Method for changing working roll(s) in a rolling mill and gripping tool suitable for carrying out the method

Abstract

This disclosure relates to a tool intended to be manipulated by a maneuvering system, the grasping tool comprising: - a support frame forming at least a pair of locations (E1, E4) for storing two work cylinders, - independent gripping systems (SP1, SP4), including a first gripping system (SP1) configured to secure one end of a work cylinder in a first location (E1) and a second gripping system (SP4) configured to secure one end of a work cylinder in a second location, - a push / pull system comprising one or more cylinders (VR) configured to extract or insert the worn / new cylinders from the locations by selectively moving each of the gripping systems (SP) associated with the locations (E1, E4), causing a movement of the work cylinder along an axis of the cylinder.

Description

[0001] The invention relates to a method for changing work rolls of a rolling mill, particularly in the presence of a rolled metal strip between the two work rolls, including an upper work roll and a lower work roll, the method being suitable for extracting at least one work roll from the rolling mill stand, in particular extracting at least one worn work roll, and inserting at least one work roll, in particular a new one, as a replacement.

[0002] This disclosure further relates to a gripping tool suitable for implementing the process, the gripping tool being suitable for extracting at least one worn work roll and for inserting and placing at least one new lower and / or upper work roll into the rolling mill stand.

[0003] The present disclosure further relates to an assembly comprising a maneuvering system, such as a trolley system or a robotic system and a grasping tool, manipulated by the maneuvering system, typically in all three directions of space, or even in one or more degrees of rotation.

[0004] The present invention thus finds an advantageous application for multi-roll rolling mills for carrying out maintenance operations, such rolling mills typically being " Sendzimir "with 20 cylinders." technical field

[0005] Cold rolling allows the final thickness of a metal strip to be obtained by successive passes of this strip between cylinders in the presence of high forces simultaneously in pressure and tension.

[0006] A rolling mill of the " Sendzimir» comprises a plurality of cylinders, or rollers, which are arranged relative to each other to allow the change of the mechanical characteristics of a metal strip and to obtain a strip thickness which can typically be less than 3 millimeters.

[0007] In particular, a "Sendzimir" rolling mill is known which can have twenty rolls; an example of the realization of such a twenty-roll mill is illustrated in US documents 5,193,377 and US 5,471,859.

[0008] There figure 1represents a schematic view of a cross-section of a twenty-roll rolling mill. In this figure, the rolls are divided into a lower group GI and an upper group Gs; more precisely, these groups GI and Gs have a symmetrical structure and each comprise ten rolls including: one working roll 12, two first intermediate rolls 13, three second intermediate rolls 14 and 15, and four support rolls, or support rollers, which are outside the arrangement and are marked A, B, C and D for the upper group GS and E, F, G, H for the lower group GI.

[0009] This nomenclature for the different cylinders constituting a twenty-roll rolling mill is in use in the field of rolling mills, and is well known to those in the trade.

[0010] By convention in this disclosure, and as represented in the figure 1 An orthogonal XYY coordinate system is chosen for which: The X direction, longitudinal, is oriented along the direction of the strip's movement between the two working cylinders of the rolling mill; the Y direction, transverse, corresponds to the width direction of the strip, which extends from one edge of the strip to a second edge of the strip; the Z direction is perpendicular to the X and Y directions and is typically the vertical direction.

[0011] It is recognized in the field of rolling mills that this arrangement of cylinders illustrated in figure 1 allows for efficient processing of a BM metal strip to obtain the desired strip thickness.

[0012] Due to the stresses exerted on the work rolls 12 and during the working of a metal strip BM, these parts 12 require very regular maintenance due to their wear: it is therefore desirable to be able to extract and replace the work rolls 12, in a way that is safe for the operators, and minimizing the time during which the rolling operations must be stopped. Previous technique

[0013] The prior art thus includes maneuvering systems, typically with trolleys, or even robotic systems such as, for example, disclosed by WO2022 / 223927A1 of the present Applicant, which represents the prior art closest to the subject of claim 1, or JPS634312 which allow for the extraction of worn cylinders, then their replacement with new working cylinders.

[0014] According to the inventors' findings, prior art maneuvering systems such as robotic systems according to WO2022 / 223927A1 or JPS634312 include a grasping tool that is configured to be moved by the maneuvering system typically in at least three directions in space, or even along one or more degrees of rotation.

[0015] Roll change operations require stopping rolling operations, including stopping the movement of the metal strip, and opening the rolling mill stand by loosening the two work rolls, or, where the stand has two parts, lower and upper respectively, movable relative to each other, by separating the two parts to facilitate access to the work rolls.

[0016] The gripping tool is then configured to grasp a work cylinder in order to remove it, and then to place it typically on a fixed rack, away from the rolling mill stand as disclosed by WO2022 / 223927A1 or JPS634312.

[0017] The process typically involves removing the upper work roll. To this end, the operating system positions the gripping tool at a maintenance window in the rolling mill stand and centers the tool in the transverse and / or vertical direction to align one axis of the gripping tool with the roll to be gripped. After gripping the work roll, the robotic system removes it by moving the roll along its axis parallel to the transverse Y direction. The operating system then moves the work roll away from the window and lowers the work roll into an empty space on the rack by moving the gripping tool.

[0018] The maneuvering system again moves the gripping tool, from the rack to the right of the cage maintenance window to repeat these operations in order to remove the lower working cylinder, then to place the lower working cylinder, on a second empty location in the rack.

[0019] The handling system returns to the rack to pick up a new work roll, then moves it to the maintenance window for insertion into the rolling mill stand, for example, as the lower work roll after centering it with a lower slot in the rolling mill stand. The handling system then returns to the rack to pick up a second new work roll, then moves it to the maintenance window for insertion into the rolling mill stand, for example, as the upper work roll after centering it with an upper slot in the rolling mill stand.

[0020] Once the changeover operations are complete, the working cylinders can be tightened onto the strip, which is put back into motion to restart the rolling operations.

[0021] According to the Applicant's findings, such a solution for changing working cylinders requires stopping rolling operations for the entire duration of the round-trip cycles from the rolling mill to the racks, which reduces the efficiency of the rolling plant.

[0022] We also know of a second state of the art which is described as prior art in WO2022 / 223927A1 and illustrated in the first two figures of this prior art.

[0023] According to this state of the art in robotics, the robotic system comprises a robot including: a trolley comprising a first chassis equipped with wheels cooperating with rails arranged on the ground, extending along the Y direction, at the right of the access window of the rolling mill cage, said first chassis configured to move along the Y direction, transverse, 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 along the X direction, longitudinal, 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 along the Z direction, vertical, under the action of third motor means.

[0024] A gripping tool is attached to the third chassis, and such a robotic system, according to the state of the art, is configured to ensure the extraction of one or two cylinder(s), by holding only one cylinder at a time, through the implementation of the following steps: align the gripping tool with the axis of the cylinder to be gripped by moving the tool oriented 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, grip the cylinder by the gripping tool by advancing the carriage along the rails, extract the cylinder from the rolling mill cage by recoiling the carriage along the rails along the Y direction, under the action of the first motor means.

[0025] At the end of the cylinder extraction process, which is carried out by the robot's recoil along the rails, the extracted cylinder is entirely outside the rolling mill stand, oriented axially parallel to the transverse Y-direction. The cylinder is then in an intermediate position where the working cylinder is located between, on one side, the access window of the rolling mill stand, left open by the door system, and on the other side, the robot carriage.

[0026] In this prior art, cylinder removal requires additional motorized equipment, illustrated as prior art in document WO2022 / 223927A1, comprising a motorized removal rack system, at least along the horizontal X direction, to position itself between the rolling mill and the robot. This rack system can also be motorized and moved along the horizontal Y direction.

[0027] The rack system can thus itself comprise a trolley with a first chassis configured to move along rails arranged parallel to the robot rail, laterally to the robot, in the transverse Y direction by a first motor, and a second chassis carrying the cylinder loading / unloading rack, configured to be moved, relative to the first chassis, in the X direction by means of a sliding system between the second chassis and the first chassis, and second motors.

[0028] The rack is thus moved by the first chassis along the rails, in the Y direction, then by moving the second chassis in the X direction, cantilevered from the first chassis, to ensure the placement of the cylinder by the robot on the rack which is carried out, 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.

[0029] According to the inventor's findings, the mobile rack system is equipment that is positioned near the rolling mill's robotic system and cage during roll changeover operations, thereby reducing the movement of the gripping tool required to replace the work rolls, in comparison to the aforementioned prior art. However, as explained in the introduction to document WO2022 / 223927A1, this solution obstructs the maintenance aisle, which extends along the X-direction along the access openings of the various rolling mills.

[0030] According to the Applicant's findings, there has long been a need for a method of changing the working rolls of a rolling mill, as well as a suitable gripping tool for implementing such a method which greatly reduces the time during which rolling operations must be stopped, advantageously without obstructing the maintenance aisle, and contrary to the aforementioned prior art.

[0031] However, US2021107046 discloses a gripping tool configured for changing a rolling mill. This tool comprises four grippers attached to a single support, allowing two new, pre-loaded work rolls to be inserted laterally onto two of the grippers, alongside the two worn rolls in the mill stand. This insertion is done before gripping the two worn rolls, thus enabling their removal. This tool requires a rolling mill with a stand opening that allows for the coexistence of new and worn rolls within the stand. JP H063203 B2 (D2) also discloses equipment comprising a gripping tool configured to grip work rolls one by one. This equipment therefore requires that each gripped roll be placed on a fixed platform during the changeover operations before another roll can be gripped in the stand. Summary

[0032] This disclosure improves the situation.

[0033] A proposal is made according to one aspect, and in particular according to a first possibility,a method for changing the working rolls of a rolling mill, in the presence of a rolled metal strip between the two working rolls, the rolling mill having a stand receiving at least one upper working roll and one lower working roll, said working rolls each having a generatrix of contact with the metal strip, said generatrices of contact and the axes of the working rolls being in a plane substantially perpendicular to a direction of travel of the metal strip, rolling elements such as first intermediate rolls, being in contact along two generatrices of contact with each of the working rolls, the rolling elements ensuring the transmission of a rolling force to the lower and upper working rolls in contact with the metal strip during the rolling operations,a process in which the replacement of a working cylinder of the rolling mill stand is ensured, characterized by: , / A / supply of a maneuvering system, such as a robotic system, and supply of a gripping tool manipulated by the maneuvering system, at least by movement along a longitudinal direction oriented along a longitudinal direction X of the tape's movement between the two working cylinders and / or along a vertical direction Z and / or along a rotation around the axis of the direction Y, or even with a movement along a transverse direction Y, said gripping tool comprising at least one pair of locations for working cylinders, the locations extending longitudinally, parallel to each other, said at least one pair of locations comprising a first location for a worn working cylinder provided with a first gripping system and a second location for a new working cylinder provided with a second gripping system,said at least one pair configured for the simultaneous parallel holding of the worn work cylinder and the new work cylinder and in which at least one worn upper or lower work cylinder is replaced, / B / pre-loading of the second position with a new work cylinder, the first position for a worn cylinder being left free, the pre-loading carried out during the rolling operations of the metal strip between the upper work cylinder and the lower work cylinder, / C / stopping the rolling operations and opening by separating the upper and lower work cylinders, / D / centering of the first position, free of the gripping tool by displacement caused by the operating system along the longitudinal direction X and / or along the vertical direction Z and / or along a rotation around the Y axis,in order to align the first position with a worn work roll in the rolling mill stand, consisting of the upper or lower work roll, / E / gripping the worn work roll by the first gripping system of the gripping tool, and extracting the worn work roll along an axis of the work roll, parallel to the transverse direction Y until the worn work roll is loaded into the first position, the worn work roll being removed leaving an empty space in the rolling mill stand, / H / centering the second position of the gripping tool pre-loaded with the new work roll, by moving the gripping tool by the operating system along the longitudinal direction X and / or along the vertical direction Z and / or by rotating around the axis Y, in order to align the new work roll with the empty space in the rolling mill stand,and while the first slot is loaded with the worn work roll, removed. / I / insertion of the new work roll contained in the second slot into the empty clearance of the rolling mill stand by a push from the second gripping system.

[0034] According to an advantageous embodiment, and in particular according to a second possibility,The input tool comprises said first location for a first worn work roll equipped with the first gripping system and said second location for a second new work roll equipped with a second gripping system, the first and second locations forming a first pair of locations, but also a third location for a second worn work roll equipped with a third gripping system and a fourth location for a second new work roll equipped with a fourth gripping system, the third and fourth locations forming a second pair of locations, and wherein the replacement of the upper worn work roll and the lower worn roll in the rolling mill stand is carried out by the following steps said step / A / of supplying a maneuvering system, such as a robotic system, and a gripping tool manipulated by the maneuvering system, at least along a longitudinal direction oriented along a longitudinal direction X of the strip's movement between the two working rollers and / or at least along a vertical direction Z, and / or at least a rotation about the Y axis, or even a movement along a transverse direction Y said step / B / of pre-loading the second location with a first new working roller, and further pre-loading the fourth location with a second new working roller, the first location with a first worn roller and the third location with a second worn roller being left free, the pre-loading being carried out during the strip rolling operations between the upper working roller and the lower working roller,said step / C / of stopping the rolling operations and opening by separating the upper work roll and the working roll, said step / D / of centering the first free position by moving the gripping tool caused by the operating system along the longitudinal direction X and / or along the vertical direction Y, in order to align the first position with a first worn work roll in the rolling mill stand, which is the upper work roll or the lower work roll, said step / E / of gripping the first worn work roll by the first gripping system of the gripping tool, and extracting the worn work roll along an axis of the work roll, parallel to the transverse direction Y until the worn work roll is loaded into the first position, the worn work roll leaving a first empty space in the stand, / F / centering the third position,free of the gripping tool by displacement of the gripping tool caused by the maneuvering system along the longitudinal direction X and / or along the vertical direction Z and / or rotation along the axis Y:, in order to align the third location with a second worn work roll, lower work roll or upper work roll in the rolling mill stand / G / gripping of the second worn roll by said third gripping system of the gripping tool, and extraction of the worn work roll along an axis of the work roll, parallel to the transverse direction Y until the loading of the second worn work roll in the third location is obtained, the worn work roll leaving a second empty clearance in the stand,step / H / of centering the second location of the gripping tool pre-loaded with the first new work cylinder by moving the gripping tool by the maneuvering system 1 along the longitudinal direction X and / or along the vertical direction Z, and / or rotating along the transverse direction Y, in order to align the first work cylinder with the empty clearance of the gripping tool cage, first empty clearance or second empty clearance, and while the first and third locations are loaded with the first worn work cylinder and the second worn work cylinder, step / I / of inserting the first new work cylinder contained in the second location into the empty clearance, by a push from the second gripping system, / J / Centering of the fourth pre-loaded slot of the second new cylinder by moving the gripping tool by the operating system 1 along the longitudinal direction X and / or along the vertical direction Z, and / or rotating along the transverse direction Y, in order to align the second new cylinder with the other empty space by moving the gripping tool caused by the operating system, and while the first and third slots are loaded with the first worn working cylinder, and the second worn working cylinder, / K / Insertion of the second new working cylinder contained in the fourth slot into the other empty space by a push from the fourth gripping system.

[0035] According to this disclosure, the various locations are equipped with independent gripping systems configured to secure one end of a work cylinder, each gripping system configured to provide a push during work cylinder insertion or configured to provide a pull during cylinder extraction, by moving the gripping system along the location.

[0036] In one embodiment, the gripping systems are mechanized grippers, magnetic suction cups, or pneumatic suction cups, wherein the mechanized grippers, magnetic suction cups, or pneumatic suction cups are configured to grasp one end of a work cylinder. According to this disclosure, the gripping tool includes a push / pull system comprising one or more cylinders configured to extract or insert worn / new cylinders from the slots by selectively moving each of the gripping systems associated with the slots, thereby causing a displacement of the work cylinder along a longitudinal axis of the work cylinder.by pulling the worn cylinder in the first position when the process is according to the first possibility, or by pulling the worn cylinders in the first and third positions when the process is according to the second possibility, and to insert the new cylinder contained in the second position into the rolling mill stand when the process is according to the first possibility, or to insert the first new cylinder contained in the second position and the second new cylinder contained in the fourth position into the rolling mill stand when the process is according to the second possibility. In one embodiment, the push / pull system comprises: , a single cylinder for selectively moving the gripping systems of the different locations, and in particular for selectively moving the first gripping system and the second gripping system of said at least pair of locations consisting of the first location and the second location when the process is according to the first possibility, or for selectively moving the first gripping system, the second gripping system, the third gripping system, and the fourth gripping system of said first location, second location, third location, and fourth location when the process is according to the second possibility; a mechanism for ensuring the coupling of a moving drive part of the cylinder selectively with the gripping systems of the different locations.and in particular selectively with the first gripping system or the second gripping system when the process follows the first possibility, or selectively with the first gripping system, the second gripping system, the third gripping system or the fourth gripping system when the process follows the second possibility.

[0037] According to one embodiment, the locations include said gripping systems configured to insert or extract the work cylinders, by moving the work cylinders along the axis of the work cylinder through open distal ends of the longitudinal locations, the locations having, respectively along the length of the locations, lateral loading / unloading openings, coupled to loading / unloading systems associated with the locations, said independent loading systems configured to load said locations during the pre-loading step / B / , each loading / unloading system configured to ensure the loading / or unloading of one of the locations through the lateral openings.

[0038] According to one embodiment, said locations for the worn cylinder(s) and the new cylinder(s) are arranged in parallel around a central axis of the gripping tool, said gripping tool comprising a drum forming a support frame having longitudinal cradles, distributed angularly around the central axis configured to receive the worn and new cylinders, defining said locations respectively.

[0039] According to one embodiment, said operating system includes motorized means for ensuring the pivoting of the drum around the central axis and in which the independent loading / unloading systems include, for each location, a pair of gripping arms comprising a first arm and a second arm articulated respectively on two longitudinal edges of the cradle, configured to move from a closed position in which the two arms hold a working cylinder in the cradle, to an open position in which the two arms move apart by a distance greater than a diameter of the working cylinder allowing the loading / or unloading of the cradle through the lateral opening. Preferably, the loading and / or unloading of one of the cradles is carried out by rotating the drum until the cradle to be loaded / unloaded is positioned with the lateral opening facing downwards.and by moving the gripping arm couple from the open position to the closed position during loading, and by moving the gripping arm couple from the closed position to the closed position during unloading, allowing gravity unloading through the side opening.

[0040] According to one embodiment, said single cylinder is arranged within a tubular housing of the drum centered on the central axis and in which said drum is configured to pivot around the cylinder, mounted non-pivoting relative to the operating system, the radially projecting moving drive part, said mechanism to ensure the selective coupling of the moving drive part of the cylinder with the gripping systems, comprising the drum mounted pivoting around the cylinder under the action of motorized means such that the coupling is obtained by pivoting the drum so as to match the moving drive part of the cylinder with selectively the first gripping system, the second gripping system when the process is according to the first possibility or also with selectively the first gripping system, the second gripping system, the third gripping system,or the fourth gripping system when the process follows the second possibility.

[0041] According to one embodiment, the process is implemented in a rolling mill installation comprising the rolling mill including said stand and said set of rollers, internal to the stand, including the two working rollers, the support rollers or the support rollers, or even the intermediate rollers, in particular the first intermediate rollers and the second intermediate rollers, the rolling mill stand having said access window, optionally closed by the door system, the metal strip extending longitudinally in the horizontal X direction, and transversely in the horizontal Y direction, parallel to the axes of the rolling mill rollers and in which said installation includes a loading / unloading rack, removably positioned on a support frame anchored to the ground in an anchoring position at a distance from the rolling mill in the transverse Y direction so as to free up a maintenance aisle in the longitudinal X direction,and in which pre-loading in / B / is implemented remotely from a cage access window by loading the gripping tool from one or more new cylinders arranged on the loading / unloading rack.

[0042] According to a second aspect, This disclosure relates to a data entry tool suitable for implementing the process described in this disclosure, intended to be manipulated by a control system, the data entry tool comprising: a support frame comprising at least one pair of two cradles forming at least one pair of locations for storing two work cylinders forming at least one first location intended for a new work cylinder and a second location intended for a worn work cylinder, said two work cylinders extending longitudinally, in parallel in said at least two cradles, independent gripping systems, including a first gripping system configured to secure one end of a work cylinder in the first location and a second gripping system configured to secure one end of a work cylinder in the second location, a push / pull system comprising one or more cylinders configured to extract or insert the worn / new cylinders from the locations by selective movement of each of the gripping systems associated with the locations,by causing a displacement of the work cylinder along an axis of the cylinder and wherein said gripping tool is configured to permit the replacement of a worn work cylinder with a new work cylinder by removing a worn work cylinder from the stand of a rolling mill by gripping the first gripping system and pulling the cylinder by actuation of the cylinder until the worn work cylinder is loaded into the first location, then inserting a new work cylinder into the stand of a rolling mill contained in the second location by pushing the second gripping system while the first location contains the worn work cylinder.

[0043] According to one embodiment, the support frame comprises two pairs of cradles forming two pairs of locations for storing two work cylinders, including, in addition to the first location intended for a first worn work cylinder and the second location intended for a first new work cylinder, a third location intended for a second worn work cylinder, and a fourth location intended for a second new work cylinder, said gripping systems, comprising, in addition to the first gripping system and the second gripping system, a third gripping system configured to secure one end of a work cylinder in the third location and a fourth gripping system configured to secure one end of a work cylinder in the fourth location,and in which said input tool is configured to allow the replacement of a worn first working cylinder with a new first working cylinder and the replacement of a worn second working cylinder with a new second working cylinder by: , removal of the first worn work roll from the stand of a rolling mill by grasping the first gripping system and pulling the work roll by actuation of the cylinder until the worn work roll is loaded into the first location, removal of the second worn work roll from the stand of a rolling mill by grasping the third gripping system and pulling the cylinder by actuation of the cylinder until the worn work roll is loaded into the third location, insertion of the first new work roll into the stand of a rolling mill contained in the second location by pushing the second gripping system and insertion of the second new work roll contained in the fourth location, and while the first location contains the first worn work roll and the third location contains the second worn work roll.

[0044] According to one embodiment, said push / pull system comprises: a single cylinder for selectively moving the gripping systems of the different locations, and in particular for selectively moving the first gripping system and the second gripping system of said at least pair of locations consisting of the first and second locations, in particular when the tool includes a pair of locations, or for selectively moving the first gripping system, the second gripping system, the third gripping system, and the fourth gripping system of said first, second, third and fourth locations when the tool includes two pairs of locations; a mechanism for selectively coupling a moving drive part of the cylinder with the gripping systems of the different locations.and in particular selectively with the first gripping system or the second gripping system when the gripping tool includes a pair of locations, or selectively with the first gripping system, the second gripping system, the third gripping system or the fourth gripping system when the gripping tool includes two pairs of locations.

[0045] According to one embodiment, the locations include said gripping systems configured to insert or extract the work cylinders, by moving the work cylinders along the axis of the work cylinder through open distal ends of the longitudinal locations, the locations having, respectively along the length of the locations, lateral loading / unloading openings, coupled to loading / unloading systems associated with the locations, said loading systems being independent, each loading / unloading system configured to ensure the loading / or unloading of one of the locations through the lateral openings.

[0046] According to one embodiment, said locations for the worn cylinder(s) and the new cylinder(s) are arranged in parallel around a central axis of the gripping tool, said gripping tool comprising a drum forming a support frame having longitudinal cradles, distributed angularly around the central axis configured to receive the worn and new cylinders, defining said locations respectively and in which the drum is configured to pivot around the central axis.

[0047] According to one embodiment, the independent loading / unloading systems comprise, for each location, a pair of gripping arms comprising a first arm and a second arm, configured to move from a closed position in which the two arms hold a working cylinder in the cradle, to an open position in which the two arms move apart by a distance greater than a diameter of the working cylinder allowing the loading / or unloading of the cradle through the side opening.

[0048] According to one embodiment, said single cylinder is arranged within a tubular housing of the drum centered on the central axis and in which said drum is configured to pivot around the cylinder, mounted non-pivoting relative to the operating system, the moving drive part, projecting radially in a fixed angular position, said mechanism to ensure the coupling of the moving drive part of the cylinder selectively with the gripping systems, comprising the drum mounted pivoting around the cylinder under the action of motorized means of the operating system such that the coupling is obtained by pivoting the drum so as to match the moving drive part of the cylinder selectively with the first gripping system, the second gripping system when the gripping tool includes a pair of positions or selectively with the first gripping system, the second gripping system,the third gripping system, or the fourth gripping system when the gripping tool includes two pairs of locations.

[0049] According to a third aspect, the present disclosure further relates to an assembly comprising a control system for a metal strip rolling installation, and a gripping tool according to the present disclosure, manipulated by the control system, suitable for ensuring the work roll change operations of the rolling mill, to ensure the extraction of a worn work roll and the insertion of a new work roll into the rolling mill stand.

[0050] According to one embodiment, said maneuvering system comprises a robot including: a trolley comprising a first chassis equipped with wheels cooperating with rails arranged on the ground, extending in a Y direction, at the level of the access window of the rolling mill stand, said first chassis being configured to move in the Y direction along the rails, under the action of first drive means driving in particular the wheels, a second chassis and a first sliding system connecting the second chassis and the first chassis configured to move the second chassis relative to the first chassis in an X direction, under the action of second drive means, a third chassis and a second sliding system connecting the third chassis and the second chassis, configured to move the third chassis relative to the second chassis in a Z direction, vertical, under the action of third drive means,A movable gripping system with a third chassis comprising an actuator configured to control the locking and unlocking of the grip at a proximal end of the gripping tool. Brief description of the drawings

[0051] Other features, details, and advantages will become apparent upon reading the detailed description below and analyzing the attached drawings, on which: Fig. 1 [ Fig. 1 ] is a schematic configuration of a 20-roll rolling mill. Fig. 2a [ Fig. 2a] is a view, along the transverse direction Y, of the gripping tool relative to the rolling mill stand (the hidden metal strip), the gripping tool comprising a drum that can be manipulated in rotation about a central axis, having four cradles distributed angularly about the central axis, the four cradles forming respectively a first location for a first worn work roll, a second location for a first new work roll, a third location for a second worn work roll, and a fourth location for a second new work roll, said first location, second location, third location and fourth location being respectively provided with independent roll gripping systems, comprising a first gripping system associated with the first location, a second gripping system associated with the second location,a third gripping system associated with the third location and a fourth gripping system associated with the fourth location, the different gripping systems being actuable independently of the others to allow the extraction or insertion of a working cylinder, by displacement of the working cylinder along the longitudinal axis of the cylinder, the , figure 2a illustrating the gripping tool in a centered position in which the first housing, oriented upwards, is aligned with the position of the lower work roll in the rolling mill stand, allowing the extraction of a worn, lower work roll, supported on the first two intermediate rolls, in particular contained between the first two lower intermediate rolls and the strip, in the stand, until its loading into the cradle forming the first location. Fig. 2b [ Fig. 2b ] is a perspective view of the figure 2a . Fig. 2c [ Fig. 2c] is a cross-sectional view of the figure 2a , according to a cutting plane passing through the central axis of the drum. Fig. 3a [ Fig. 3a ] is a view of the input tool according to the figure 2a , after pivoting the drum around the central axis to orient the third location upwards, and moving the gripping tool vertically to a position whereby the third location is aligned with the position of the upper working roll in the rolling mill cage allowing the extraction of a worn upper working roll, in particular resting on the ends of two spray ramps in the cage, between the first two intermediate upper rolls and the strip, up to the cradle forming the third location. Fig. 3b [ Fig. 3b ] is a perspective view of the input tool in the position of the figure 3a . Fig. 4 [ Fig. 4[ ] is a detailed view of the gripping tool, illustrating: the third location and the third gripping system comprising a two-jaw gripper, as well as a (third) loading / unloading system allowing the loading of a lateral cylinder, through a lateral opening in the cradle, and the fourth location and the fourth gripping system, as well as a (fourth) loading / unloading system, wherein each gripping system comprises said two-jaw gripper configured to grasp one end of a working cylinder, in particular by penetrating a peripheral groove of the cylinder, and wherein the loading / unloading systems are independent, each comprising two arms consisting of a first arm and a second arm, articulated along two parallel axes of rotation, arranged on either side of the cradle, along the length of the cradle,the first arm and the second arm configured to move from a closed position, illustrated in the , figure 4 for which the two arms hold a working cylinder in the cradle, and up to an opening position for which the two arms move apart by a distance greater than a diameter of the working cylinder allowing loading / or unloading of the cradle through the side opening of the cradle. Fig. 5 [ Fig. 5 ] is a detailed view of the figure 4illustrating the gripping systems of the gripping tool ensuring the securing of one end of a cylinder, the two jaws simultaneously engaging with the peripheral groove, each gripping system configured to move along the lengthwise direction of the cradle in order to push the cylinder along the longitudinal direction of the cradle when inserting a cylinder into the rolling mill cage, or conversely to pull it from a position in the rolling mill cage into a cradle of the drum. Fig. 6 [ Fig. 6[ ] shows a view of a single cylinder, arranged on a central support, passing through a tubular housing of the drum, the cylinder having a movable drive portion, projecting upwards, which is configured to selectively couple with the different gripping systems associated with the locations, including coupling of the movable drive portion with: a first gripping system associated with the first location in a first relative position of the drum with respect to the cylinder, a second gripping system associated with the second location in a second relative coupling position of the drum with respect to the cylinder, a third gripping system associated with the third location in a third relative coupling position of the drum with respect to the cylinder, a fourth gripping system associated with the fourth location in a fourth relative coupling position of the drum with respect to the cylinder,and in which selective coupling is achieved by rotating the drum around the central axis to move from one relative coupling position to another, among the first, second, third, and fourth relative coupling positions. Fig. 7 [ Fig. 7 ] is a view of a rolling mill installation comprising a rolling mill and an assembly including a handling system (in particular robotic) for a metal strip rolling installation, and a gripping tool according to this disclosure, handled by the handling system, suitable for performing rolling mill work roll change operations, for performing worn work roll extraction and new work roll insertion into the rolling mill stand, pre-loading or unloading operations of the gripping tool performed remotely from the rolling mill stand, onto a rack, leaving a maintenance aisle between an access window of the rolling mill stand and the rack. Fig. 8 [ Fig. 8 ] is a view of a possible embodiment of the maneuvering system that can be robotized. Description of the implementation methods

[0052] This disclosure relates to a method of changing work rolls 12 of a rolling mill 10, in particular in the presence of a metal strip BM intended to be rolled between the two work rolls 12, including an upper work roll 12 and a lower work roll 12.

[0053] This disclosure has particular application for a 20-roll rolling mill, as illustrated in the figure 1. It may be a rolling mill whose rolling mill stand is in two parts, comprising a lower stand part, transmitting a clamping force to the lower rolls, including the lower work roll 12; or even to said lower roll assemblies, and an upper stand part, movable vertically relative to the lower stand part, transmitting a clamping force to the upper rolls, including the upper work roll 12, or even to said upper roll assemblies.

[0054] Thus, cage 2 can hold: in the upper part, within the upper cage part, the upper working cylinder 12, as well as two upper first intermediate cylinders 13, three upper second intermediate cylinders 14,15, and four sets of upper support rollers A, B, C, D, in the lower part, within the lower cage part of the rolling mill, the lower working cylinder 12 as well as two lower first intermediate cylinders 13, three lower second intermediate cylinders 14,15, and four sets of lower support rollers H, G, F, E.

[0055] For such a two-part cage, at least a partial opening of the cage is obtained by separating the upper cage part from the lower cage part.

[0056] However, this disclosure still has a particular application for which the cage is a single piece.

[0057] The cage typically still receives: a pair of spray ramps, lower than the metal strip to be rolled, the two ramps arranged on either side of a rolling plane passing through the axes of the work cylinders and / or a pair of spray ramps, higher than the metal strip to be rolled, the two ramps arranged on either side of a rolling plane passing through the axes of the work cylinders.

[0058] During roll changeover operations in the rolling mill, the two upper spray rails can typically be oriented to form a support cradle for the upper work roll 12, and to provide clearance below the strip for extracting / inserting the lower work roll. Conversely, when it is necessary to extract / insert the upper work roll, the upper rails can be moved downwards to press the metal strip downwards and to provide clearance above the strip for extracting / inserting the upper work roll.

[0059] During the rolling operations, the work rolls 12 each have a contact generatrix with the metal strip, said contact generatrices and the axes of the work rolls being substantially in a plane substantially perpendicular to a direction of travel of the metal strip, rolling elements in particular of the first intermediate rolls 13 being in contact along two contact generatrices with each of the work rolls 12, the rolling elements ensuring the transmission of a rolling force to the lower and upper work rolls 12 in contact with the metal strip BM.

[0060] According to the change process as described in this disclosure, at least according to one possibility, At least one worn working cylinder 12u, upper or lower, is replaced by: / A / supply of a maneuvering system 1, such as a robotic system, and supply of a gripping tool OT manipulated by the maneuvering system, at least by movement along a longitudinal direction oriented along a longitudinal direction X of the tape's movement between the two working cylinders and / or along a vertical direction Z, and / or along a rotation around the axis of the direction Y, or even along a transverse direction Y, said gripping tool comprising at least one pair of locations E1, E2; E3, E4 for working cylinders, the locations E1, E2; E3, E4 extending longitudinally, parallel to each other, said at least one pair of locations comprising a first location E1 for a worn working cylinder 12u provided with a first gripping system SP1 and a second location E2 for a new working cylinder 12n provided with a second gripping system SP2,said at least torque configured for the simultaneous parallel holding of the worn work cylinder 12u and the new work cylinder 12n / B / pre-loading of the second location E2 by a new work cylinder 12n, the first location E1 for a worn cylinder being left free, the pre-loading carried out during the rolling operations of the metal strip between the upper work cylinder and the lower work cylinder, / C / stopping the rolling operations and opening by separating the upper work cylinder 12 and the lower work cylinder 12, / D / centering of the first location E1, free of the gripping tool by displacement caused by the operating system 1 along the longitudinal direction X and / or along the vertical direction Z, and / or by a rotation along a transverse direction Y, in order to align the first location E1 with a worn work cylinder 12u in the rolling mill stand,consisting of the upper or lower work roll, / E / gripping the worn work roll 12u by the first gripping system SP1 of the gripping tool, and extracting the worn work roll 12u along an axis of the work roll, parallel to the transverse direction Y until the worn work roll 12u is loaded into the first location E1, the worn work roll being removed, leaving an empty space in the rolling mill stand, / H / centering the second location E2 of the gripping tool pre-loaded with the new work roll 12n, by moving the gripping tool by the operating system 1 along the longitudinal direction X and / or along the vertical direction Z, and / or rotating along the transverse direction Y, in order to align the new work roll with the empty space in the rolling mill stand, and while the first location E1 is loaded with the worn work roll,removed. / I / Insertion of the new working cylinder 12 contained in the second location E2 into the empty clearance of the rolling mill stand 10 by a push from the second gripping system SP2.

[0061] This disclosure relates to a particular input tool that may be suitable for implementing such a process of changing working cylinders.

[0062] Such an OT input tool is configured to be manipulated by a maneuvering system, including: a support chassis comprising at least one pair of cradles forming at least one pair of locations E1, E2; E3, E4 for the storage of two work cylinders forming at least a first location E1 intended for a new work cylinder and a second location E2 intended for a worn work cylinder, said two work cylinders extending longitudinally, in parallel in said at least two cradles, of the gripping systems SP1, SP2;SP3, SP4, including at least one first gripping system SP1 configured to secure one end of a working cylinder in the first location E1 and a second gripping system SP2 configured to secure one end of a working cylinder in the second location E1, a push / pull system comprising one or more VR cylinders configured to extract or insert worn / new cylinders from locations E1, E2, E3, E4 by selectively moving each of the SP gripping systems associated with locations E1, E2, E3, E4, causing a movement of the working cylinder along an axis of the cylinder.

[0063] Such a data entry tool is advantageously configured to allow the replacement of a worn working cylinder with a new working cylinder by: removal of a worn work roll from the rolling mill stand by grasping the first gripping system SP1 and pulling the roll by operating the cylinder until the worn work roll is loaded into the first location E1, then insertion of a new work roll into the rolling mill stand contained in the second location by pushing the second gripping system while the first location contains the worn work roll.

[0064] The tool according to this disclosure thus makes it possible to remove at least one worn working cylinder from the rolling mill and to replace it with at least one new cylinder, advantageously without requiring the removal of said at least one worn cylinder, during the insertion operations.

[0065] Such a data entry tool and the process implemented are thus still advantageous in that the pre-loading step in / B / of the second location E2 by a new working cylinder is preferably carried out: in masked time during rolling operations, and / or at a distance from the access window of the rolling mill stand, for example from a rack Ra, supporting new cylinders, placed removably on a support structure CHa anchored to the ground and in particular as illustrated by an indicative example in the figure 7 .

[0066] The method and input tool described in this disclosure are advantageous because they allow for the replacement of at least one working roll, thereby reducing the time during which rolling operations must be stopped. Another advantage of this solution is that it provides a technical solution that allows the maintenance aisle extending in front of the stand and the rolling mill stand access window to remain clear.

[0067] According to a second possibility, said OT input tool can be configured to replace the two lower and upper work rolls 12 of the rolling mill by allowing the insertion of two new work rolls into the rolling mill, advantageously without requiring the removal of the two worn work rolls.

[0068] For this purpose, the support frame of the OT input tool then comprises two pairs of cradles forming two pairs of locations E1, E2, E3, E4 for storing two working cylinders comprising: the first location E1 intended for a first worn working cylinder and, the second location E2, intended for a first new working cylinder; but also a third location E3 intended for a second worn working cylinder, and a fourth location E4 intended for a second new working cylinder.

[0069] The gripping systems SP1, SP2, SP3, SP4, then include in addition to the first gripping system SP1 and the second gripping system SP2, a third gripping system SP3 configured to secure one end of a working cylinder in the third location E3 and a fourth gripping system SP4 configured to secure one end of a working cylinder in the fourth location E4.

[0070] The said input tool, comprising the four locations E1, E2, E3, E4, is configured to allow the replacement of a worn first working cylinder with a new first working cylinder and the replacement of a worn second working cylinder with a new second working cylinder by: removal of the first worn work roll from the stand of a rolling mill by grasping the first gripping system SP1 and pulling the roll by actuation of the cylinder until the worn work roll is loaded into the first location E1, removal of the second worn work roll from the stand of a rolling mill by grasping the third gripping system SP3 and pulling the roll by actuation of the cylinder until the worn work roll is loaded into the third location E3, insertion of the first new work roll into the stand of a rolling mill contained in the second location E2 by a push of the second gripping system SP2 and insertion of the second new work roll contained in the fourth location E4, and while the first location E1 contains the first worn work roll and the third location E3 contains the second worn work roll.

[0071] The capture tool according to this disclosure thus makes it possible to remove the two worn working rolls from the rolling mill, lower and upper, and to replace them with two new rolls, advantageously without requiring the removal of either of the worn rolls, during the extraction and insertion operations.

[0072] Whether it is the gripping tool according to the first possibility, or the gripping tool according to the second possibility, the gripping tool according to the present disclosure advantageously limits the necessary tool movements during the changeover operations to remove and insert the work roll(s), and compared to the prior art, as presented in the introduction, resulting in a significant reduction in the time during which rolling operations must be stopped, since the gripping tool is moved in particular in the X direction, and in the Z direction, to carry out the various centerings (step / D / and / H / in particular) during the successive extraction and insertion operations, without requiring the removal of the worn work roll.The movements required for the various centering, gripping, extraction, and insertion operations, performed successively when the rolling operations are stopped, are therefore of limited amplitude, as the operating system always remains aligned with the cage's access window and typically involves a limited amplitude of movement for the gripping tool, depending on the height (along the Z direction). Once the last new work cylinder is inserted, the rolling operations can be resumed, advantageously without waiting for the unloading of the worn cylinder(s) recovered in the OT gripping tool, as the unloading operations of the gripping tool can be carried out while the rolling operations are running concurrently.

[0073] Such a data entry tool and the method implemented are further advantageous in that the pre-loading step in / B / of the second location E2 and the fourth location E4 by two new working cylinders is preferably carried out: in masked time during rolling operations, and / or at a distance from the access window of the rolling mill cage, for example from a Ra rack, supporting new cylinders, placed removably on a CHa support structure anchored to the ground.

[0074] Thus and according the second possibility, The worn upper working cylinder and the worn lower cylinder in the rolling mill stand 10 can advantageously be replaced by the following steps: said step / A / of supplying a maneuvering system 1, such as a robotic system, and a gripping tool OT manipulated by the maneuvering system, at least in a longitudinal direction oriented along a longitudinal direction X of the strip's movement between the two work rolls and / or in a vertical direction Z, and / or rotation along the transverse direction Y, or even along a transverse direction Y, said step / B / of pre-loading the second location E2 by a first new work roll, and further pre-loading the fourth location E4 for a second new work roll, the first location E1 for a first worn roll and the third location E3 for a second worn roll being left free, the pre-loadings being carried out during the rolling operations of the metal strip between the upper work roll and the lower work roll,said step / C / of stopping the rolling operations and opening by separating the upper work roll and the working roll, said step / D / of centering the first free position E1 by moving the gripping tool caused by the operating system along the longitudinal direction X and / or along the vertical direction Z, and / or rotating along the transverse direction Y, in order to align the first position E1 with a first worn work roll in the rolling mill stand, which is the upper work roll or the lower work roll, said step / E / of gripping the first worn work roll by the first gripping system SP1 of the gripping tool, and extracting the worn work roll along an axis of the work roll, parallel to the transverse direction Y until the worn work roll is loaded into the first position E1,the worn work roll leaving a first empty space in the stand, / F / centering of the third position E3, free of the gripping tool by displacement of the gripping tool caused by the operating system along the longitudinal direction X and / or along the vertical direction Z, and / or rotation along the transverse direction Y, in order to align the third position E3 with a second worn work roll, lower work roll or upper work roll in the rolling mill stand, / G / gripping of the second worn roll by said third gripping system SP3 of the gripping tool, and extraction of the worn work roll along an axis of the work roll, parallel to the transverse direction Y until the loading of the second worn work roll is obtained in the third position E3, the worn work roll leaving a second empty space in the stand,step / H / of centering the second location E2 of the gripping tool pre-loaded with the first new work cylinder by moving the gripping tool by the maneuvering system 1 along the longitudinal direction X and / or along the vertical direction Z, and / or rotating along the transverse direction Y, in order to align the first work cylinder with the empty clearance of the gripping tool cage, first empty clearance or second empty clearance, and while the first and third locations are loaded with the first worn work cylinder and the second worn work cylinder, step / I / of inserting the first new work cylinder contained in the second location into the empty clearance, by a push from the second gripping system SP2, / J / centering of the fourth pre-loaded location E4 of the second new cylinder by displacement of the gripping tool by the operating system 1 along the longitudinal direction X and / or along the vertical direction Z, and / or rotation along the transverse direction Y in order to align the second new cylinder with the other empty clearance by displacement of the gripping tool caused by the operating system, and while the first location E1 and the third location E4 are loaded with the first worn working cylinder, removed, and the second worn working cylinder, / K / insertion of the second new working cylinder contained in the fourth location E4 into the other empty clearance by a push from the fourth gripping system.

[0075] In general: Rolling operations can advantageously be resumed after the last working roll has been inserted into the rolling mill stand, without needing to wait for the spent roll(s) recovered from the first position E1, or even the third position E3, to be unloaded. Unloading operations from the positions (first position E1 and third position E3) can be carried out remotely from the access window of the rolling mill stand, for example, from a rack Ra supporting new rolls, which is removably placed on a support structure CHa anchored to the ground, particularly as illustrated by an indicative example in the figure 7 .

[0076] According to the process in this disclosure (according to the first possibility or according to the second possibility), the various locations E1, E2, E3, E4, in particular first location E1, second location E2, or even third location E3 and fourth location E4, are provided with independent gripping systems SP1, SP2, SP3, SP4, configured to secure one end of a working cylinder, each gripping system SP1; SP2, SP3, SP3 configured to provide traction by displacement of the gripping system along location E1; E2; E3; E4 during extraction and pushing during cylinder insertion.

[0077] In particular, the first pair of spaces is provided: of the first gripping system SP1 of cylinder arranged in the first location E1 which ensures the extraction in / E / by a pull until the worn working cylinder 12u is loaded into the first location E1 and, of the second gripping system SP2 arranged in the second location E2 which ensures the insertion in / I / by a push of the new working cylinder 12n from the second location into the rolling mill cage.

[0078] The second pair of spaces is equipped with: of the third SP3 cylinder gripping system arranged in the third location E3 which allows extraction in / G / by pulling until the worn working cylinder 12 u is loaded into the third location E3, of the fourth SP4 gripping system arranged in the fourth location E4 which ensures insertion in / K / by pushing the new working cylinder 12n from the fourth location into the rolling mill cage.

[0079] In general, each gripping system SP, (in particular first, second, third or fourth gripping system SP1 to SP4) is configured to transition from a gripping state of one end of a working cylinder 12, so as to permit a push of the working cylinder along an axis of the cylinder in a first direction safely, but also a pull of the working cylinder, in a second, opposite direction, until an escape state permitting the release of the cylinder.

[0080] Once the (new) work roll is inserted into the rolling mill cage 10 by pushing the gripping system, the latter is configured to move from the gripping state to the escaping state in order to allow the gripping system to return, without pulling the inserted work roll.

[0081] In general, SP gripping systems can be mechanized grippers, magnetic suction cups, or pneumatic suction cups. Mechanized grippers, magnetic suction cups, or pneumatic suction cups are configured to grip one end of the work cylinder in the gripped state and to allow the work cylinder to be released in the ungripped state.

[0082] In one embodiment (not illustrated), the grippers can be magnetic suction cups, configured to secure the end of a cylinder by the magnetic attraction of the suction cup. The change from the gripping state to the release state is achieved by activating or deactivating the magnetic attraction field of the suction cup: this can notably be an electromagnetic suction cup, or one with a permanent magnet controlled by an actuator to switch from activating to deactivating the gripping of the end of the working cylinder.

[0083] According to one embodiment (not illustrated), the clamps can be pneumatic suction cups, configured to secure the end of a cylinder by means of suction. The change from the gripping state to the release state is achieved by activating or deactivating the suction of the pneumatic suction cup.

[0084] According to one embodiment (illustrated), the grippers can be mechanized. Each mechanized gripper can comprise two jaws, consisting of a first jaw MR1 and a second jaw MR2, configured to move from an open position, in which the gripper escapes the working cylinder (escape state), to a closed position, in which the two jaws close against the end of the working cylinder, ensuring a grip. To improve the grip, the two jaws, first jaw MR1 and second jaw MR2, can be configured to engage with a raised feature at the end of the cylinder, and in particular, to penetrate a circular groove G, visible in the illustrated example. The transition from the open to the closed position is controlled by a typically electric or pneumatic actuator.

[0085] According to an advantageous embodiment, said push / pull system may advantageously comprise:a single VR cylinder for selectively moving the SP gripping systems from the different locations E1, E2, E3, E4, namely moving by pushing or pulling, and in particular selectively moving the first SP1 gripping system and the second SP2 gripping system from said at least pair of locations consisting of the first location E1 and the second location (E2) when the process is according to the first possibility, or selectively moving the first SP1 gripping system, the second SP2 gripping system, the third SP3 gripping system, and the fourth gripping system from said first location E1, second location E2, third location E3, and fourth location E4 when the process is according to the second possibility; a mechanism for selectively coupling a moving drive part PE of the VR cylinder with the SP1, SP2, SP3, and SP4 gripping systems from the different locations E1,E2, E3, E, and in particular selectively with the first gripping system SP1 or the second gripping system SP2 when the process is according to the first possibility, or selectively with the first gripping system SP1, the second gripping system SP2, the third gripping system SP3 or the fourth gripping system SP4 when the process is according to the second possibility.

[0086] Such an embodiment is advantageous in that a single actuator (the VR cylinder) can, in turn, operate the different gripping systems to push or, on the contrary, pull each of the working cylinders from the different locations E1 to E4, and in particular in order to insert or extract a working cylinder.

[0087] According to one possible configuration (not shown), the slots can be arranged parallel to each other, one after the other, in a straight line. According to another possible configuration (shown), said slots E1, E2, E3, E4 for the worn cylinder(s) and the new cylinder(s) are arranged in parallel around a central axis Ac of the OT input tool.

[0088] The said gripping tool comprises a drum TB forming a support frame with longitudinal cradles. The cradles are angularly distributed around the central axis and configured to receive the worn and new cylinders, defining the respective locations E1, E2, E3, and E4. The cradles may have lateral openings OL along their length, allowing loading or unloading in directions radial to the drum. The drum TB is configured to pivot around the central axis AC. For this purpose, the said operating system 1 may include motorized means M6 to ensure the pivoting of the drum TB around the central axis AC.

[0089] According to an embodiment illustrated in particular in the figures, said single VR cylinder can be arranged within a tubular housing of the TB drum centered on the central axis AC and said TB drum is configured to pivot around the VR cylinder, mounted non-pivoting relative to the operating system 1.

[0090] The mechanism for ensuring the coupling of the mobile drive part PE of the VR cylinder selectively with the gripping systems SP, then includes the drum TB mounted pivoting around the cylinder under the action of motorized means M6 so that the coupling is obtained by pivoting the drum TB so as to match the mobile drive part PE of the VR cylinder with selectively the first gripping system SP1, the second gripping system SP2, in particular when the process is according to the first possibility, or again with selectively the first gripping system SP1, the second gripping system SP2, the third gripping system SP3, and the fourth gripping system SP4 when the process is according to the second possibility.

[0091] Thus, in general, the single VR cylinder is arranged on a central support, passing through a tubular housing of the drum, the cylinder comprising the PE drive unit which is configured to selectively couple with the different gripping systems associated with locations E1, E2, E3, E4, including coupling of the drive unit with: the first gripping system SP1 associated with the first location E1 in a first relative position of the drum TB with respect to the cylinder VR, the second gripping system SP2 associated with the second location E2 in a second relative coupling position of the drum E2 with respect to the cylinder VR, the third gripping system SP3 associated with the third location E3 in a third relative coupling position of the drum TB with respect to the cylinder VR, the fourth gripping system SP4 associated with the fourth location E4 in a fourth relative coupling position of the drum with respect to the cylinder VR.

[0092] Selective coupling is achieved by rotating the drum TB around the central axis to move from one relative coupling position to another, among the first, second, third and fourth relative coupling positions, typically by the action of the M6 ​​motor means of the maneuvering system.

[0093] The moving drive part PE is radially projecting, in a fixed angular position around the central axis AC, and particularly upwards, typically along the Z direction, as illustrated for guidance in the figure 6 We note that a nose piece NZ, attached to a distal portion of the central support of the VR cylinder, the nose piece NZ is positioned in the fixed angular position, configured to extend the cradle of the location whose gripping system is selectively coupled to the mobile drive portion PE.

[0094] This NZ nose piece is configured to provide additional guidance and support between the rolling mill stand and the cradle aligned with the nose piece when the gripping system coupled to the cylinder moves the work roll by pushing or pulling it. This nose piece may have a V-shaped cross-section and is typically equipped with OR bearings.

[0095] Also, the locations E1, E2, E3, E4 include said gripping systems SP1, SP2, SP3, SP4 configured to insert or extract the working cylinders, by moving the working cylinders 12 along the axis of the working cylinder through open distal ends Ed of the longitudinal locations E1, E2, E3, E4. The working cylinders are pushed or extracted through these openings at the distal ends Ed of the locations, during a cylinder insertion or extraction.

[0096] According to one embodiment, the locations E1, E2, E3, E4 also have, respectively depending on the length of the locations, the lateral openings OL for loading / unloading, coupled with loading / unloading systems SCH associated with the locations E1, E2, E3, E4. These lateral openings OL extend in length according to the lengths of the locations E1, E2, E3, E4.

[0097] The SCG loading systems are independent, each loading / unloading system configured to ensure loading / or unloading of one of the locations through the lateral openings OL.

[0098] The said independent SCG loading systems can thus be configured to load the said locations E1, E2, E3, E4 during the / B / pre-loading step in particular with the said new working cylinder according to the process according to the first possibility, or with the two new working cylinders, each loading / unloading system configured to ensure the loading / or unloading of one of the locations through the side openings.

[0099] The said independent SCG loading systems can thus be configured to load said locations E1, E2, E3, E4 when unloading the worn working cylinder received in the first location E1, according to the first possibility or worn working cylinders received respectively in the first location E1 and the third location according to the second possibility.

[0100] In one embodiment, the independent SCH loading / unloading systems may include, for each location, a pair of gripping arms comprising a first arm B1 and a second arm B2, configured to move from a closed position, in which the two arms B1 and B2 hold a working cylinder in the cradle, to an open position, in which the two arms move apart by a distance greater than one diameter of the working cylinder to allow unloading from the cradle through the lateral opening OL. The reverse movements of arms B1 and B2, from the open position to the closed position, may, conversely, allow loading a working cylinder into the cradle. The two arms, first arm B1 and second arm B2, may, in particular, be provided pivotable about two articulation axes AB1 and AB2, on either side of the cradle, parallel to a longitudinal direction of the cradle.

[0101] In the closed position of the two arms B1, B2, each work cylinder 12 is held, in any direction perpendicular to the longitudinal direction of the location E1, E2, E3, E4, the work cylinder being secured between the cradle formed by the support frame and the two arms brought close together. In this closed position, the gripping system can still push or, conversely, pull the received work cylinder into the location, along the longitudinal direction of the location.

[0102] To minimize friction between the cylindrical wall of the work cylinder and the support frame or arms during insertion or extraction operations, OR bearing elements, such as rollers, can be provided on at least one wall of the cradle and / or on the arms. The work cylinder, pushed or guided by the gripping system along its path, is configured to roll on the OR bearing elements of the arms and / or cradle, thus preventing any risk of scratching the work cylinder table.

[0103] When said maneuvering system 1 includes the motorized means M6 to ensure the pivoting of the drum TB around the central axis AC, the loading and / or unloading of one of the cradles is carried out by rotating the drum TB until the cradle to be loaded / unloaded is positioned with its lateral opening OL facing downwards, and by passing the gripping arm torque from the opening position to the closing position during loading, and by passing the gripping arm torque from the closing position to the closing position during unloading, allowing gravity unloading through the lateral opening OL.

[0104] The process according to this disclosure and the data capture tool according to this disclosure are applicable to a rolling mill plant comprising the rolling mill including said stand and said set of rollers internal to the stand, including the two work rollers 12, the support rollers or support rollers A, B, C, D, E, F, G, H, and even the intermediate rollers, in particular the first intermediate rollers 13 and the second intermediate rollers 14, 15, the rolling mill stand having said access window, optionally closed by the door system as illustrated by way of example in the figure 7 The metal strip Bm extends longitudinally along the horizontal X direction and transversely along the horizontal Y direction, parallel to the axes of the rolling mill cylinders.

[0105] The installation may include a loading / unloading rack R, removably positioned on a support frame Cha anchored to the ground at a distance from the rolling mill in the transverse Y direction, so as to free up a maintenance aisle in the longitudinal X direction. According to this disclosure, pre-loading at / B / is carried out at a distance from the stand's access window by loading the tool from one or more new rolls arranged on the loading / unloading rack. After replacing the working rolls in the rolling mill stand, the worn working roll(s) may be unloaded onto such a rack, supported by the support frame.

[0106] This disclosure further relates to an assembly comprising a handling system 1 for a metal strip rolling installation, and a gripping tool OT according to this disclosure, manipulated by the handling system, suitable for ensuring the rolling mill's work roll change operations, to ensure the extraction of a worn work roll and the insertion of a new work roll into the rolling mill stand.

[0107] According to one embodiment of said assembly, said maneuvering system may include a robot Ro comprising: a trolley comprising a first chassis 2 equipped with wheels 20 cooperating with rails Ra1 arranged on the ground, extending in a Y direction, at the level of the access window of the rolling mill stand, said first chassis 2 being configured to move in the Y direction along the rails Ra1, under the action of first drive means M1 driving in particular the wheels 20, a second chassis 3 and a first slide system G connecting the second chassis 3 and the first chassis 2 configured to move the second chassis 3 relative to the first chassis 2 in a direction X, under the action of second drive 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 drive means M3,a movable gripping system 6 with the third chassis 4 comprising an actuator configured to control the locking and unlocking of the grip at a proximal end of the OT gripping tool.

[0108] The centering operations by moving the OT gripping tool along the X direction can be carried out by moving the third chassis 3 relative to the second chassis 2, under the action of the second motor means M2 and the centering operations of the OT gripping tool along the Z direction by moving the fourth chassis 4 relative to the third chassis 3 under the action of the third motor means M3.

[0109] This may include a robotic system according to WO2022 / 223927A1 comprising a fourth chassis 5 and rotational guidance means connecting the fourth chassis and the third chassis around a vertical axis of rotation, configured to drive the rotation of the fourth chassis 5 relative to the third chassis 4, under the action of a fourth motor means M4. Such a robotic system 1 is configured to ensure the extraction of a cylinder by grasping the cylinder with the grasping tool OT locked by the grasping system, with the cylinder being placed laterally on the rails, in particular on the rack Ra, after pivoting the grasping tool OT by rotating the fourth chassis 5 relative to the third chassis 4 around the vertical axis of rotation, typically by 90° and as schematically shown in the figure 7 .

[0110] the gripping system 6 can be articulated to the fourth chassis along a second horizontal articulation axis perpendicular to the vertical rotation axis between the fourth chassis 5 and the third chassis 4, called the first rotation axis, and perpendicular to the axis of the gripping tool OT, the robotic system comprising motor means M5, in particular fifth motor means, configured to adjust the inclination of the gripping system 6, and thus the inclination of the gripping tool OT around said second rotation axis.

[0111] The gripping system 6 can also be rotated around an axis of rotation, coaxial with the central axis AC of the gripping tool OT oriented substantially along the transverse direction L, by means of motor means M6, in particular a sixth motor means, and in particular to ensure the rotation of the drum TB around its central axis AC. List of reference signs. List of references

[0112] Rolling mill : 10: Rolling mill Gi, Gs. Respectively upper and lower groups, 12. Work rolls, 12u. Worn work rolls, 12n. New work rolls, 13. First intermediate rolls, 14, 15. Second intermediate rolls, A, B, C, D. respectively the four support rolls or sets of support rolls of the upper group, E, F, G, H. respectively the four support rolls or sets of support rolls of the lower group,

[0113] Maneuvering system : 1. Maneuvering system, particularly robotic, Ro. Robot, Ra1. Rail along the Y direction, 2. First chassis, 20. Wheels, M1. First drive means (carriage movement along the Y direction), 3. Second chassis, G1. First slide system along the X direction (between the second and first chassis), M2. Second drive means (carriage movement along the X direction), 4. Third chassis, G2. Second slide system along the Z direction, M3. Third drive means (third chassis movement along the second slide system along 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 drive means (fourth chassis pivoting 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 axis of rotation allowing 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. . Input tool

[0114] OT. Gripping tool, TB. Drum, VR. Cylinder, PE. Drive unit, E1, E2, E3, E4. First position, second position, third position and fourth position, SP. Gripping systems, SP1, SP2, SP3, SP. First, second, third and fourth gripping systems, MR1, MR2. First jaw and second jaw (gripper), Distal ends (position), OL. Lateral openings (position), SCH. Loading / unloading system, B1, B2. First arm and second arm (Loading / unloading system arm pair), PE. Drive unit (Cylinder), NZ. Nose piece, OR. Bearing, Ed Distal ends (positions), Ep. Proximal end (gripping tool).

Claims

1. A method for changing the work rolls (12) of a rolling mill (10), in the presence of a metal strip (BM) rolled between the two work rolls (12), the rolling mill having a stand accommodating at least one upper and one lower work roll, said work rolls (12) each having a generatrix for contact with the metal strip, said contact generatrices and the axes of the work rolls lie in a plane substantially perpendicular to a running direction of the metal strip, rolling members such as first intermediate rolls (13) being in contact along two contact generatrices with each of the work rolls (12), the rolling members transmitting a rolling force to the lower and upper work rolls (12) in contact with the metal strip (BM) during rolling operations, method wherein a work roll (12) of the roll stand is replaced by: - / A / providing a maneuvering system (1), such as a robotic system, and providing a gripping tool (OT) manipulated by the maneuvering system, at least by moving in a longitudinal direction oriented in a longitudinal direction X of web travel between the two work rolls and / or in a vertical direction Z and / or by rotation about the axis of the direction Y, or even with movement in a transverse direction Y, the method characterized by: said gripping tool comprising at least one pair of locations (E1, E2, E3, E4) for work rolls, the locations (E1, E2, E3, E4) extending longitudinally, parallel to one another, said at least one pair of locations comprising a first location (E1) for a used work roll (12u) provided with a first holding system (SP1) and a second location (E2) for a new work roll (12n) provided with a second holding system, said at least one pair configured for simultaneous parallel holding of the used work roll (12u) and the new work roll (12n), and wherein the various locations (E1, E2, E3, E4) are provided with independent holding systems (SP), configured to secure one end of a work roll, each holding system (SP1; SP2, SP3, SP3) configured to provide a push during work roll insertion or configured to provide a pull during roll extraction, by moving the holding system along the location (E1; E2; E3; E4), and wherein the tool comprises a push / pull system comprising one or more actuators (VR) configured to extract or insert used / new rolls from the locations by selective moving each of the holding systems (SP) associated with the locations (E1, E2, E3, E4), causing the work roll to move along a longitudinal axis of the work roll, and wherein at least one used upper or lower working roll (12u) is replaced, - / B / pre-loading the second location (E2) with a new work roll (12n), the first location (E1) for a used roll being left free, the pre-loading taking place during the metal strip rolling operations between the upper work roll and the lower work roll, - / C / stopping rolling operations and opening by spreading the upper work roll (12) and the lower work roll (12), - / D / centering the first location (E1), free of the gripping tool, by movement caused by the maneuvering system (1) in the longitudinal direction X and / or in the vertical direction Z and / or by rotation about the Y axis, in order to align the first location (E1) with a used work roll (12u) in the rolling mill stand, consisting of the upper work roll or lower work roll, - / E / gripping the used work roll (12u) by the first holding system (SP1) of the gripping tool, and extracting the used work roll (12u) along a work roll axis parallel to the transverse direction Y until the used work roll (12u) is loaded into the first location (E1) by pulling the push / pull system, the removed used work roll leaving an empty space in the rolling mill stand, - / H / centering the second location (E2) of the gripping tool preloaded with the new work roll (12n) by moving the gripping tool by the maneuvering system (1) in the longitudinal direction X and / or in the vertical direction Z and / or by rotation about the Y axis, in order to align the new work roll with the empty space of the rolling mill stand, and while the first location (E1) is loaded with the used, removed work roll, - / I / inserting the new work roll (12n) contained in the second location (E2) into the empty space of the rolling mill stand (10) by pushing the second holding system (SP2) with the push / pull system.

2. The changing method according to claim 1, wherein the gripping tool (OT) comprising said first location (E1) for a used first work roll provided with a first holding system (SP1) and said second location (E2) for a second new work roll provided with a second holding system (SP2), the first and second locations forming a first pair of locations (E1, E3), but also a third location (E3) for a second used work roll with a third holding system (SP3) and a fourth location (E4) for a second new work roll with a fourth holding system, the third location (E3) and the fourth location (E4) forming a second pair of locations (E3, E4), and wherein the used upper work roll and used lower work roll in the rolling mill stand (10) are replaced by the following steps, - said step / A / of providing a maneuvering system (1), such as a robotic system, and a gripping tool (OT) manipulated by the maneuvering system, at least along a longitudinal direction oriented along a longitudinal direction X of web travel between the two work rolls and / or at least along a vertical direction Z, and / or at least a rotation along the Y axis, or even a movement along a transverse direction Y, - said step / B / of preloading the second location (E2) with a first new work roll, and further preloading the fourth location (E4) with a second new work roll, the first location (E1) for a first used roll and the third location (E3) for a second used roll being left free, the preloadings being carried out during strip rolling operations between the upper and lower work rolls, - said step / C / of stopping the rolling operations and opening by spreading the upper work roll and the work roll, - said step / D / of centering the first location (E1), free, by moving the gripping tool caused by the maneuvering system in the longitudinal direction X and / or in the vertical direction Y, in order to align the first location (E1) with a first, used work roll in the rolling mill stand, which is an upper work roll or a lower work roll, - said step / E / of gripping the first used work roll by the first holding system (SP1) of the gripping tool, and extracting the used work roll along a work roll axis parallel to the transverse direction Y until the used work roll is loaded into the first location (E1) by pulling the push / pull system, the used work roll leaving a first empty space in the stand, - / F / centering the third location (E3), which is free of the gripping tool, by moving the gripping tool in the longitudinal direction X and / or vertical direction Z and / or rotating it along the Y axis, in order to align the third location (E3) with a second, used, lower or upper work roll in the rolling mill stand, - / G / gripping the used second work roll by said third holding system (SP3) of the gripping tool, and extracting the used work roll along a work roll axis parallel to the transverse direction Y until the used second work roll is loaded into the third location (E3) by pulling the push / pull system, the used work roll leaving a second empty space in the stand, - step / H / of centering the second location (E2) of the gripping tool preloaded with the first new work roll by moving the gripping tool by the maneuvering system 1 in the longitudinal direction X and / or in the vertical direction Z, and / or rotating it in the transverse direction Y, in order to align the first work roll with the empty space of the gripping tool stand, first empty space or second empty space, and while the first position and the third position are loaded with the first used work roll and the second used work roll, - step / I / of inserting the first new work roll contained in the second location into the empty space by pushing the second holding system (SP2) by means of the push / pull system, - / J / centering of the fourth location (E4) preloaded with the second new roll by moving the gripping tool by the maneuvering system 1 in the longitudinal direction X and / or in the vertical direction Z, and / or rotation in the transverse direction Y, in order to align the second new roll with the other empty space by moving the gripping tool caused by the maneuvering system, and while the first location (E1) and the third location (E4) are loaded with the removed first used work roll and the second used work roll, - / K / inserting the second new work roll contained in the fourth slot (E4) into the other empty space by pushing the fourth holding system with the push / pull system.

3. The method according to one of claims 1 or 2, wherein the holding systems (SP) are mechanized grippers or magnetic suction pads or pneumatic suction pads and wherein mechanized grippers or magnetic suction pads or pneumatic suction pads are configured to grip a work roll end.

4. The method according to claims 1 to 3, wherein the push / pull system comprises: - a single actuator (VR) for selectively moving the holding systems (SP) from the various locations (E1, E2, E3, E4), and in particular for selectively moving the first holding system (SP1) and the second holding system (SP2) from said at least one pair of locations consisting of the first location (E1) and the second location (E2) when the method is dependent on claim 1, or for selectively moving the first holding system (SP1), the second holding system (SP2), the third holding system (SP3), the fourth holding system from said first location (E1), second location (E2), third location (E3) and fourth location (E4) when the method is dependent on claim 2, - a mechanism for coupling a movable drive part (PE) of the actuator (VR) selectively with the holding systems (SP1, SP2, SP3, SP4) of the different locations (E1, E2, E3, E4), and in particular selectively with the first holding system (SP1) or the second holding system (SP2) when the method is dependent on claim 1, or selectively with the first holding system (SP1), the second holding system (SP2), the third holding system (SP3) or the fourth holding system (SP4) when the method is dependent on claim 2.

5. The method according to one of claims 1 to 4, wherein the locations (E1, E2, E3, E4) comprise said holding systems (SP) configured to insert or extract the work rolls, by moving the work rolls (12) along the work roll axis through open distal ends (Ed) of the longitudinal locations (E1, E2, E3, E4), the locations having respectively along the length of the locations, lateral loading / unloading openings (OL), coupled to loading / unloading systems (SCH) associated with the locations (E1, E2, E3, E4), said independent loading systems configured to load said locations during pre-loading step / B / , each loading / unloading system configured to load and / or unload one of the locations through the lateral openings.

6. The method according to claim 5, wherein said locations (E1, E2, E3, E4) for the used rolls or the new roll(s) are arranged in parallel around a central axis (Ac) of the gripping tool (OT), said gripping tool comprising a drum (TB) forming a support frame comprising longitudinal cradles, angularly distributed around the central axis, configured to receive the used and new rolls, defining said locations respectively (E1, E2, E3, E4).

7. The method according to claim 6, wherein said maneuvering system (1) comprises motorized means (M6) for pivoting the drum (TB) about the central axis (AC) and wherein the independent loading / unloading systems (SCH) comprise, for each location, a pair of gripper arms comprising a first arm (B1) and a second arm (B2) articulated respectively on two longitudinal edges of the cradle, configured to change from a closed position in which both arms hold a work roll in the cradle, and to an open position in which the two arms move apart by a distance greater than a diameter of the work roll, allowing the cradle to be loaded and / or unloaded through the lateral opening (OL), and wherein the loading and / or unloading of one of the cradles is carried out by rotating the drum (TB) until the cradle to be loaded / unloaded is positioned with the lateral opening (OL) pointing downwards, and changing the pair of gripper arms from the open position to the closed position during loading, and changing the pair of gripper arms from the closed position to the closed position during unloading, allowing gravity unloading through the side opening (OL).

8. The method according to claim 4 taken in combination with claim 6 or 7, wherein said actuator (VR), single, is arranged within a tubular housing of the drum (TB) centered on the central axis (AC) and wherein said drum (TB) is configured to pivot about the actuator (VR), mounted non-rotatably with respect to the maneuvering system (1), the movable drive part (PE) projecting radially, said mechanism for coupling the movable drive part (PE) of the actuator (VR) selectively with the holding systems (SP) comprising the drum (TB) mounted to pivot about the actuator under the action of motorized means (M6) so that the coupling is obtained by pivoting the drum (TB) so as to bring the movable drive part (PE) of the actuator selectively into correspondence with the first holding system (SP1), the second holding system when the method is dependent on claim 1, or selectively with the first holding system (SP1), the second holding system (SP2), the third holding system (SP3), or the fourth holding system (SP4) when the method is dependent on claim 2.

9. The method according to claim 8, comprising a nose piece (NZ), integral with a distal portion of the central actuator support (VR), the nose piece (NZ) is positioned in the fixed angular position, configured to extend the cradle of the location whose holding system is selectively coupled to the movable drive portion PE, said nose piece (NZ) being configured to provide additional guidance and support between the rolling mill stand and the cradle aligned with the nose piece when the actuator-coupled holding system pushes or pulls the work roll10. The method according to one of claims 1 to 9, carried out in a rolling facility comprising the rolling mill comprising said stand and said 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 roll stand having said access window, 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 the rolls of the rolling mill, and and wherein said facility comprises a loading / unloading rack (Ra), 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 so as to free up a maintenance aisle in the longitudinal X direction, and wherein the preloading at / B / is carried out at a distance from an access window of the stand by loading the gripping tool (OT) from one or more new rolls arranged on the loading / unloading rack.

11. A gripping tool suitable for carrying out the method according to one of claims 1 to 10, intended to be manipulated by a maneuvering system, the gripping tool comprising: - a support frame comprising at least one pair of two cradles forming at least one pair of locations (E1, E2, E3, E4) for the storage of two work rolls forming at least a first location (E1) intended for a new work roll and a second location (E2) intended for a used work roll, said two work rolls extending longitudinally in parallel in said at least two cradles, - independent holding systems (SP1, SP2, SP3, SP4), including a first holding system (SP1) configured to secure one end of a work roll in the first location (E1) and a second holding system (SP2) configured to secure one end of a work roll in the second location, - a push / pull system comprising one or more actuators (VR) configured to extract or insert the used / new rolls from the locations by selective movement of each of the holding systems (SP) associated with the locations (E1, E2, E3, E4), causing a movement of the work roll along an axis of the roll and wherein said gripping tool is configured to allow replacement of a used work roll by a new work roll by - removing a used work roll from a roll stand by gripping of the first holding system (SP1) and pulling the roll by actuating the actuator until the used work roll is loaded into the first location (E1), then - inserting a new work roll into the stand of a rolling mill contained in the second location by pushing the second holding system, while the first location contains the used work roll.

12. The gripping tool according to claim 11, wherein the support frame comprises two pairs of cradles forming two pairs of locations (E1, E2, E3, E4) for the storage of two work rolls comprising, in addition to the first location (E1) intended for a first used work roll and the second location (E2), intended for a first new work roll, a third location (E3) for a second used work roll, and a fourth location for a second new work roll, said holding systems (SP1, SP2, SP3, SP4), comprising, in addition to the first holding system (SP1) and the second holding system (SP2), a third holding system (SP3) configured to secure one end of a work roll in the third location (E3) and a fourth holding system (SP4) configured to secure one end of a work roll in the fourth location, and wherein said gripping tool is configured to allow replacement of a first used work roll by a first new work roll and replacement of a second used work roll by a second new work roll by: - removing the first used work roll from the rolling mill stand by the first holding system (SP1) gripping and pulling the work roll by actuating the actuator until the used work roll is loaded into the first location (E1), - removing the second used work roll from the rolling mill stand by the third holding system (SP3) gripping and pulling the roll by actuating the actuator until the used work roll is loaded into the third location (E3), - inserting the first new work roll into the rolling mill stand contained in the second location (E2) by pushing the second holding system (SP2) and inserting the second new work roll contained in the fourth location (E4), and while the first location contains the first used work roll and the third location contains the second used work roll.

13. The gripping tool according to claim 11 or 12, wherein said push / pull system comprises: - a single actuator (VR) for selectively moving the holding systems (SP) from the various locations (E1, E2, E3, E4), and in particular for selectively moving the first holding system (SP1) and the second holding system (SP2) from said at least one pair of locations consisting of the first location (E1) and the second location (E2) when the gripping tool is dependent on claim 12, or for selectively moving the first holding system (SP1), the second holding system (SP2), the third holding system (SP3), the fourth holding system from said first location (E1), second location (E2), third location (E3) and fourth location (E4) when the gripping tool is dependent on claim 13, - a mechanism for coupling a movable drive part (PE) of the actuator (VR) selectively with the holding systems (SP1, SP2, SP3, SP4) of the different locations (E1, E2, E3, E4), and in particular selectively with the first holding system (SP1) or the second holding system (SP2) when the gripping tool is dependent on claim 11, or selectively with the first holding system (SP1), the second holding system (SP2), the third holding system (SP3) or the fourth holding system (SP4) when the gripping tool is dependent on claim 12.

14. The gripping tool according to one of claims 11 to 13, wherein the locations (E1, E2, E3, E4) comprise said holding systems (SP) configured to insert or extract the work rolls, by moving the work rolls (12) along the work roll axis through open distal ends (Ed) of the longitudinal locations (E1, E2, E3, E4), the locations having, respectively along the length of the locations, lateral loading / unloading openings (OL), coupled to loading / unloading systems (SCH) associated with the locations (E1, E2, E3, E4), said loading systems being independent, each loading / unloading system configured to load and / or unload one of the locations through the lateral openings (OL).

15. The gripping tool according to one of claims 11 to 14, wherein said locations (E1, E2, E3, E4) for the used roll or rolls and the new roll or rolls are arranged in parallel around a central axis (Ac) of the gripping tool (OT), said gripping tool comprising a drum (TB) forming a support frame having longitudinal cradles, angularly distributed around the central axis configured to receive the used and new rolls, respectively defining said locations (E1, E2, E3, E4) and wherein the drum (TB) is configured to pivot about the central axis (AC).

16. The gripping tool according to claims 14 and 15, wherein the independent loading / unloading systems (SCH) comprise, for each location, a pair of gripper arms comprising a first arm (B1) and a second arm (B2), configured to change from a closed position in which both arms (B1, B2) hold a work roll in the cradle, and to an open position in which the two arms move apart by a distance greater than a diameter of the work roll allowing loading and / or unloading of the cradle through the lateral opening (OL).

17. The gripping tool according to claim 13 taken in combination with claims 15 or 16, wherein said single actuator (VR) is arranged within a tubular housing of the drum (TB) centered on the central axis (AC) and wherein said drum (TB) is configured to pivot about the actuator (VR), mounted non-pivotably with respect to the maneuvering system (1), the movable driving part (PE) projecting radially in a fixed angular position, said mechanism for coupling the movable driving part (PE) of the actuator (VR) selectively with the holding systems (SP), comprising the drum (TB) mounted to pivot about the actuator under the action of motorized means of the maneuvering system so that the coupling is obtained by pivoting the drum (TB) so as to bring the movable drive part (PE) of the actuator into correspondence selectively with the first holding system (SP1), the second holding system when the gripping tool (OT) is dependent on claim 12, or selectively with the first holding system (SP1), the second holding system (SP2), the third holding system (SP3), or the fourth holding system (SP4) when the gripping tool (OT) is dependent on claim 13.

18. The gripping tool according to claim 17 comprising a nose piece (NZ), integral with a distal portion of the central actuator support (VR), the nose piece (NZ) is positioned in the fixed angular position, configured to extend the cradle of the location whose holding system is selectively coupled to the movable drive portion PE, said nose piece (NZ) being configured to provide additional guidance and support between the rolling mill stand and the cradle aligned with the nose piece when the actuator-coupled holding system pushes or pulls the work roll19. An assembly comprising a maneuvering system (1) for a metal strip rolling plant, and a gripping tool (OT) according to one of claims 11 to 18, manipulated by the maneuvering system, suitable for carrying out rolling mill work roll changing operations, for carrying out used work roll removal and new work roll insertion in the rolling mill stand.

20. The assembly according to claim 19 wherein said maneuvering system comprises a robot (Ro) comprising: - a carriage comprising a first frame (2) provided with wheels (20) engaging with rails (Ra1) which are arranged on the ground, extending in the Y direction, at right angles to the access window of the rolling mill stand, said first frame (2) being configured to move in the Y direction along the rails (Ra1), under the action of first motor means (M1) driving in particular the wheels (20), - a second frame (3) and a first slide system (G1) connecting the second frame (3) and the first frame (2) configured to move the second frame (3) relative to the first frame (2) in the 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), configured to move the third frame (4) relative to the second frame (3) in a vertical direction Z, under the action of third motor means (M3), - a gripping system (6) movable with the third frame (4) comprising an actuator configured to control the locking and unlocking of the gripper of a proximal end of the gripping tool (OT).

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