ROBOT SYSTEM FOR A ROLLING MILL

Description

[0001] The invention relates to a robotic system for loading and unloading suitable for changing rolls of a rolling mill, or even sets of support rollers of a rolling mill, or even spray ramps, as well as a rolling installation comprising such a robotic system. The preamble of claim 1 is based on document FR 3 095 140 A1.

[0002] The invention also relates to a method for unloading and / or loading cylinders (or sets of support rollers) of a rolling mill implemented by such a robotic system. Technical field

[0003] The field of the invention relates more particularly to the equipment used to carry out maintenance operations on a rolling mill of the 20 High type. A 20 High rolling mill is for example known from prior art US 5,193,377 and US 5,471,859. In such a rolling mill, the cylinders (and sets of support rollers) are distributed into a lower group and an upper group, and according to a symmetrical configuration relative to the plane of travel of the metal strip to be rolled. Figure 5 of document US 5,193,377 illustrates for example the upper group with a working cylinder, two first intermediate cylinders, three second intermediate cylinders, and four sets of support rollers.

[0004] As rolling campaigns progress, it is necessary to renew the surface condition of the rolling mill rolls. This operation is carried out by opening the access door to the rolling mill stand and removing the rolls from the rolling mill stand. These rolls are then ground, before being reinserted into the rolling mill stand.

[0005] Each set of support rollers typically comprises a support shaft along which rollers typically formed by bearings are distributed. For this purpose, the inner ring of each bearing is mounted on the support shaft, the outer ring of the bearing being intended to roll on one or even two contiguous cylinders belonging to the cylinders of the second intermediates. The set of support rollers also comprises a saddle whose arcuate body extends longitudinally over the length of the support shaft, and whose convex face is intended to bear on a concave seat of a mounting part of the cage. This saddle also has extensions, projecting from the concave face of the body, crossed by the support shaft, the extensions being distributed over the length of the shaft and in particular arranged between the rollers.Eccentric rings are also provided between the support shaft and these extensions, the shaft having a pinion intended to mesh in the rolling mill stand with a corresponding pinion, or even a rack. This pinion (or rack) thus makes it possible to drive the support shaft in rotation, and thus to move the position of the support shaft and the rollers carried in relation to the arcuate body of the saddle apart or closer together, thanks to the eccentric rings. It is understood that these sets of support rollers also require maintenance, which is carried out by removing this member from the stand, along the axis of said support shaft.

[0006] The operations of extraction (or installation by insertion) of the internal organs, (cylinders or set of support rollers) are usually carried out using handling equipment secured to the end of the organ to be removed (namely to the end of the cylinder to be removed or the support shaft of the set of support rollers to be removed), provided with a counterweight. The purpose of the counterweight is to balance the organ to be gripped when handled by the hoist of a workshop overhead crane, and in order to keep it substantially horizontal, and while the hook of the hoist grips a ring positioned on the equipment between the counterweight and the gripped organ. When the organ is removed (or conversely when it is put in place), the gripped organ is rigidly secured to the counterweight of the equipment, which is likely to swing at the lower end of the hoist cable. Prior art

[0007] During extraction maneuvers, operators are necessarily present near the seized organ, and in order to guide the extraction (or installation) operations which are thus particularly dangerous due to the possible swinging movements of the heavy elements suspended from the overhead crane cable.

[0008] The operations of placing each set of support rollers in the rolling mill cage are still particularly tedious in that it is necessary to orient, when inserting the set: the saddle following the angular position allowing its insertion into the cage in its mounting position, namely to angularly align the saddle with the rolling mill cage seat: this operation requires, for example, for the sets of rollers of the upper group, to keep the saddle upwards, and against gravity which tends to tilt it downwards, the support shaft and especially the pinion secured to its end and in order to precisely position the teeth of the pinion between the teeth of the drive pinion (or the drive rack) of the rolling mill located at the bottom of the cage.

[0009] However, we know from document JP1976454C; in the name of Nippon Steel, a loading / unloading system based on the use of a standard robotic arm ("5 axes"). In this prior art, the robotic arm is mounted on a carriage moving along the rails, parallel to the plane of travel of the strip, allowing the movement of the articulated arm in line with the different stands of the rolling mills. The end of the arm is provided with a clamping system allowing the gripping and then locking of a work cylinder by its end.

[0010] According to the Applicant's findings, the use of a standard robotic arm for handling rolling mill rolls has two major drawbacks, namely: the use of an oversized robotic arm: it will be necessary to use a bulky arm, with large motors at the arm joints to withstand the torques required to hold the parts to be gripped at the end, namely cylinders and / or sets of support rollers (due to their significant weight and great length), significant operational space requirement during loading / unloading operations: the surface swept by the gripped part (cylinder or set of support rollers) carried at the end of the robotic arm during its rotation and up to the drop-off area is very large and can only be considered when the necessary space in the workshop is available.

[0011] A robotic system is also known for a metal strip rolling installation including a 20-roll rolling mill comprising a rolling mill stand and a set of rolls, internal to the stand, including two working rolls of the metal strip, eight sets of support rollers, first intermediate rolls and second intermediate rolls, the rolling mill stand having an access opening, closed by a door system, the metal strip extending longitudinally in a horizontal X direction, and transversely in a horizontal Y direction, parallel to the axes of the rolling mill rolls.

[0012] Such a known robotic system is illustrated in Figures 1 and 2 .

[0013] According to this state of the art robotic system, the robotic system comprises: a robot Ro comprising: a carriage comprising a first chassis Ch1 provided with wheels cooperating with rails Ra1 arranged on the ground, extending in the Y direction, in line with the access opening of the rolling mill stand, said first chassis configured to move in the Y direction along the rails, under the action of first motor means driving the wheels, a second chassis Ch2 and a first slide system connecting the second chassis and the first chassis configured to move the second chassis relative to the first chassis in the X direction, under the action of second motor means a third chassis Ch3 and a second slide system connecting the third chassis and the second chassis, configured to move the third chassis relative to the second chassis in a vertical Z direction, under the action of third motor means.

[0014] A gripping system is integral with the third chassis and such a robotic system according to the state of the art is configured to ensure the extraction of a cylinder, by implementing the following steps: aligning the gripping system with the axis of the cylinder Cy to be gripped by moving the gripping system in the X direction by the action of the second driving means and in the Z direction by the action of the third driving means, gripping the cylinder by the gripping system by the advance of the carriage along the rails, extracting the cylinder from the rolling mill stand by the recoil of the carriage along the rails in the Y direction, under the action of the first driving means.

[0015] At the end of the extraction of the cylinder operated by the robot moving back along the rails, the extracted cylinder is entirely outside the rolling mill stand, oriented axially parallel to the Y direction, transverse. The cylinder is then in an intermediate position where the cylinder is located between, on the one hand, the access opening of the rolling mill stand, left open by the door system, and on the other hand, the robot carriage, and as illustrated in Figure 2 .

[0016] In such a state of the art, the removal of the cylinder requires additional motorized equipment, comprising a system of removal racks, motorized, at least in the X direction horizontally so that it is positioned between the rolling mill and the robot. This rack system can still be moved in a motorized manner in the horizontal Y direction.

[0017] The Rac rack system can thus itself comprise a carriage with a first chassis Ch11 configured to move along rails Ra2 arranged parallel to the rail Ra1 of the robot, laterally to the robot, in the transverse direction Y by a first motor, and a second chassis Ch12 carrying the cylinder loading / unloading rack, configured to be moved, relative to the first chassis Ch11, in the direction X thanks to a slide system between the second chassis Ch12 and the first chassis 11, and second motors.

[0018] As shown in the Figure 2, the rack is thus moved by the first chassis along the rails Ra2, in the Y direction, then by moving the second chassis in the X direction, cantilevered from the first chassis, to ensure the depositing of the cylinder by the robot on the rack which takes place, by the action of the third motor means, while the cylinder is still oriented in the Y direction, in a position where the mobile rack is positioned intermediate between the rolling mill and the robot.

[0019] According to the inventor's findings, the mobile rack system is a piece of equipment that clutters up the maintenance aisle, which extends, in the X direction, along the access openings of the various rolling mills. The rack system thus makes it possible to position itself in the area between the rolling mill and the robot, so as to allow the robot to deposit the cylinders that have been extracted on the rack system, the cylinder then still oriented in the transverse direction Y, or to allow the robot to recover one of the cylinders on the rack then oriented in the transverse direction Y.

[0020] The possible possibility of the rack system moving in the Y direction along the Ra2 rails allows the rack system to move away from the rolling mill, thus facilitating the handling of the cylinders present on the rack by the overhead crane.

[0021] Such a robotic system is conventionally used to ensure the removal of rolls from a 20 Hi rolling mill, and in particular the work rolls, the first intermediate rolls and the second intermediate rolls.

[0022] On the other hand, and according to the Applicant's knowledge, such a robotic system according to this state of the art does not allow the eight sets of support rollers of the rolling mill which are evacuated or brought in to be changed: either directly, and successively using the overhead crane, according to the procedure with counterweight described previously, which is particularly dangerous for operators on the ground; or by placing directly on the bridge, between the rolling mill and the robotic system, a rack designed to receive a certain number of sets of support rollers from the rolling mill or carrying the new sets of support rollers. This robotic system then only pulls the sets of support rollers out of the rolling mill to slide them onto this removable rack on the bridge or pushes the new sets of support rollers located on this removable rack to introduce them into the rolling mill.

[0023] The procedure of bringing or removing, between the robotic system and the rolling mill at the bridge, this removable rack loaded with sets of support rollers is also particularly dangerous for operators on the ground. Summary

[0024] This disclosure improves the situation.

[0025] According to a first aspect, the present disclosure relates to a robotic system for a metal strip rolling installation, said installation comprising a rolling mill having a rolling mill stand and a set of cylinders, internal to the stand, including two working cylinders, support cylinders or support rollers, or even intermediate cylinders, in particular first intermediate cylinders and second intermediate cylinders, the rolling mill stand having an access opening, possibly closed by a door system, the metal strip extending longitudinally in a horizontal X direction, and transversely in a horizontal Y direction, the Y direction being parallel to the axes of the rolling mill cylinders, and wherein said robotic system is suitable for carrying out rolling mill roll changing operations, by extracting worn rolls from the rolling mill stand and / or inserting new or ground rolls into the rolling mill stand, said robotic system comprising a robot comprising: a carriage comprising a first chassis provided with wheels cooperating with rails arranged on the ground, extending in the Y direction, in line with the access opening of the rolling mill stand, said first chassis being configured to move in the Y direction along the rails, under the action of first motor means driving the wheels, a second chassis and a first slide system connecting the second chassis and the first chassis configured to move the second chassis relative to the first chassis in the X direction, under the action of second motor means,a third chassis and a second slide system connecting the third chassis and the second chassis, configured to move the third chassis relative to the second chassis in a vertical Z direction, under the action of third motor means.

[0026] According to the present disclosure, the robotic system according to this first aspect comprises: a fourth chassis, and rotational guide means connecting the fourth chassis and the third chassis around a vertical rotation axis, configured to drive the rotation of the fourth chassis relative to the third chassis, under the action of fourth motor means, a gripping system, embedded on the fourth chassis comprising an actuator configured to control the locking and unlocking of the gripping of an end piece secured to a cylinder, or the gripping of an end piece of a gripping system of a cylinder of the rolling mill, and in which the robotic system is configured to ensure the extraction of a cylinder, by gripping the end piece secured to the cylinder, or by gripping the cylinder by the gripping system locked by the gripping system, with removal of the cylinder, laterally to the rails, after pivoting of the cylinder by rotation of the fourth chassis relative to the third chassis around the vertical axis of rotation.

[0027] According to optional characteristics of this first aspect, taken alone or in combination: the gripping system can be articulated to the fourth chassis along a second horizontal articulation axis perpendicular to the vertical rotation axis between the fourth chassis and the third chassis, called the first rotation axis, and perpendicular to the axis of the cylinder gripped by the gripping system, the robotic system comprising motor means, in particular fifth motor means, configured to adjust the inclination of the gripping system, and thus the inclination of the gripped cylinder, by rotation of the gripping system around said second rotation axis;the gripping system may comprise a tubular frame inside which is provided a locking / unlocking device, pivotally mounted by means of bearings, around an axis of rotation, intended to be parallel, or even coincident with the axis of the gripped cylinder, by means of motor means, in particular sixth motor means, and in which the locking / unlocking device comprises the actuator, including motor means configured to switch the locking device from a state of locking the tip to a state of unlocking the tip. ;

[0028] According to a secondaspect, the present disclosure relates to a rolling installation comprising a robotic system according to the first aspect and a said rolling mill comprising said stand and said set of rolls, internal to the stand, including the two working rolls, the support rolls or the support rollers, or even the intermediate rolls, in particular the first intermediate rolls and the second intermediate rolls, the rolling mill stand having said access opening, possibly closed by the door system, the metal strip Bm extending longitudinally in a horizontal X direction, and transversely in a horizontal Y direction, parallel to the axes of the rolls of the rolling mill and in which said installation comprises a loading / unloading rack, positioned removably on a support frame, anchored to the ground in an anchoring position at a distance from the rolling mill in the transverse Y direction and laterally to the rails,freeing up a maintenance aisle along the X direction, along the access opening of the rolling mill, the rack resting on the support frame having housings, oriented along the X direction, and in which the robotic system is configured to place the cylinder, on the loading / unloading rack resting on the support frame, after pivoting of the cylinder by rotation of the fourth frame relative to the third frame around the vertical rotation axis, the cylinder then oriented along the X direction.,

[0029] According to optional features of this second appearance, taken alone or in combination: the support frame is of a length, in the Y direction, greater than the dimension of said at least one rack, the Y direction then perpendicular to the housing axes of said at least one rack, said support frame configured to support several racks, distributed over the length of the support frame in different positions in the Y direction, the support frame comprises a first support, and a second support, respectively anchored to the ground in a parallel manner in the Y direction and in which said at least one rack is configured to rest by taking support, the support frame resting simultaneously on the first support and the second support, at two opposite edges of the rack and in which the first support and the second support of the support frame leave between them a free intermediate clearance configured to be crossed by a rack handling vehicle, in particular an automated guided vehicle,when this vehicle places a rack on the support frame, for example an empty cylinder rack intended to receive the worn cylinders removed by the robotic system, and / or a rack containing in its housings new (or rectified) cylinders intended to be gripped by the robotic system to be inserted into the rolling mill stand.

[0030] According to an embodiment of this second aspect, said rolling mill is a 20 High rolling mill, having with respect to the plane of the metal strip to be rolled: two working rolls, including an upper working roll and a lower working roll, four first intermediate rolls, including two first upper intermediate rolls in contact with the upper working roll, and two first lower intermediate rolls in contact with the lower working roll, six second intermediate rolls, including three second upper intermediate rolls in contact with the first two upper intermediate rolls, and three second lower intermediate rolls in contact with the first two lower rolls, eight sets of support rollers, each provided with a saddle secured to the cage, including four sets of upper rollers, in contact with the three second upper intermediate rolls, and four sets of lower rollers, in contact with the three second intermediate rolls, and wherein said robotic system is configured to change the set of rolls of the rolling mill, namely the two working rolls, the first four intermediate rolls, the six second intermediate rolls, and the eight sets of support rollers, by placing them on one or more racks positioned in the anchoring position of the support frame anchored to the ground.

[0031] Still and according to an embodiment of this second, the rolling mill has spraying ramps, including two upper spraying ramps, and two lower spraying ramps, and in which said robotic system is configured to change the spraying ramps.

[0032] According to a third aspect,the present disclosure relates to a method for extracting a cylinder implemented in a rolling installation according to the second aspect, in which a cylinder is extracted by gripping an end piece secured to a cylinder by the gripping system, or by gripping a cylinder by the gripping system locked by the gripping system, including: / a1 / Align the gripping system and / or the gripping system with the axis of the roll to be gripped by moving the gripping system in the X direction by the action of the second motor means and in the Z direction by the action of the third motor means, / b1 / Grip the roll by the gripping system or said gripping system integral with the gripping system after the carriage has advanced along the rails in the Y direction under the action of the first motor means, / c1 / Extract the roll from the rolling mill stand by moving the carriage back along the rails in the Y direction, under the action of the first motor means, / d1 / Pivot the extracted roll a quarter turn around said vertical rotation axis under the action of the fourth motor means, and lower the pivoted roll a quarter turn under the action of the third motor means to ensure depositing, on the loading / unloading rack,arranged laterally to the rails and to the carriage movement area, / e1 / Release the cylinder by the recoil of the gripping system in the X direction, by the action of the second motors.

[0033] According to a fourth aspect the present disclosure relates to a method of inserting a cylinder implemented in a rolling installation according to the second aspect in which a cylinder is inserted, by gripping a tip secured to a cylinder by the gripping system, or by gripping a cylinder by the gripping system locked by the gripping system, including: / a2 / Align the gripping system and / or the gripping system with the axis of the roll to be gripped on the unloading / loading rack by moving the gripping system in the Y direction by the action of the first motor means and in the Z direction by the action of the third motor means, / b2 / Grip the roll by the gripping system or said gripping system integral with the gripping system after the advance of the carriage along the rails in the X direction under the action of the second motor means, / c2 / Lift the roll from the rack in the Z direction under the action of the third motor means, and pivot the extracted roll around said vertical rotation axis under the action of the fourth motor means by a quarter turn, / d2 / Align the axis of the roll in an alignment position in the rolling mill stand,by moving the gripping system along the X direction by the action of the second motor means and along the Z direction by the action of the third motor means, / e2 / Insert the cylinder into the rolling mill stand in the alignment position, by advancing the carriage along the Y direction by the action of the first motor means, / f2 / Release the cylinder by moving the robot back along the Y direction, by the action of the first motors. Brief description of the drawings

[0034] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analyzing the attached drawings, in which: Fig. 1 [ Fig. 1] is a schematic view of a rolling installation comprising a 20-roll rolling mill, and a robotic system known from the state of the art comprising a robot comprising a carriage movable along first rails, and a rack with a first chassis movable along second rails, parallel to the robot rails, substantially in the transverse direction Y, and the perpendicular movement thanks to a second chassis movable relative to the first chassis in the direction X. Fig. 2 [ Fig. 2 ] is a schematic view showing the removal of a cylinder extracted from the rolling mill by the recoil of the carriage, and its deposit in the mobile rack positioned intermediate between the rolling mill and the robot. Fig. 3 [ Fig. 3 ] is a view of the rolling plant according to the present disclosure, the robot gripping system equipped with a gripping system for gripping the work rolls. Fig. 4 [ Fig. 4] is a view of the rolling installation according to the present disclosure, the robot gripping system locking a tip secured to a second intermediate cylinder. Fig. 5 [ Fig. 5 ] is a sectional view, illustrating the second intermediate cylinder, and its end piece. Fig. 6 [ Fig. 6 ] is a sectional view, along a vertical plane parallel to the YZ plane, illustrating the taking of a second intermediate cylinder by the robot in the rolling mill stand. Fig. 7 [ Fig. 7 ] is a perspective view of the robot, when the gripping system holds a set of support rollers Fig. 8 [ Fig. 8 ] is a view of the robot from the Figure 7 , according to a partial section. Fig. 9 [ Fig. 9 ] is a sectional view of the input system, along a vertical plane. Fig. 10 [ Fig. 10 ] is a cross-sectional view of the robot, illustrating all of the robot's actuators. Fig. 11 [ Fig. 11] is a schematic view of a cross-section of a 20Hi rolling mill, the rolls divided into a lower group and an upper group, each comprising ten rolls including a working roll, two first intermediate rolls, three second intermediate rolls, and four sets of support rollers. Description of the embodiments

[0035] The drawings and description below contain, for the most part, elements of a certain character. They may therefore not only serve to better understand this disclosure, but also contribute to its definition, if necessary.

[0036] Also, the present disclosure relates to a robotic system 1 of a metal strip rolling installation.

[0037] The rolling installation comprises a rolling mill L having a rolling mill stand and a set of cylinders, internal to the stand, including two working cylinders 12, optionally support cylinders or support rollers A, B, C, D, E, F, G, H, or even intermediate cylinders, in particular first intermediate cylinders 13 and second intermediate cylinders 14, 15.

[0038] The rolling mill can be a 20Hi rolling mill, with twenty rolls. As shown schematically in Figure 11, the cylinders are divided into a lower group Gi and an upper group Gs; more precisely these groups Gi and Gs have a symmetrical arrangement and each comprise ten cylinders including a working cylinder 12, two first intermediate cylinders 13, three second intermediate cylinders 14, 15, and four support cylinders, or set of support rollers, which are outside the arrangement, and which are noted A, B, C and D for the upper group Gs and E, F, G and H for the lower group Gi.

[0039] The rolling mill cage has an access opening, possibly closed by a door system, the metal strip Bm extending longitudinally in a horizontal X direction and transversely in a horizontal Y direction, the Y direction being parallel to the axes of the rolling mill cylinders.

[0040] The robotic system 1 is suitable for carrying out rolling mill roll changing operations, by extracting worn rolls from the rolling mill stand and / or inserting new (or ground) rolls into the rolling mill stand, said robotic system comprising a robot Ro comprising: a carriage comprising a first chassis 2 provided with wheels 20 cooperating with rails Ra1 arranged on the ground, extending in the direction Y, in line with the access opening of the rolling mill stand, said first chassis 2 being configured to move in the direction Y along the rails Ra1, under the action of first motor means M1 driving the wheels 20, a second chassis 3 and a first slide system G1 connecting the second chassis 3 and the first chassis 2 configured to move the second chassis 3 relative to the first chassis 2 in the direction X, under the action of second motor means M2 a third chassis 4 and a second slide system G2 connecting the third chassis 4 and the second chassis 3, configured to move the third chassis 4 relative to the second chassis 3 in a vertical direction Z, under the action of third motor means M3.

[0041] Notably, the robotic system also comprises a fourth chassis 5, and rotational guidance means connecting the fourth chassis and the third chassis around a vertical rotation axis Av, configured to drive the rotation of the fourth chassis 5 relative to the third chassis 4, under the action of fourth motor means M4, as well as a gripping system 6, embedded on the fourth chassis 5.

[0042] The gripping system 6 may comprise an actuator configured to control the locking and unlocking of the gripping of an end piece Eb secured to a cylinder. Alternatively, the gripping system is configured to grip an end piece of a gripping system of a cylinder of the rolling mill. The gripping system may be, by way of example, the tool suitable for changing the working cylinders described in patent application FR 2002381 filed on March 10, 2020 by the present Applicant.

[0043] According to the present disclosure, the robotic system 1 is configured to ensure the extraction of a cylinder, by gripping the end piece secured to the cylinder, or by gripping the cylinder by the gripping system locked by the gripping system, with depositing of the cylinder preferably on a rack Ra, laterally to the rails Ra1, after pivoting of the cylinder by rotation of the fourth chassis 5 relative to the third chassis 4 around the vertical rotation axis Av, generated by the fourth motor means M4. When the cylinder is deposited on the rack Ra by the robotic system, the cylinder extends longitudinally in the direction X.

[0044] Optionally, the gripping system 6 can be articulated to the fourth chassis 5 along a second articulation axis Ah, horizontal perpendicular to the vertical rotation axis Av between the fourth chassis 5 and the third chassis 4, called the first rotation axis, and perpendicular to the axis of the cylinder gripped by the gripping system. The robotic system also comprises fifth motor means M5 configured to adjust the inclination of the gripping system 6, and thus the inclination of the gripped cylinder, by rotation of the gripping system around said second rotation axis Ah.

[0045] Such adjustment possibility offered by the second horizontal rotation axis Ah and the fifth motor means M5 allows to adjust the inclination of the gripped roll when removed or inserted into the rolling mill stand. The inclination is adjusted so that the gripped roll is parallel to the axes of the other rolls. Such an adjustment makes it possible to avoid collisions and / or markings of the removed roll by the robotic system when it is extracted or inserted into the rolling mill stand.

[0046] Thus, and when the cylinder is extracted (or inserted) from the rolling mill, the cylinder is oriented in the Y direction held by the gripping system 5 at its end on the side of the access opening of the rolling mill.

[0047] The 90° pivoting of the cylinder around the vertical rotation axis Av, (called the first rotation axis), makes it possible to place the cylinder on the rack Ra which is arranged laterally to the robotic system, and in particular laterally to the rails Ra1. The rolling installation according to the present disclosure is therefore devoid of a motorized rack system configured to be positioned between the robotic system and the rolling mill, and unlike the state of the art illustrated in Figures 1 and 2 .

[0048] The rack is preferably positioned on a support frame Cha, leaving a maintenance aisle AL following the X direction, along the access opening of the rolling mill, this maintenance aisle continuing between the support frame Cha and the rolling mill stand.

[0049] In particular, said installation may comprise at least one loading / unloading rack Ra, preferably positioned in a removable manner by simply pressing on the support frame Cha.

[0050] This support frame Cha is preferably anchored to the ground in an anchoring position at a distance from the rolling mill in the transverse Y direction, freeing said maintenance aisle AL in the X direction, along the access opening of the rolling mill. It is also noted that the support frame Cha is arranged laterally to the rails Ra1 along which the carriage of the robotic system moves.

[0051] Advantageously, the robotic system is configured to place the cylinder on a loading / unloading rack Ra resting on the support frame Cha in an anchoring position, once the gripped cylinder is pivoted by the fourth motor M4 by 90° relative to the position of the cylinder during extraction.

[0052] Said at least one rack Ra is configured as a removable component of the support frame Cha. The rack can preferably be handled by a vehicle such as an automated guided vehicle (AGV) or alternatively by the hoist of the rolling mill crane.

[0053] In particular, said at least one rack may comprise: a (first) rack configured for supporting the working cylinders 12, a (second) rack configured for supporting the first intermediate cylinders 13, a (third) rack configured for supporting the second intermediate cylinders 14, 15, a (fourth) rack configured for supporting the sets of support rollers A, B, C, D, E, F.

[0054] The various racks (in particular the first, second, third and fourth) each preferably have a plurality of housings (or cradles) which are substantially parallel to each other. The diameters of the housings (or cradles) are adapted to the cylinders (or set of rollers) to be collected.

[0055] The diameters of the housings (or cradles) are different, in whole or in part, between the first, second, third, fourth racks. The housings (or cradles) of said at least one rack Ra are oriented in the X direction, when said at least one rack Ra rests on the support frame Cha.

[0056] The support frame Cha may comprise a first support Cha1, and a second support Cha2, respectively anchored to the ground in a parallel manner along the Y direction. Said at least one rack Ra is configured to rest by taking support, the support frame Cha, by resting simultaneously on the first support Cha1 and the second support Ch2, at two opposite edges of the rack Ra.

[0057] The support frame Cha is preferably of a length, in the Y direction, greater than the dimension of said at least one rack. The Y direction extends in a horizontal direction perpendicular to the axes of the housings of the rack.

[0058] The Cha support frame is then advantageously configured to support several racks, distributed on the frame in different positions along the Y direction. For example, and at the Figure 3, the first support Cha1 and the second support Cha2 of the support frame Cha simultaneously support three (first) racks receiving working cylinders 12, in the Y direction. Again, and the Figure 4 , the support frame Cha (in particular the first support and the second support) supports respectively, two (first) racks receiving working cylinders 12, a (second) rack receiving first intermediate cylinders 13, and a (third) rack receiving second intermediate cylinders 14, 15.

[0059] It is also noted that the first support Cha 1 and the second support Cha2 of the support frame leave between them an intermediate clearance, free which can be crossed by the rack handling vehicle, in particular self-guided, (AGV, English acronym for "Automated Guided Vehicle") when this vehicle places a rack on the support frame Cha, or on the contrary removes a rack. Such a handling vehicle, is positioned between the first support and the second support to place a rack on the support frame Cha when removing a rack, by lowering a lifting member of the vehicle. When removing the racks, this vehicle is positioned under the rack to be handled by simply pressing on the support frame, the vehicle then retracted between the first support and the second support, and lifts it, by means of a lifting member.

[0060] This rack handling vehicle can in particular deposit a (first, second, third or fourth) rack, empty of cylinder, intended to receive the worn cylinders removed by the robotic system, and / or a (first, second, third or fourth) rack comprising in its housings new (or rectified) cylinders which are intended to be gripped by the robotic system to be inserted into the rolling mill stand.

[0061] Thus and when said rolling mill is a 20 High rolling mill, presents in relation to the plane of the metal strip to be rolled: two working rolls 12, including an upper working roll and a lower working roll, four first intermediate rolls 13, including two first upper intermediate rolls in contact with the upper working roll, and two first lower intermediate rolls in contact with the lower working roll, six second intermediate rolls 14, 15, including three second upper intermediate rolls in contact with the first two upper intermediate rolls, and three second lower intermediate rolls in contact with the first two lower rolls, eight sets of support rollers, each provided with a saddle secured to the cage, including four sets of upper rollers A, B, C, D, in contact with the three second upper intermediate rolls, and four sets of lower rollers E, F, G, H,in support with the three second intermediate cylinders, , then said robotic system can be advantageously configured to change all of the rolls of the rolling mill, namely the two working rolls 12, the first four intermediate rolls 13, the six second intermediate rolls 14, 15, and the eight sets of support rollers A to H, by placing them on one or more racks Ra positioned in the anchoring position of the support frame Cha anchored to the ground.

[0062] The rolling mill L may further have spray ramps, including two upper spray ramps and two lower spray ramps; said robotic system may then be configured to change the spray ramps by gripping a nozzle at the end of the spray ramps.

[0063] According to one embodiment, the gripping system 6 may comprise a tubular chassis 60 inside which is provided a locking / unlocking device 7, pivotally mounted by means of bearings 61, 62, around an axis of rotation, intended to be parallel, or even coincident with the axis of the gripped cylinder, by means of motor means M6, in particular sixth motor means.

[0064] The locking / unlocking device 7 may also comprise (seventh) motor means M7 configured to switch the locking device from a state of locking the tip Eb to a state of unlocking the tip. For example, locking may be obtained by the movement of jaws which clamp the tip by wedge effect.

[0065] The sixth M6 motors allow the orientation of the support roller assembly (or the spray ramp) to be adjusted around an axis parallel to the Y direction. For example, the support roller assembly (or the spray ramp) cannot be inserted into the rolling mill stand in any orientation.

[0066] For example, the support rollers are rotated relative to the saddle via eccentrics, by a shaft carrying a driven pinion. The teeth of this pinion must be engaged with the teeth of a drive pinion inside the rolling mill stand. The set of support rollers are rotatably mounted relative to the saddle, this saddle needing to be engaged in a given orientation in a receiving area of ​​the rolling mill stand.

[0067] The sixth motor means 6 then make it possible to pivot the set of support rollers, including the saddle which can be locked in rotation with the rollers, by a removable support (not shown).

[0068] The robotic system according to the present disclosure is configured for implementing an extraction method in which a cylinder (or even a set of support rollers or even a spray bar) is extracted, by gripping a nozzle Eb secured to a cylinder by the gripping system 6, or by gripping a cylinder by the gripping system locked by the gripping system, including: / a1 / Align the gripping system and / or the gripping system 6 with the axis of the roll to be gripped by moving the gripping system in the X direction by the action of the second motor means M2 and in the Z direction by the action of the third motor means M3, / b1 / Grip the roll by the gripping system or said gripping system integral with the gripping system after the advance of the carriage along the rails Ra1 in the Y direction under the action of the first motor means M1, and in particular by locking the end piece by the locking device 7, under the actuation of the seventh motor M7, / c1 / Extract the roll from the rolling mill stand by moving the carriage back along the rails in the Y direction, under the action of the first motor means M1, / d1 / Pivot the extracted roll a quarter turn around said vertical rotation axis Av under the action of the fourth motor means M4,and lower the pivoted cylinder by a quarter turn under the action of the third motor means M3 to ensure the deposit, on the loading / unloading rack, arranged laterally to the rails and to the movement zone of the carriage, / e1 / Release the cylinder, by the retraction of the gripping system in the direction X, by the action of the second motors M2, in particular after unlocking the locking / unlocking device 7 under the action of the seventh motor means M7.,

[0069] The robotic system according to the present disclosure is configured for implementing a method for inserting a cylinder of a rolling installation according to the present disclosure in which a cylinder (or even a set of support rollers or even a spray ramp) is inserted, by gripping an end piece secured to a cylinder by the gripping system, or by gripping a cylinder by the gripping system locked by the gripping system, including: / a2 / Align the gripping system and / or the gripping system 6 with the axis of the cylinder to be gripped on the unloading / loading rack Ra by moving the gripping system 6 in the Y direction by the action of the first motor means M1 and in the Z direction by the action of the third motor means M3, / b2 / Grip the cylinder by the gripping system or said gripping system integral with the gripping system after the advance of the carriage along the rails in the X direction under the action of the second motor means M2, in particular by locking the end piece by the locking device 7, under the actuation of the seventh motor M7, / c2 / Lift the cylinder from the rack in the Z direction under the action of the third motor means M3, and pivot the extracted cylinder around said vertical rotation axis Av under the action of the fourth motor means M4 by a quarter turn, / d2 / align the axis of the cylinder in an alignment position in the rolling mill stand, by moving the gripping system in the X direction by the action of the second motor means M2 and in the Z direction by the action of the third motor means M3 / e2 / Insert the cylinder into the rolling mill stand in the alignment position, by advancing the carriage in the Y direction by the action of the first motor means M1, / f2 / Release the cylinder by the robot moving back in the Y direction, by the action of the first motors M1 and in particular after unlocking the end piece by the locking device 7, under the actuation of the seventh motor M7. Industrial application

[0070] These technical solutions can be applied in particular in cold rolling installations and in particular rolling installations comprising one or more rolling mills, in particular 20Hi rolling mills.

[0071] The robotic system according to the present disclosure makes it possible to change the working cylinders 12, or even the first intermediate cylinders 13 and second intermediate cylinders 14, 15, or even the sets of support rollers A, B, C, D, E, F, G, H, or even the spray ramps, while increasing the safety of operations for the operators.

[0072] The arrangement with the position of said at least one rack on a support frame arranged laterally to the rails, at a distance along the transverse direction Y, makes it possible to leave free the maintenance aisle AL which can extend continuously along the rolling mills when each one is equipped with a robotic system according to the present disclosure. List of reference signs

[0073] Figure 1 & 2(State of the art): Bm. Metal strip, Cy L. Rolling mill, Ro. Robot, Ra1. Rails (robot) Ch1. First chassis, (Robot) Ch2. Second chassis (Robot), Ch3. Third chassis (Robot), Rac. Rack system, Ra2: Rails (rack), Ch11. First chassis, Ch12. Second chassis. Figures 2 to 10: Invention L. Rolling mill, 1. Robotic system, Ro. Robot, Ra1. Rail in the Y direction 2. First chassis 20. Wheels, M1. First motor means (movement of the carriage in the Y direction) 3. Second chassis, G1. First slide system in the X direction (between the second and the first chassis), M2. Second motor means (movement of the carriage in the X direction), 4. Third chassis, G2. Second slide system in the Z direction M3. Third motor means (movement of the third chassis along the second slide system in the Z direction) 5. Fourth chassis, Av. Vertical axis of rotation (between the fifth and fourth chassis), called the first axis of rotation M4. Fourth motor means (pivoting of the fourth chassis relative to the third chassis around the vertical axis of rotation), Ah. Horizontal axis of rotation between the gripping system and the fourth chassis, M5.Fifth motor means (pivoting of the gripping system around the horizontal rotation axis allowing the adjustment of the inclination of the cylinder gripped by the gripping system, 6. Gripping system, 60. Tubular chassis, 7. Locking / unlocking device M6. Sixth motor means (pivoting of the cylinder gripped by the gripping system around its axis, or a parallel axis), .M7. Seventh motor means (locking / unlocking device). Figures 11 : Rolling mill arrangement 20 Hi Gi, Gs. Respectively upper group and lower group, 12. Working rolls, 13. First intermediate rolls, 14,15. Second intermediate rolls, A, B, C, D. respectively the four support rolls or sets of support rollers of the upper group, E, F, G, H. respectively the four support rolls or sets of support rollers of the lower group.

Claims

1. Robotic system (1) for a metal strip rolling plant, the plant comprising a rolling mill (L) having a rolling stand and a set of rolls, inside the stand, including two work rolls (12), back-up rolls or back-up rollers (A, B, C, D, E, F, G, H), or even intermediate rolls, in particular first intermediate rolls (13) and second intermediate rolls (14, 15), the rolling stand having an access opening, which is optionally closed by a door system, the metal strip (Bm) extending longitudinally in a horizontal X direction and transversely in a horizontal Y direction, the Y direction being parallel to the roll axes of the rolling mill, and the robotic system (1) being suitable for performing operations for changing the rolls of the rolling mill, by removing worn rolls from the rolling mill stand and / or inserting new or ground rolls into the rolling mill stand, the robotic system comprising a robot (Ro) comprising: - a carriage comprising a first frame (2) which is provided with wheels (20) engaging with rails (Ra1) which are arranged on the ground and extend in the Y direction, at right angles to the access opening of the rolling mill stand, the first frame (2) being configured to move in the Y direction along the rails (Ra1), under the action of first motor means (M1) driving the wheels (20), - a second frame (3) and a first slide system (G1) connecting the second frame (3) and the first frame (2), which is configured to move the second frame (3) relative to the first frame (2) in the X direction, under the action of second motor means (M2) - a third frame (4) and a second slide system (G2) connecting the third frame (4) and the second frame (3), which is configured to move the third frame (4) relative to the second frame (3) in a vertical Z direction, under the action of third motor means (M3), characterized in that it comprises: - a fourth frame (5), and rotational guide means connecting the fourth frame and the third frame about a vertical axis of rotation (Av), which are configured to rotate the fourth frame (5) relative to the third frame (4), under the action of fourth motor means (M4), - a grasping system (6), mounted on the fourth frame (5), comprising an actuator configured to control the locking and unlocking of the grasping of an end piece (Eb) secured to a roll, or the grasping of an end piece of a system for gripping a roll of the rolling mill, and the robotic system (1) being configured to ensure the extraction of a roll by the end piece secured to the roll being grasped, or by the roll being grasped by the gripping system locked by the grasping system, with the roll being deposited, laterally to the rails, after the roll has been pivoted by the rotation of the fourth frame (5) relative to the third frame (4) about the vertical axis of rotation (Av).

2. Robotic system according to claim 1, wherein the grasping system (6) is articulated with respect to the fourth frame along a second horizontal articulation axis (Ah) perpendicular to the vertical axis of rotation (Av) between the fourth frame (5) and the third frame (4), referred to as the first axis of rotation, and perpendicular to the axis of the roll grasped by the grasping system, the robotic system comprising motor means (M5), in particular fifth motor means, which are configured to adjust the inclination of the grasping system (6), and thus the inclination of the grasped roll, by the rotation of the grasping system about the second axis of rotation.

3. Robotic system according to claim 1 or 2, wherein the grasping system (6) comprises a tubular frame (60) inside which a locking / unlocking device (7) is provided, which is pivotally mounted via bearings (61, 62) about an axis of rotation that is intended to be parallel to or even coincide with the axis of the grasped roll, via motor means (M6), in particular sixth motor means, and wherein the locking / unlocking device (7) comprises the actuator, including motor means (M7) configured to switch the locking device from an end piece locking state to an end piece unlocking state.

4. Rolling plant comprising a robotic system (1) according to any of the preceding claims and a rolling mill comprising the stand and the set of rolls, inside the stand, including the two work rolls (12), the back-up rolls or the back-up rollers (A, B, C, D, E, F, G, H), or even the intermediate rolls, in particular the first intermediate rolls (13) and the second intermediate rolls (14, 15), the rolling stand having the access opening, optionally closed by the door system, the metal strip Bm extending longitudinally in a horizontal X direction and transversely in a horizontal Y direction, in parallel with the axes of rolling mill rolls, and and wherein the plant comprises a loading / unloading rack (Ra), which is removably positioned on a support frame (Cha) anchored to the ground in an anchoring position at a distance from the rolling mill in the transverse Y direction and laterally to the rails (Ra1), which frees a maintenance path (AL) in the X direction, along the access opening of the rolling mill, the rack (Ra) resting on the support frame (Cha) having cavities, oriented in the X direction, and wherein the robotic system is configured to deposit the roll, on the loading / unloading rack (Ra) resting on the support frame (Cha), after the roll has been pivoted by the rotation of the fourth frame (5) relative to the third frame (4) about the vertical axis of rotation (Av), the roll then being oriented in the X direction.

5. Rolling plant according to claim 4, wherein the support frame (Cha) is longer in the Y direction than the dimension of the at least one rack (Ra), the Y direction then being perpendicular to the cavity axes of the at least one rack (Ra), the support frame (Cha) being configured to support a plurality of racks, which are distributed over the length of the support frame (Cha) at different positions in the Y direction.

6. Rolling plant according to claim 4 or 5, wherein the support frame (Cha) comprises a first support (Cha1), and a second support (Cha2), which are respectively anchored to the ground so as to be parallel in the Y direction, and wherein the at least one rack (Ra) is configured to rest in a supporting manner, the support frame Cha, resting simultaneously on the first support and the second support, at two opposite edges of the rack (Ra) and wherein the first support Cha1 and the second support Cha2 of the support frame leave therebetween a free intermediate clearance configured such that a rack handling vehicle is able to pass through said clearance, in particular a self-guided vehicle, when this vehicle deposits a rack on the support frame (Cha), e.g., an empty roll rack intended to receive used rolls removed by the robotic system, and / or a rack comprising new (or ground) rolls in its cavities, which rolls are intended to be grasped by the robotic system so as to be inserted into the rolling mill stand.

7. Rolling plant according to any of claims 4 to 6, wherein the rolling mill is a 20 high rolling mill, which comprises, with respect to the plane of the metal strip to be rolled: - two work rolls (12), including an upper work roll and a lower work roll, - four first intermediate rolls (13), including two upper first intermediate rolls in contact with the upper work roll, and two lower first intermediate rolls in contact with the lower work roll, - six rolls second intermediate rolls (14, 15), including three upper second intermediate rolls in contact with the two upper first intermediate rolls, and y three lower second intermediate rolls in contact with the two lower first rolls, - eight sets set of back-up rollers, each provided with a saddle secured to the stand, including four sets of upper rollers (A, B, C, D), supported by the three upper second intermediate rolls, and four sets of lower rollers (E, F, G, H), supported by the three second intermediate rolls, and wherein the robotic system is configured to change all the rolls of the rolling mill, namely the two work rolls, the four first intermediate rolls, the six second intermediate rolls, and the eight sets of back-up rollers, by depositing them on one or more racks (Ra) positioned in the anchoring position of the support frame (Cha) anchored to the ground.

8. Rolling plant according to claim 7, wherein the rolling mill (L) has spray ramps, including two upper spray ramps and two lower spray ramps, and wherein the robotic system is configured to change spray ramps.

9. Roll extraction method implemented in a rolling plant according to any of claims 4 to 8, wherein a roll is extracted by an end piece (Eb) secured to a roll being grasped by the grasping system (6), or by a roll being grasped by the gripping system locked by the grasping system, including: - / a1 / Aligning the gripping system and / or grasping system (6) with the axis of the roll to be grasped by moving the grasping system in the X direction by means of the second motor means (M2) and in the Z direction by means of the third motor means (M3), - / b1 / Grasping the roll by means of the grasping system or the gripping system secured to the grasping system after the carriage has moved forward along the rails in the Y direction under the action of the first motor means (M1), - / c1 / Extracting the roll from the rolling stand by moving the carriage backward along the rails in the Y direction, under the action of the first motor means (M1), - / d1 / Pivoting the extracted roll by a quarter turn about the vertical axis of rotation (Av) under the action of the fourth motor means (M4), and lowering the roll pivoted by a quarter turn under the action of the third motor means (M3) to ensure it is deposited on the loading / unloading rack arranged laterally with respect to the rails and to the carriage movement zone, - / e1 / Releasing the roll by moving the grasping system (6) backward in the X direction, by means of the second motors (M2).

10. Roll insertion method implemented in a rolling plant according to any of claims 4 to 8, wherein a roll is inserted by an end piece secured to a roll being grasped by the grasping system, or a roll being grasped by the gripping system locked by the grasping system, including: - / a2 / Aligning the gripping system and / or the grasping system (6) with the axis of the roll to be grasped on the unloading / loading rack (Ra) by moving the grasping system (6) in the Y direction by means of the first motor means (M1) and in the Z direction by means of the third motor means (M3), - / b2 / Grasping the roll by means of the grasping system or the gripping system secured to the grasping system after the carriage has moved forward along the rails in the X direction under the action of the second motor means (M2), - / c2 / Lifting the roll from the rack in the Z direction under the action of the third motor means (M3), and rotating the extracted roll about the vertical axis of rotation (Av) under the action of the fourth motor means (M4) by a quarter turn, - / d2 / Aligning the roll axis in an alignment position in the rolling mill stand by moving the grasping system in the X direction by means of the second motor means (M2) and in the Z direction by means of the third motor means (M3) - / e2 / Inserting the roll into the rolling mill stand in the alignment position by moving the carriage forward in the Y direction by means of the first motor means (M1), - / f2 / Releasing the roll by moving the robot backward in the Y direction, by means of the first motors (M1).