the fourth aspect or the supply method of the fifth aspect, a work roll of length L1 is supported on the first roll stand pair.

[0042] According to a sixth aspect, this disclosure describes a method for removing worn rolls, the method being implemented by a system comprising a first pair and a second pair of roll holders, the system being a system of an apparatus according to this disclosure including such a system or a facility according to this disclosure including such a system, wherein one or more worn first intermediate rolls of length are resting on a support frame, and the worn roll or each worn roll is supported on one of a pair of second immovable roll holders above a proximal length section of the support frame, the proximal length section of the support frame being opposite to a distal length section of the support frame, close to the roll mill stand. Furthermore, the conveying system is controlled to move the worn roll from its support position in the proximal section of the support frame to another support position on the immovable roll stand pair in the distal section of the support frame. Furthermore, one or more worn first intermediate rollers are removed from the far end section of the support frame, particularly by an automated guided vehicle.

[0043] According to a seventh aspect, this disclosure describes a method for supplying new or reworked rolls, the method being implemented by a support system comprising a first pair and a second pair of roll stands, the support system being a support system of an apparatus according to this disclosure including such a system or a facility according to this disclosure including such a system, wherein one or more new or reworked intermediate rolls are supplied from a distal length section of the support frame opposite a proximal length section of the support frame near the roll mill stand, these intermediate rolls being arranged on a second immovable roll stand pair on the distal section, particularly by means of an automated carriage. Furthermore, the conveying system is controlled to move a new or reworked first intermediate roll from a support position on the far end section to another support position on the near end section of the second immovable roll stand.

[0044] According to an eighth aspect, this disclosure describes a method for supplying components of a 20-roll mill, the method being carried out by an apparatus according to this disclosure including an intermediate support member or an apparatus according to this disclosure including such an apparatus, wherein components of the mill, particularly a second intermediate roll, a support roll, or a support roll or a spray manifold, are supplied to said apparatus by performing the following steps: / A3 / Move the automated guided vehicle carrying the intermediate support member. / B3 / At least partially insert the vehicle and the intermediate support into the free gap in the first length section of the support frame. / C3 / Lower the intermediate support and place it on the ground within the free gap. / D3 / Remove the automated guided vehicle that has had the intermediate support component unloaded. / E3 / Move a vehicle carrying a frame, or the vehicle itself, to a raised position. The frame supports mill components such as rolls, support rolls, or manifolds. / F3 / Lower the frame of the support component until the frame is placed on the intermediate support. Attached Figure Description

[0045] Other features, details, and advantages will become apparent by reading the detailed description below and analyzing the accompanying drawings, among which: Figure 1 [ Figure 1 [Illustration] is a view of a rolling mill facility according to the prior art, which includes: - A rolling mill, comprising rolls, the rolls including two work rolls, for rolling metal strip running along the direction X and the axis of the maintenance hatch of the roll stand. - A robotic system that runs along a track in the Y direction, suitable for changing the rolls of a rolling mill. - A frame system, including a support frame positioned at a distance from the rolling mill, with a maintenance passage between the frame system and the roll mill base. The maintenance passage is oriented in direction X, parallel to the metal strip. The frame system includes a support frame anchored to the ground, transverse to the robot system's track, and longitudinally parallel to the track. It includes a first and second support member parallel to each other, on which multiple frames are arranged sequentially along the length of the support frame. Each frame is simultaneously supported by the first and second support members. Furthermore, the robot system is configured to remove worn rolls from the roll stand and place them laterally on one of the frames, and to grab new (or reworked) rolls pre-placed on the frame and insert them into the roll stand as replacements.

[0046] Figure 2 [ Figure 2 [This is based on] Figure 1The view shows that the frame includes: two frames supporting work rolls on or near the proximal section of the support frame opposite to the proximal section of the support frame; and two larger frames supporting a first intermediate roll and a second intermediate roll on or near the distal section of the support frame opposite to the proximal section of the support frame; and two supports, namely the first support and the second support, with a free clearance between them for an automated guided vehicle to circulate within the workshop, the automated guided vehicle being configured to either remove the frames supporting work rolls from the support frame or, conversely, supply frames supporting new rolls into the frame.

[0047] Figure 3 [ Figure 3 [This is a view of the rolling mill, which includes:] - A 20-roll mill configured to roll metal strip extending longitudinally in direction X and laterally in direction Y, including a mill stand. - A robotic system configured to perform the operation of changing rolling mill rolls by removing worn rolls from the roll stand and / or inserting new or reworked rolls into the roll stand. The robotic system includes a robot comprising a carriage configured to move along a track aligned with the mill's access port, and a gripping system configured to grip internal components of the rolling mill, such as rolls or spray manifolds. - The support system for storage according to this disclosure includes a support frame arranged at a certain distance from the roll mill stand, with a maintenance passage provided between the roll mill stand and the support frame. Furthermore, the robot is configured to remove a component from the roll stand, with the component's longitudinal orientation along the Y direction, and after pivoting the component, place it on the roll stand, with the component's longitudinal orientation along the X direction directly supported on the immovable roll holder of the support frame, which may be a work roll or an intermediate roll. - An automated guided vehicle configured to unload or load components in a distal section of a support frame, which is opposite to a proximal section of the support frame that is closer to the roll mill stand.

[0048] Figure 4 [ Figure 4 The image shows multiple views of an automated guided vehicle (AGV) configured to move autonomously on the ground using rolling members, and includes a system for lifting loads, including: - First view, upper left (A), showing a frame supporting a work roller on a lifting fork, the work roller being located in a lateral recess of the frame. - Second view, in the upper center (B), where the machine carries a frame supporting a first intermediate roller on a lifting fork, the first intermediate roller being located in a lateral recess of the frame. - Third view, in the upper right (C), showing the vehicle carrying an intermediate support on a lifting fork, the intermediate support being positioned between the first and second supports of the support frame. - First view, in the lower left (D), where the trolley carries the frame supporting the second intermediate roller on the lifting fork. - Second view, in the lower center (E), showing the frame on which the machine supports the support roller assembly, mounted on a lifting fork. - Third view, in the upper right (F), where the machine is supported by a frame on a lifting fork, which carries the spray manifold of the rolling mill.

[0049] Figure 5 [ Figure 5 ] yes Figure 3 A detailed view of the support frame extending longitudinally in the Y direction, parallel to the track of the robot system, is shown. The support frame includes a first support member and a second support member, both extending longitudinally in the Y direction and spaced apart from each other in the X direction, with an intermediate gap between them. The support frame includes pairs of immovable roll frames distributed along the length of the first and second support members. The support members are configured to support rolls at multiple support positions along the length of the support frame. Each pair of immovable roll frames includes a first immovable roll frame on the first support member and a second immovable roll frame on the second support member, configured to support rolls at both ends of the roll frame, respectively. At least one pair of immovable roll frames for supporting the work roll is formed by a portion protruding toward the interior of the free gap. Two consecutive pairs of roll frames are spaced apart and form an opening that forms a channel for the work roll to pass through.

[0050] Figure 6 [ Figure 6 ]yes Figure 5 The subsequent view shows the automated guided vehicle inserted between the first and second supports of the support frame and lowering the frame of the work roll with support length L1 to a lowered position, in which the work roll has been transferred from the lateral recess of the frame to the immovable roll frame of the distal section of the roll stand above the first length section of the stand. Figure 6 A conveying system arranged in a free clearance between a first support and a second support is shown. The conveying system includes a movable frame, in particular: - A first movable frame configured to move motorically along the length of a first support member via a (first) track, and a first lifting system on the first movable frame configured to raise and lower the first movable roll frame. - A second movable frame configured to move motorically along the length of the second support via a (second) track, and a second lifting system on the second movable frame configured to raise and lower the second movable roll frame.

[0051] Figure 7 [ Figure 7 ]yes Figure 6 The view also includes a work roller carried on the support frame along a second length section of the support frame. Figure 7 A first length section of the support frame is shown, in which an automated guided vehicle can load work rolls onto pairs of immovable roll frames that are continuously distributed according to a first center distance, and a second length section comprising pairs of immovable roll frames spaced apart by a second center distance, wherein the second center distance is shorter than the first center distance.

[0052] Figure 8 [ Figure 8 ]yes Figure 7 The side view shows a first center distance on a first length section of the support frame, configured to facilitate transfer operations, and a second center distance in a smaller roll stand pair.

[0053] Figure 8A [ Figure 8A [This is based on] Figure 8 The view shows the trajectory of a work roll (typically a new or reworked work roll) moving by a transport system from a first support position on a fixed roll stand on a first length section of the support frame to a second support position on a fixed roll stand on a second length section of the support frame, where the robotic system's gripping system can grasp the new or reworked roll for insertion into the roll mill stand. The trajectory passes through the intermediate gap below the other work rolls supported by the support frame.

[0054] Figure 8B [ Figure 8B [This is based on] Figure 8 The view shows the trajectory of a work roll (typically a worn work roll) being moved by a transport system from a support position on an immovable roll stand on a second length section (where the gripping system of the robotic system can place the worn roll) to a support position on an immovable roll stand on a first length section of the support frame, so that it can be removed by an automated guided vehicle.

[0055] Figure 9 [ Figure 9 ]yes Figure 5The subsequent view shows an automated guided vehicle inserted between the first and second supports of a support frame and lowering the frame supporting the first intermediate roll of length L2 to a lowered position, in which the roll has been transferred from the lateral recess of the frame to a second immovable roll frame pair located above the first length section of the roll stand on the far end of the roll stand. The second roll frame pair for supporting the first intermediate roll is arranged on the support frame above the first immovable roll frame pair for supporting the work roll, wherein the distance between the first immovable roll frame and the second immovable roll frame in the second roll frame pair for supporting the first intermediate roll of length L2 is greater than the distance between the first roll frame and the second roll frame in the first roll frame pair for supporting the work roll of length L1, wherein length L1 is less than L2.

[0056] Figure 9A [ Figure 9A ]yes Figure 9 The view further includes a first intermediate roll supported on a support frame, the first intermediate roll being located on a second length section of the support frame associated with the second roll stand pair.

[0057] Figure 9B [ Figure 9B [Illustration] is a trajectory view showing a roll holder pair, typically new or reprocessed, being moved from its support position on a first section of a support frame to a second length section of the support frame by a transport system, where a robotic system can grasp the first intermediate roll.

[0058] Figure 9C [ Figure 9C [Illustration] is a trajectory view showing the movement of a normally worn first intermediate roll from its support position on a second section of the support frame to a roll stand pair on a first length section of the support frame via a transport system.

[0059] Figure 10 [ Figure 10 ]yes Figure 5 The subsequent view shows the automated guided vehicle inserted between the first and second supports of the support frame, with an intermediate support placed on the ground in the free gap between the first and second supports to support the frame.

[0060] Figure 11 [ Figure 11 ]yes Figure 10 The subsequent view shows the automated guided vehicle inserted between the first and second supports of the support frame, and the frame carrying the second intermediate roller placed on the intermediate support on the ground at the first length section of the support frame.

[0061] Figure 12 [ Figure 12 ]yes Figure 10 The subsequent view shows the automated guided vehicle inserted between the first and second supports of the support frame, and the frame carrying the support roller assembly placed on the intermediate support on the ground at the first length section of the support frame.

[0062] Figure 13 [ Figure 13 ]yes Figure 10 The subsequent view shows the automated guided vehicle inserted between the first and second supports of the support frame, and the frame carrying the spray manifold placed on the intermediate support on the ground at the first length section of the support frame.

[0063] Figure 14 [ Figure 14 The image schematically illustrates a 20-roll mill. Detailed Implementation

[0064] This disclosure relates to a support system for storing mill rolls, comprising a support frame Cha configured to support a plurality of rolls distributed along the length of the support frame Cha at different support positions along the length of the support frame.

[0065] The support frame Cha includes a first support member Cha1 and a second support member Cha2. The first support member Cha1 and the second support member Cha2 are fastened to the ground in parallel and oriented along the length of the support frame Cha. A free gap is left between the first support member Cha1 and the second support member Cha2.

[0066] The support frame Cha includes a pair of immovable, independent roll frames Bc, each pair including a first roll frame and a second roll frame, the first roll frame and the second roll frame being spaced apart by a certain distance and rigidly connected to the first support member Cha1 and the second support member Cha2, respectively.

[0067] The roll frames Bc are distributed and spaced apart at different support positions along the length of the frame, and the roll frames are respectively configured to support rolls transverse to the support frame at different support positions.

[0068] Each roll is transversely supported by the frame on a first roll frame rigidly connected to a first support member and a second roll frame rigidly connected to a second support member.

[0069] The material handling system includes: - At least one movable frame SMCH is provided with a displacement device configured to travel along the length of the support frame Cha in a free gap between a first support member Cha1 and a second support member Cha2. - One or more movable roll frames Bcm, and a lifting device SML mounted on the at least one movable frame SMCH, the lifting device being configured to lift the one or more movable roll frames Bcm by engaging with rolls whose roll ends are supported on a first immovable roll frame and a second immovable roll frame, so as to release rolls from immovable roll frames in a pair of immovable roll frames, or being configured to place rolls displaced by the one or more movable roll frames and place them on the first and second roll frames of a pair of immovable roll frames.

[0070] According to this disclosure, the transport system is configured to release and lift rolls located at one of the support positions of a pair of immovable roll frames by lifting one or more movable roll frames Bcm using a lifting device SML, to displace rolls by shifting a movable frame SMS, and to place rolls at another support position of the immovable roll frame that has been shifted along the length of the support frame Cha by lowering the lifting device SML.

[0071] The plurality of pairs of immovable, independent roll frames Bc partially or entirely comprise roll frame pairs Bc, each pair comprising two roll frames. The distance E1 between the two roll frames is less than the dimension L1 of the roll to be supported. The spacing between the roll frame pairs Bc along the length of the frame is greater than the diameter D1 of the roll to be supported. The immovable roll frames Bc protrude inward relative to the intermediate gap, leaving a free opening Ov between two consecutive pairs of roll frames. Figure 6 As shown in the example.

[0072] The opposite opening provides a channel Ps in the transverse direction of the frame, the size of which exceeds the size L1 of the roll, and the size of which along the length of the frame exceeds the diameter D1 of the roll, the size of the channel being such that a roll of length L1 and diameter D1 can pass through.

[0073] The handling system is therefore configured as follows: / a / and by raising one or more movable roll holders Bcm, the roll at one of the support positions of the immovable roll holder Bc pair is released and the roll is raised. / b / By shifting the movable frame, the rolls engaged with the movable roll holders are moved to a position aligned with the free opening Ov between two consecutive pairs of roll holders. / c / By lowering one or more movable roll holders Bcm, the engaged rolls are lowered below the horizontal plane of the immovable roll holder through the free opening Ov. / d / By moving the engaged rolls into the free gap, below the immovable roll holder Bc, or even below the rolls supported on the immovable roll holder, the engaged rolls are shifted along the length of the support frame Cha by shifting the movable frame SMCH, until they are shifted to the other two free openings Ov of the second channel. / e / By lifting one or more movable roll holders Bcm, the engaged rolls are lifted through the free opening Ov of the second channel. / f / By shifting the movable frame SMCH, the rolls engaged with the movable roll holder are moved to align with the immovable roll holder in another support position. / g / Lower the roll that is engaged with the movable roll stand and place it on the first roll stand and the second roll stand in another support position.

[0074] Figure 8A Figure 8B shows two tracks of the rolls moved by the transport system, moving in opposite directions. Each track moves from a first support position of one pair of immovable roll stands to a second position of another pair of immovable roll stands, advantageously passing under the rolls supported on the immovable roll stands, at an intermediate position between the first and second support positions.

[0075] The material handling system may include: - A first conveying device comprising a first movable frame SMCH1 guided along the length of a support frame by an internal track Ri rigidly connected to a first support member Cha1, and a first lifting device for a first movable roll holder adjacent to the first support member Cha1. - A second conveying device comprising a second movable frame SMCH2 guided along the length of the support frame by an internal track Ri rigidly connected to the second support member Cha2, and a second lifting device for a second movable roll holder adjacent to the second support member Cha2.

[0076] There is unobstructed space between the first and second handling devices, which is beneficial for providing maintenance space during maintenance operations.

[0077] The first movable frame SMCH1 (or the second movable frame SMCH2) may include a geared motor for motor displacement of the frame along the first support Cha1 (or along the second support Cha2). A motorized pinion at the output of the geared motor may mesh with a rack extending along the length of the first support Cha1 (or along the second support). The lifting device (either the first or second lifting device) may include an actuator, particularly an electric actuator.

[0078] The control unit synchronizes the operation and longitudinal movement of the first movable frame SMCH1 and the second movable frame SMCH2.

[0079] This disclosure also relates to a rolling facility including a rolling mill and a support system according to this disclosure.

[0080] The mill has a roll stand and a set of rolls located inside the roll stand, including two work rolls 12, support rolls or support roll groups A, B, C, D, E, F, G, H, and possible intermediate rolls, particularly a first intermediate roll 13 and a second intermediate roll 14, 15.

[0081] Typically, a rolling mill can be a 20-roll rolling mill, including: - Upper Group G S It includes an upper work roll 12, two first intermediate rolls 13, three second intermediate rolls 14 and 15 (the two second intermediate rolls 15 are supported on the two first intermediate rolls 13 by two contact busbars respectively, and the third second intermediate roll is located between them and supported on the two first intermediate rolls 13 by two contact busbars) and four rolls (or support roll groups) A, B, C, and D. - Upper Group G I It includes a lower working roll 12, two first intermediate rolls 13, three second intermediate rolls 14 and 15 (the two second intermediate rolls 15 are supported on the two first intermediate rolls 13 by two contact busbars respectively, and the third second intermediate roll is located between them and supported on the two first intermediate rolls 13 by two contact busbars) and four rolls (or support roll groups) H, G, F and E.

[0082] The mill stand has a maintenance opening that can be closed by a door system. The metal strip Bm extends longitudinally in the horizontal direction X and laterally in the horizontal direction Y, wherein the direction Y is parallel to the axis of the mill rolls.

[0083] The facility includes a robotic system 1, which is adapted to ensure the operation of changing mill rolls by removing worn rolls from the roll stand and / or inserting new or reworked rolls into the roll stand.

[0084] The robot system 1 has a robot Ro, which includes a bracket, and the bracket includes a frame 2. The frame 2 is provided with wheels that cooperate with a track Ra1 extending along the Y direction on the ground. The track is aligned with the maintenance opening of the rolling mill base. The frame is configured to move along the track Ra1 in the Y direction. The system also includes a gripping system configured to control the locking and unlocking of the gripping of the rolling mill end pieces, or to control the gripping of the end pieces of the rolling mill roll clamping system.

[0085] The support frame Cha of the support system is a certain distance away from the rolling mill in the transverse direction Y and is fixed to the ground at the anchoring position transverse to the track Ra1. The maintenance passage AL, which extends in the direction X parallel to the metal strip along the maintenance opening of the rolling mill, is unobstructed. The support frame Cha includes a first support member Cha1, a second support member Cha2, and a free gap oriented longitudinally in the transverse direction Y, transverse to the track Ra1.

[0086] Robot system 1 is configured to ensure the extraction of normally worn rolls, such as work roll 12, by gripping the end piece fixed to the roll, or by gripping the roll through a locking clamping system, and placing the roll transversely to the track Ra1 on one of the support positions of the immovable roll holders of the support frame Cha. Conversely, the robot system may allow the gripping of new (or reworked) rolls supported on one of a pair of immovable roll holders of the frame and inserting them into the roll stand.

[0087] For work rolls 12 that require replacement more frequently than other rolls (particularly the first intermediate roll 13 or the second intermediate rolls 14, 15 or the support rolls A to H), the robotic system allows work rolls 12 to be placed or retrieved from the support frame area closest to the mill (i.e., the proximal section Sprox of the support frame, opposite the distal section Sdist of the support frame), even when the frequency of passage by the guide carriage is low. This occurs systematically, especially because the handling system allows the trajectory of the movable roll stand to pass through the intermediate gap according to operation / a / to / g / . For example, once a worn work roll is placed on the proximal section, the handling system allows the work roll to be moved from the proximal section to the distal section, where it can be removed by the automated guided vehicle. Conversely, once a reworked or new work roll is placed on the distal section, the handling system allows the new or reworked roll to be moved from the distal section of the support frame to the distal section.

[0088] Advantageously, during the roll changing operation, the travel distance of the robot system along track Ra1 is limited. Therefore, compared with the prior art described in the introduction, the roll changing cycle time can be reduced when the capacity of the automated guided vehicle is insufficient, as disclosed in WO 2022 / 229327A1.

[0089] Generally, a non-movable roll holder Bc that is rigidly connected to the support frame may include: - A first independent roll holder pair Bc1 is used to support rolls of length L1 and diameter D1. The first roll holder and the second roll holder are spaced apart by a first distance E1 in the transverse direction to the frame. - The second independent roll stand pair Bc2, which supports rolls of length L2 (greater than L1), is arranged on the support frame above the first roll stand pair Bc1.

[0090] The second independent roll stand is spaced apart from the first roll stand and the second roll stand of Bc2 by a second distance E2, which is greater than the first distance E1.

[0091] The transport system is configured to move a roll of length L1 from one support position of the first independent roll stand pair Bc1 to the other support position of another pair of first independent roll stand pairs Bc1 by causing the roll to pass through the free opening in accordance with operations / c / and / e / and by displacement in the free space below the first independent roll stand pair Bc1 in / d / .

[0092] The transport system is also configured to move a roll of length L2 from one support position of one pair of second independent roll stands Bc2 to the other support position of another pair of second immovable roll stands Bc2 by moving the roll above the second independent roll stand pair Bc2.

[0093] The first immovable roll stand pair Bc1 can be used to support the work roll 12 with a length of L1 and a diameter of D1, while the second immovable roll stand pair Bc2 can be used to support the first intermediate roll 13 with a length of L2.

[0094] Generally speaking, this disclosure also relates to a device comprising: - According to the supporting system of this disclosure, - Automated Guided Vehicles (AGVs) configured to move on horizontal surfaces (e.g., the ground) and including systems for lifting loads. - At least one removable frame Rac, the size of which is smaller than the width of the free gap between the first support Cha1 and the second support Cha2, the frame including a transverse recess for supporting rolls, the rolls protruding on both sides of the frame.

[0095] In particular, the rolling facility described in this disclosure may have such a piece of equipment.

[0096] The at least one removable rack is configured to be moved by the automated guided vehicle (AGV) and moved up and down by the vehicle's lifting system.

[0097] The automated guided vehicle (AGV) is configured to load the rolls onto the first length section SL1 of the support frame Cha in the following manner: / A1 / An automated guided vehicle (AGV) carrying at least one frame Rac is moved to a raised position of the lifting system and the at least one frame, wherein the at least one frame supports rolls located within a lateral recess and protruding on both sides of the at least one frame, and the raised position is greater than the height of the immovable roll frame Bc. / B1 / By moving the vehicle into the free clearance on the first length section SL1 of the support frame, the automated guided vehicle (AGV) is at least partially inserted. / C1 / Lower the at least one stand Rac supporting the rolls to a lowered position until a free gap is formed between the first support Cha1 and the second support Cha2, at least until the rolls are transferred from the at least one stand Rac to the support frame Cha, each roll being supported on the first and second roll frames of a pair of immovable roll stands Bc. / D1 / When the lifting system and the at least one frame Rac are in the lowered position, the automated guided vehicle AGV and the frame with unloaded rolls are removed.

[0098] During operation / A1 / to / D1 / , the automatic guide carriage can transfer the work roll 12 from the frame to the first immovable roll holder pair Bc1 on the first length section SL1 of the support frame Cha, and specifically, as from Figure 6 As understood in the text.

[0099] The guide plates TG are inclined and converge downwards on each other, and each guide plate pair is associated with the first roll stand pair Bc1. These guide plates are configured to engage with the two longitudinal ends of the work roll 12 respectively when the roll is lowered in / C1 / .

[0100] Two guide plates TG ensure that the work roll 12 is centered relative to the first roll holder and the second roll holder (particularly the first roll holder pair Bc1) and along the roll axis. This axial centering of the roll ensures the correct axial positioning of the work roll and allows the transport system to lower the work roll, which is engaged with the movable roll holder, through the free opening Ov below the immovable roll holder in the free gap by lowering one or more movable roll holders Bcm and, depending on the operation of the transport system / c / .

[0101] During operation / A1 / to / D1 / , the automatic guide carriage can transfer the first intermediate roll 13 from the frame to the second immovable roll pair Bc2 on the first length section SL1 of the support frame Cha, and particularly from... Figure 9 This can be seen from the text.

[0102] A guide plate can be arranged on one side of the support frame, the guide plate being inclined inward toward the support frame and opposite to the side diameter of the robot system frame. The guide plate is configured to engage with the end of the first intermediate roll 13 when the roll 13 is lowered in / C1 / .

[0103] The automated guided vehicle (AGV) can be further configured to unload the rolls supported on a first length section of the frame in the following manner: / A2 / When the lifting system and the at least one rack Rac are in the lowered position, move the automated guided vehicle (AGV) carrying at least one empty rack Rac. / B2 / When the lifting system and frame are in the lowered position in the free clearance, the car is at least partially inserted into the free clearance in the first length section of the frame. / C2 / Raise the at least one stand Rac to the raised position until the rolls are transferred from the immovable roll stand pair to the lateral recess of the at least one stand Rac. / D2 / Remove the car loaded with the rolls in the elevated position and the at least one frame Rac.

[0104] During operation / A2 / to / D2 / , the automatic guide carriage can transfer the work roll 12 from the first immovable roll stand pair Bc1 to a position in the frame on the first length section SL1 of the support frame Cha, specifically as follows: Figure 6 As shown.

[0105] During operation / A2 / to / D2 / , the automatic guide carriage can transfer the first intermediate roll 13 from the second immovable roll stand Bc2 to a position in the frame on the first length section SL1 of the support frame Cha, specifically as follows: Figure 9 As shown.

[0106] Typically, each immovable roll holder Bc can be a component including a recess, for example, made as a single piece, the recess forming a seat for receiving rolls, specifically for the work rolls in the first roll holder pair Bc1. The recess can be, for example, a semi-cylindrical segment Sc configured to match the cylindrical surface of the supported roll, and particularly on a second length segment of the support frame SL12 or SL22.

[0107] The recess can also have a V-shaped cross-section (in) Figure 9B (as shown in reference Sv), which has a first surface and a second surface that are inclined to each other, and in particular, on the first length segment SL1 of the support frame Cha.

[0108] The first surface is intended to contact the roll supported by the first contact line, while the second surface is intended to contact the roll supported by the second contact line.

[0109] Generally speaking, it should also be noted that the length of the immovable roll frame (especially the recess with a V-shaped cross-section) of the first length section SL1 can be greater than the length of the immovable roll frame (especially the semi-cylindrical cross-section) on the second length section SL12 or SL22 supporting the frame.

[0110] In particular, the length of the immovable roll holder Bc (on which the rolls are transferred when the frame is lowered in / C1 / ) on the first length section of the support frame Cha can be strictly greater than the diameter of the supported rolls, preferably greater than or equal to 1.5 times the roll diameter, or even greater than or equal to 2 times the roll diameter.

[0111] Having immovable roll stands, each with a length greater than the roll diameter, ensures that the rolls are picked up by the immovable roll stands, even when the stand storage position is not aligned with the support axis of the immovable roll stands.

[0112] If such misalignment occurs between the roll and the fixed roll stand support axis, then as the stand descends in / C1 / , the roll contacts one of the two inclined surfaces via the first contact line, and is then recentered by gravity until the roll is stabilized by contact with the other of the two inclined surfaces.

[0113] It should also be noted that the immovable rolls on the second length section SL12 or SL22 can advantageously be shorter than the length of the roll stand on the first length section SL1.

[0114] Generally speaking, especially due to the difference in roll stand length between the first length section SL1 and the second length section SL12 (or SL22), the support frame Cha may include: - The first length segment SL1 of the frame is located at one end. For this first length segment, continuous, immovable roll frames Bc are spaced apart along the length direction of the frame by a first center distance EA1, and are also spaced apart according to the center distance corresponding to the spacing of the transverse recesses of the frame. - At least one second length segment SL12, SL22 of the frame, wherein continuous immovable roll frames Bc are spaced apart along the length direction of the frame by a second center distance EA21, EA22, the second center distance being shorter than the first center distance.

[0115] The conveying device is configured to transfer rolls supported on one pair of roll holders Bc of the first length section SL1 to one pair of roll holders of the at least one second length section SL12, SL22, and conversely, to transfer rolls supported on one pair of roll holders of the at least one second length section SL12, SL22 to one pair of immovable roll holders of the first section SL1.

[0116] According to one embodiment, it is particularly in Figure 8 The text shows: - The first immovable roll holders Bc1 used to support the work roll 12 are spaced apart by a center distance EA12 on the second length section SL12. This distance is smaller than the center distance EA1 between the first immovable roll holders on the first length section SL1. - The second immovable roll holders Bc2 used to support the first intermediate roll 12 are spaced apart by a center distance EA22 on the second length section SL22, which is less than the center distance EA1 between the second immovable roll holders on the first length section SL1.

[0117] Generally speaking, the second roll stand pair Bc2 is arranged higher on the frame than the first roll stand pair Bc1.

[0118] It should also be noted that the second roll frame pair Bc2 (i.e., the length section SL22 specifically for supporting the first intermediate roll 13) arranged on the second length section SL22 of the support frame can be inserted between, on the one hand, the first length section SL1 of the support frame, which carries the immovable roll frame for the transfer of the frame support frame, and on the other hand, the first roll frame pair Bc1 located on the second length section SL12, which is specifically for supporting the first roll frame pair for the work roll 12.

[0119] Typically, the robot system 1 and its gripping system are configured to place the rolls on the second length section SL12 or SL22 of the support frame Cha.

[0120] Specifically, the robot system 1 is configured such that during the worn roll extraction operation, the worn work roll extracted from the roll stand is placed on one of the first roll holder pairs Bc1 on the second length section SL12 of the support frame.

[0121] Generally, it should be noted that the first support member Cha1 and the second support member Cha2 can be anchored to the ground, except for the first length section SL1, in which the first support member Cha1 and the second support member Cha2 hang towards the far end of the support frame. When the lifting system of the automated guided vehicle is inserted into the free clearance, the two base legs PB of the vehicle can be configured to be inserted below the hanging portions of the first support member Cha1 and the second support member Cha2, respectively, as shown in the figure, especially in Figure 6 middle.

[0122] Then, the transport system is configured to move the worn work roll supported on the first roll stand pair Bc1 from the second length section SL12 to one of the first roll stand pairs on the first section SL1 via an intermediate gap and according to operations / a / to / g / performed by the transport system. The automated guided vehicle can then remove the work roll from the first length section SL1 by performing operations / A2 / to / D2 / .

[0123] Therefore, in general, this disclosure also relates to a method for removing worn rolls implemented by the support system of this disclosure, wherein one or more worn work rolls 12 rest on a support frame Cha, the worn roll being supported on a non-movable roll stand pair above a proximal length section Sprox of the support frame, the proximal length section of the support frame (near the roll stand of the mill L) being opposite to the distal length section Sdist of the support frame. And the conveying system is controlled to move the worn work roll 12 from its support position on the proximal section Sprex of the support frame to another support position on the distal section Sdist of the support frame, particularly when operations / a / to / g / are performed. Furthermore, one or more worn rolls are removed from the far end section Sdist of the support frame Cha, specifically via the automated guided vehicle VGA.

[0124] The robot system 1 can be further configured such that during the removal operation of the worn first intermediate roll, the worn first intermediate roll removed from the roll stand is placed on one of the pairs of second roll stands Bc2 on the second length section SL22 of the support frame.

[0125] The transport system is then configured to move the worn first intermediate roll, supported on the second roll stand pair Bc2, from the second length section SL22 to one of the second roll stand pairs Bc2 on the first section SL1. The automated guided vehicle can then remove the first intermediate roll from the first length section SL1 by performing operations / A2 / to / D2 / .

[0126] Therefore, in general, this disclosure also relates to a method for removing worn rolls, wherein one or more worn first intermediate rolls 13 of length L2 rest on a support frame Cha, and the worn roll or each worn roll is supported on one of a pair of second immovable roll stands Bc2 above a proximal length section Sprox of the support frame, the proximal length section of the support frame (near the roll stand of the mill L) opposite to the distal length section Sdist of the support frame. The conveying system is controlled to move the worn roll or each worn roll from its support position on the proximal section of the support frame to another support position on the distal section Sdist of the support frame, which is a non-movable roll stand pair. Furthermore, one or more worn first intermediate rollers are removed from the far end section Sdist of the support frame Cha, specifically via the automated guided vehicle VGA.

[0127] During the insertion of new or reworked rolls, one or more new or reworked rolls can be supplied on the first length section SL1 of the support frame by an automated guided vehicle (AGV), and the operation is carried out by using the AGV from / A1 / to / D1 / .

[0128] As the frame is lowered in / C1 / , the work roll of length L1 is transferred to the first roll stand pair Bc1 on the first section SL1. The transport system then moves the new or reworked work roll from its supported position to the first roll stand pair Bc1 on the second length section SL12 of the support frame, specifically by performing operations / a / to / g / . The robotic system's gripping system can then grip the work roll for insertion into the roll stand.

[0129] Therefore, generally speaking, this disclosure also relates to a method for supplying new or reworked rolls implemented by the support system of this disclosure, wherein one or more new or reworked work rolls 12 are supplied opposite to the distal length section Sdist of the support frame and the proximal length section Sprox of the support frame near the roll stand, these work rolls 12 being arranged on a pair of immovable roll holders Bc on the distal section Sdist, particularly via an automated vehicle VGA. Furthermore, the transport system is controlled to move new or reworked rolls from a support position on the far end section Sdist to another support position on the immovable roll stand pair on the near end section Sprox of the support frame Cha.

[0130] As the frame is lowered in / C1 / , the first intermediate roll of length L2 is transferred to the second roll stand pair Bc2 on the first section SL1. The transport system then moves a new or reworked work roll from its support position to the second roll stand pair Bc2 on the second length section SL22 of the support frame. The robotic system's gripping system can then grasp the first intermediate roll 13 for insertion into the roll mill stand.

[0131] Therefore, this disclosure also relates to a method for supplying new or reworked rolls implemented by a support system according to this disclosure, wherein a distal length section Sdist of the support frame, opposite a proximal length section Sprox of the support frame near the roll mill stand, is supplied with one or more new or reworked first intermediate rolls 13, which are arranged on a second immovable roll stand pair Bc2 on the distal section, particularly via an automated vehicle VGA. Furthermore, the transport system is controlled to move a new or reworked first intermediate roll from its support position on the far end section Sdist to another support position on the near end section Sprox of the second immovable roll stand.

[0132] According to one embodiment, an intermediate, removable support SI is configured to be moved by an automated guided vehicle (AGV), and its width dimension is smaller than the free clearance. This intermediate support SI is configured to be placed on the ground, particularly at the first length segment SL1, so as to support at least one frame. The frame Rac supported by the intermediate support SI can be used to support components of the rolling mill, such as the second intermediate rolls 14, 15. Figure 11 ), support roller group ( Figure 12 ) or spray manifold 16 ( Figure 13 ).

[0133] Similar to the work roll and the first intermediate roll, these various components can be gripped by a robotic system for insertion into the mill stand during maintenance operations.

[0134] The intermediate support component SI can be a mechanically welded structure, including columns, particularly four columns and crossbeams.

[0135] The automated guided vehicle is configured to load rollers onto a first length section of the frame in the following manner: / A3 / The Automated Guided Vehicle (AGV) carrying the intermediate support SI is moved. / B3 / At least partially insert the vehicle and the intermediate support SI into the free gap in the first length section of the support frame Cha. / C3 / Lower the intermediate support and place it on the ground within the free gap. / D3 / Remove the Automated Guided Vehicle (AGV) that has had the intermediate support component unloaded. / E3 / Move a vehicle or vehicle carrying a frame Rac to a raised position. The frame Rac supports mill components such as rolls or manifolds. / F3 / Lower the frame of the support component until the frame is placed on the intermediate support.

[0136] The centering pin DC can be anchored to the ground and is configured to place the intermediate support SI at the center between the first support Cha1 and the second support Cha2.

[0137] The centering pin may include protruding studs, particularly four studs, configured to lock into the column of the intermediate support.

[0138] List of reference numerals L. Rolling mill, - Bm. Metal strip, - 1. Robotic systems, - 2. Framework - Ro. Robot, - Ra1. The orbit along the Y direction, - AL. Maintenance passage (located between the mill roll stand and the support frame of the mill stand, oriented in a direction parallel to the strip to be rolled). - Rac. rack, - Cha. Supporting framework, - Cha1 and Cha2 are the first and second support members, respectively. - Bc. Immovable roll stand pair, - Bc1. The first immovable roll stand pair spaced apart by a pitch E1 (specifically for supporting the work rolls 12 of the mill). - Bc2. A second pair of immovable roll frames spaced at a pitch E2 (specifically for supporting the first intermediate roll 13). - SMCH. Movable Frame (Transportation System) - SMCH1, SMCH2. First and second movable frames (transportation systems). - Ri. Tracks used to guide the first and second movable frames. - Bcm. Movable roll holder, - SML. A lifting device supported by movable frames (first and second frames), configured to raise and lower the movable roll frame relative to the movable frames. - Ov. Opening (between two continuous, immovable roll stands). - ¨Ps. A channel for a roll of length L1 formed by two openings in the first and second supports. - SL1. The first length section of the support frame for loading or unloading components via a motorized guided vehicle. - EA1. Center distance (center distance of immovable roll stands over the length of the first length section). - SL21. The second length section of the support frame (for supporting the first roll frame pair Bc1 of the work roll). - EA21. Center distance (center distance of the first immovable roll stand pair on the second length section) - SL22. The second length section of the support frame (the second roll frame pair Bc2 for supporting the first intermediate roll). - EA22. Center distance (center distance of the second immovable roll stand pair on the second length section). - SI. Intermediate support component, A 20-roll mill unit is called a 20 Hi ( Figure 10 ), - Gi and Gs. represent the upper and lower groups, respectively. - 12. Work roll, - 13. First intermediate roller, - 14, 15. Second intermediate rollers (14 transverse, 15 center). - A, B, C, and D represent the four support rolls or support roll groups of the upper group, respectively. - E, F, G, H. are the four support rolls or support roll groups of the lower group, respectively. - 16. Spray manifold.

Claims

1. A support system for storing rolling mill rolls, comprising: - A support frame (Cha), comprising a first support member (Cha1) and a second support member (Cha2), wherein the first and second support members are respectively fastened to the ground in parallel, and a free gap is left between the first support member (Cha1) and the second support member (Cha2). - Multiple pairs of immovable independent roll frames (Bc), each pair consisting of a first immovable independent roll frame rigidly connected to a first support member (Cha1) and a second immovable independent roll frame rigidly connected to a second support member (Cha2). A certain distance is spaced between the first and second immovable independent roll frames. The roll frames (Bc) are distributed and spaced apart at different support positions along the length of the frame. Each roll frame pair is configured to support rolls transverse to the support frame at different support positions. Each roll is transverse to the frame and supported on a first roll frame rigidly connected to the first support member and a second roll frame rigidly connected to the second support member. The support system is characterized in that it comprises: - A handling system, comprising: -- At least one movable frame (SMCH) is provided with a displacement device configured to travel along the length of the support frame (Cha) in a free gap between a first support member (Cha1) and a second support member (Cha2). -- One or more movable roll frames (Bcm), and a lifting device (SML) mounted on the at least one movable frame (SMCH), the lifting device being configured to lift the one or more movable roll frames (Bcm) by engaging with rolls whose ends are supported on a first immovable roll frame and a second immovable roll frame, so as to release rolls from the immovable roll frames of the plurality of pairs of immovable independent roll frames, or being configured to place rolls displaced by the one or more movable roll frames and place them on the first and second roll frames of one of the pairs of immovable roll frames. Furthermore, the transport system is configured to release and lift rolls located at one of the support positions of the plurality of pairs of immovable independent roll frames by lifting the one or more movable roll frames (Bcm) using a lifting device (SML), to displace rolls by shifting movable frames (SMCH), and to place rolls at another support position of the immovable independent roll frame that has been shifted along the length of the support frame (Cha) by lowering the lifting device (SML).

2. The support system according to claim 1, characterized in that, The plurality of pairs of immovable, independent roll frames (Bc) partially or entirely comprise roll frame (Bc) pairs, each pair comprising two roll frames. The distance E1 between the two roll frames is less than the dimension L1 of the roll to be supported. The spacing between the roll frame (Bc) pairs along the length of the frame is greater than the diameter D1 of the roll to be supported. The immovable roll frames (Bc) protrude inward relative to the intermediate gap, leaving a free opening (Ov) between two consecutive pairs of roll frame pairs. The opening provides a channel (Ps) in the transverse direction of the frame, the dimension of which exceeds the dimension L1 of the roll, and its dimension along the length of the frame exceeds the diameter D1 of the roll. Furthermore, the conveying system is configured as follows: / a / By raising the one or more movable roll holders (Bcm), the rolls at one of the support positions of the plurality of pairs of immovable independent roll holders (Bc) are released and the rolls are raised. / b / By shifting the movable frame, the rolls engaged with the movable roll holders are moved to a position aligned with the free opening (Ov) between two consecutive pairs of roll holders. / c / By lowering the one or more movable roll frames (Bcm), the engaged rolls are lowered through the free opening below the horizontal plane of the immovable roll frame. / d / By moving the joined rolls into the free gap, below the immovable roll stand, or even below the rolls supported on the immovable roll stand, the joined rolls are moved along the length of the support frame (Cha) through the shifting movable frame (SMCH) until they are moved to the other two free openings (Ov). / e / By raising the one or more movable roll frames (Bcm), the engaged rolls are lifted through the free opening (Ov). / f / By using a shiftable movable frame (SMCH), the rolls engaged with the movable roll holder are moved to align with the immovable roll holder in another support position. / g / Lower the roll that is engaged with the movable roll stand and place it on the first roll stand and the second roll stand in another support position.

3. The support system according to claim 2, characterized in that, The non-movable, independent roll stand pairs include: - A first independent roll holder pair (Bc1) is used to support rolls of length L1 and diameter D1. The first roll holder and the second roll holder are spaced apart by a first distance E1 in the transverse direction to the frame. Furthermore, the conveying system is configured to move the roll from one support position of the first independent roll holder pair (Bc1) to the other support position of the other pair of first independent roll holder pairs (Bc1) by causing the roll to pass through the free opening according to operations / c / and / e / and via displacement in the intermediate gap below the first independent roll holder pair (Bc1) in / d / . - A second independent roll stand pair (Bc2), for supporting rolls with a length L2 greater than L1, is arranged on a support frame above the first independent roll stand pair (Bc1), wherein the first roll stand and the second roll stand of the second independent roll stand pair (Bc2) are each spaced apart by a second distance E2 greater than the distance E1. Furthermore, the conveying system is configured to move the roll from one support position of one pair of second independent roll stands (Bc2) to the other support position of another pair of immovable second independent roll stands (Bc2) by moving the roll above the second independent roll stand pair (Bc2).

4. The support system according to any one of claims 1 to 3, characterized in that, The at least one movable frame (SMCH) includes: - A first conveying device comprising a first movable frame (SMCH1) guided along the length of the support frame by an internal track (Ri) rigidly connected to a first support (Cha1), and a first lifting device for a first movable roll holder adjacent to the first support (Cha1). - A second conveying device comprising a second movable frame (SMCH2) guided along the length of the support frame by an internal track (Ri) rigidly connected to the second support (Cha2), and a second lifting device for a second movable roll holder adjacent to the second support (Cha2).

5. A piece of equipment comprising: - Support system, - Automated Guided Vehicles (AGVs), configured to move on horizontal surfaces and including systems for lifting loads. - At least one removable frame (Rac) having a dimension smaller than the width of the free clearance (DL) between the first support (Cha1) and the second support (Cha2), the frame including lateral recesses for supporting rolls, the rolls protruding from both sides of the frame, said at least one frame being configured to be moved by an automated guided vehicle (AGV) and moved vertically by the vehicle's lifting system. Furthermore, the support system is characterized by being a support system according to any one of claims 1 to 3, wherein the automated guided vehicle (AGV) is configured to load the rolls onto a first length section (SL1) of the support frame (Cha) in the following manner: / A1 / The Automated Guided Vehicle (AGV) carrying at least one rack (Rac) is moved to a raised position of the lifting system and the at least one rack, the at least one rack (Rac) supporting rolls located within a lateral recess and protruding on both sides of the at least one rack, the raised position being greater than the height of a non-movable, independent roll rack (Bc). / B1 / The automated guided vehicle (AGV) is at least partially inserted by moving the vehicle into the free gap on the first length section (SL1) of the frame. / C1 / Lower the at least one stand (Rac) supporting the rolls to a lowered position until a free gap is formed between the first support (Cha1) and the second support (Cha2), at least until the rolls are transferred from the at least one stand to the support frame (Cha), each roll being supported on a pair of immovable, independent roll stands (Bc), the first roll stand and the second roll stand. / D1 / When the lifting system and at least one rack (Rac) are in the lowered position, the automated guided vehicle (AGV) and the rack with unloaded rolls are removed. and / or The automated guided vehicle (AGV) is configured to unload the rolls supported on a first length section of the frame in the following manner: / A2 / When the lifting system and the at least one rack (Rac) are in the lowered position, move the automated guided vehicle (AGV) carrying at least one empty rack (Rac). / B2 / When the lifting system and frame are in the lowered position in the free clearance, the car is at least partially inserted into the free clearance in the first length section of the frame. / C2 / Raise at least one stand (Rac) to the elevated position until the rolls are transferred from the plurality of pairs of immovable individual roll stands (Bc) onto the lateral recess of the at least one stand (Rac). / D2 / Remove the car loaded with the rolls in the elevated position and the at least one frame (Rac).

6. The device according to claim 5, characterized in that, The supporting framework includes: - The first length segment (SL1) of the frame is located at one end. For the first length segment, a series of consecutive pairs of immovable, independent roll frames (Bc) are spaced apart by a first center distance (EA1) along the length direction of the frame, and the center distance is based on the spacing of the transverse recesses of the frame. - At least one second length segment (SL12, SL22) of the frame, for which continuous immovable roll stands (Bc) are spaced apart along the length direction of the frame by a second center distance (EA21, EA22), the second center distance being shorter than the first center distance. Furthermore, the conveying device is configured to transfer rolls supported on one pair of roll frames (Bc) in the first length section (SL1) to one pair of roll frames in the at least one second length section (SL12, SL22).

7. The device according to claim 5, characterized in that, The device includes a removable intermediate support (SI) configured to be moved by an automated guided vehicle (AGV), the width of which is smaller than the free clearance. Furthermore, the automated guided vehicle is configured to load the rolls onto a first length section of the frame in the following manner: / A3 / Move the automated guided vehicle (AGV) carrying the intermediate support (SI). / B3 / At least partially insert the vehicle and the intermediate support (SI) into the free clearance in the first length section of the support frame (Cha), / C3 / Lower the intermediate support member and place it on the ground within the free gap. / D3 / Remove the vehicle from which the intermediate support component has been unloaded. / E3 / Move a car or vehicle carrying at least one rack (Rac) to an elevated position, wherein at least one rack (Rac) supports the rolling mill components. / F3 / Lower the frame supporting the component and place the frame on the intermediate support.

8. The device according to claim 7, characterized in that, The device includes a centering pin (DC) anchored to the ground and configured to center the intermediate support (SI) between the first support (Cha1) and the second support (Cha2).

9. A facility for rolling metal strip, comprising a mill (L) and a system, said mill having a roll stand and a set of rolls located inside the roll stand, including two work rolls (12), support rolls or support rolls (A, B, C, D, E, F, G, H) and possible intermediate rolls, particularly a first intermediate roll (13) and a second intermediate roll (14, 15), the roll stand having an access opening capable of being closed by a door system, the metal strip (Bm) extending longitudinally in the horizontal direction X and laterally in the horizontal direction Y, the direction Y being parallel to the axis of the rolls of the mill. The facility includes a robotic system (1) adapted to ensure the operation of changing mill rolls by removing worn rolls from the roll stand and / or inserting new or reworked rolls into the roll stand, the robotic system having a robot (Ro) comprising: - A bracket comprising a frame having wheels that engage with a track (Ra1) extending in the Y direction on the ground, the track being aligned with an access opening of the mill stand. The frame is configured to move along the track (Ra1) in the Y direction. The bracket also includes a gripping system configured to control the gripping of end pieces locked and unlocked to the rolls, or to control the gripping of end pieces of the mill roll clamping system. Furthermore, the support frame (Cha) is a certain distance away from the rolling mill in the transverse direction Y and is fixed to the ground at the anchoring position transverse to the track (Ra1). The maintenance passage (AL) extending in the direction X along the maintenance opening of the rolling mill is unobstructed. The support frame (Cha) includes a first support member (Cha1), a second support member (Cha2), and a free gap oriented longitudinally in the transverse direction (Y). Furthermore, the system is characterized by being a system according to any one of claims 1 to 3, wherein the robot system (1) is configured to extract the roll by gripping an end piece rigidly connected to the roll, or by gripping the roll using a clamping system locked by the gripping system, and to place the roll laterally to the track (Ra1) on one of a pair of immovable independent roll holders (Bc) at a first support position of the support frame (Cha), wherein the transport system is configured to move the roll from the first support position to a second support position.

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