Rolling installation comprising a robotic system configured for the extraction of cylinders from a rolling mill and a tool change magazine

Abstract

This disclosure relates to a metal strip rolling plant comprising a rolling mill (L), having a rolling mill stand and a set of rollers internal to the stand, said plant comprising a robotic system (1) suitable for performing rolling mill roller change operations, and wherein the plant includes a tool change magazine (GMA) comprising, in a storage area: - a first gripping tool configured for inserting and extracting a work roller, - a second gripping tool configured for inserting and extracting the first intermediate rollers, - a third gripping tool configured for inserting and extracting the second intermediate rollers, and - a fourth gripping tool configured for inserting and extracting the roller sets. Abstract Figure: Figure 3

Description

[0001] This disclosure relates to a rolling mill installation comprising a 20-roll mill, a robotic system configured for the extraction of rolls and rollers from the mill stand or the insertion of rolls into the stand, and a tool change store comprising a set of gripping tools specific to the nature of the component to be gripped in the mill stand, and in particular four gripping tools specific to the gripping, respectively, of the work rolls, first intermediate rolls, second intermediate rolls and support roller assemblies of the 20-roll mill.

[0002] The robotic system is configured to automatically couple selectively with specific tools, depending on the component (cylinder or set of support rollers) to be grasped in the rolling mill cage, the component consisting of at least one working cylinder, a first intermediate cylinder, a second intermediate cylinder, and a set of support rollers, and possibly also at least one spray bar. technical field

[0003] The field of the invention relates more particularly to equipment used to perform maintenance operations on a 20-roll rolling mill, also known as a "20 High." A 20-roll rolling mill is, for example, known from prior art US 5,193,377 and US 5,471,859. In such a rolling mill, the rolls (and sets of support rollers) are arranged in a lower group and an upper group, in a symmetrical configuration with respect to the plane of travel of the metal strip to be rolled. figure 4 US document 5 193 377 illustrates, for example, the upper group with a working cylinder, two first intermediate cylinders, three second intermediate cylinders, and four sets of support rollers.

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

[0005] Each support roller assembly typically comprises a support shaft along which rollers, typically formed by bearings, are distributed. For this purpose, the inner ring of each bearing is mounted on the support shaft, while the outer ring of the bearing is designed to roll on one, or even two, adjacent cylinders belonging to the intermediate cylinders. The support roller assembly also includes a saddle whose arched body extends longitudinally along the length of the support shaft, and whose convex face is designed to bear against a concave seat of a cage mounting component. This saddle also has extensions, projecting from the concave face of the body, through which the support shaft passes; these extensions are distributed along the length of the shaft and, in particular, arranged between the rollers.Eccentric rings are also provided between the support shaft and these extensions. The shaft has a pinion designed to mesh with a corresponding pinion, or alternatively a rack, within the rolling mill stand. This pinion (or rack) drives the support shaft in rotation, thus allowing the position of the support shaft and the rollers it carries to be moved closer to or further from the arched body of the saddle, thanks to the eccentric rings. It is understood that these support roller assemblies also require maintenance, which is carried out by removing this component from the stand, along the axis of the support shaft.

[0006] The extraction (or insertion) of internal components (cylinders or sets of support rollers) is usually carried out using handling equipment attached to the end of the component to be removed (i.e., the end of the cylinder to be removed or the shaft supporting the set of support rollers to be removed), equipped with a counterweight. The purpose of the counterweight is to balance the component being grasped when it is handled by the hoist of an overhead crane in the workshop, and to keep it approximately horizontal, while the hoist hook engages a ring positioned on the equipment between the counterweight and the grasped component. During the removal of the component (or conversely, during its insertion), the grasped component is rigidly attached to the equipment's counterweight, which is susceptible to swinging at the lower end of the hoist cable. Previous technique

[0007] During extraction maneuvers, operators must be present near the seized component, in order to guide the extraction (or placement) operations, which are therefore particularly dangerous due to the possible swinging movements of the heavy elements suspended from the overhead crane cable.

[0008] The operations of installing each set of support rollers in the rolling mill stand are particularly tedious because it is necessary to orient them during the insertion of the assembly: the saddle following the angular position allowing its insertion into the cage in its mounting position, namely to align the saddle angularly with the cage seat of the rolling mill: this operation requires for example for the roller assemblies of the upper group to hold the saddle upwards, and against gravity which tends to tilt it downwards, the support shaft and especially the pinion attached to its end in order to precisely position the teeth of the pinion between the teeth of the drive pinion (or the drive rack) of the rolling mill located at the bottom of the cage.

[0009] However, document JP1976454C, filed on behalf of Nippon Steel, reveals a loading / unloading system based on the use of a standard robotic arm (5-axis). In this prior art design, the robotic arm is mounted on a carriage moving along rails, parallel to the plane of the strip's travel, allowing the articulated arm to move to the various stands of the rolling mills. The end of the arm is equipped with a clamping system that allows it to grasp and then lock a work cylinder.

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

[0011] However, document WO2022223927 from the present Applicant describes a robotic system comprising a robot that minimizes operational footprint during loading / unloading operations and allows the removed cylinders to be placed on a rack at a distance from the rolling mill stand. As described in this prior art, the robotic system is configured to change all the cylinders or support rollers of a 20-roll rolling mill, namely the extraction and insertion of the following components from the upper and lower groups into the rolling mill stand: the lower and upper working cylinders, the first intermediate cylinders, the second intermediate cylinders, and the support roller assemblies.

[0012] To the figures and in particular to the figure 3From document WO2022223927, it is noted that the gripping of the working cylinders is ensured by a locking by the robotic gripping system of a gripping tool described in detail in the application published under number FR3108047 of 10 March 2020 (national registration number 20 02 381) tool which can be inserted by the robot into the rolling mill cage in order to extract or insert into the rolling mill cage.

[0013] On the other hand, and with regard to the other cylinders / roller assemblies, in particular the second intermediate cylinders, or the support roller assemblies, their cylinder gripping requires prior installation, typically by screwing, of an adapter, typically manually by an operator, in the form of a tip as illustrated in particular in figure number five of document FR3108047. Summary

[0014] This disclosure improves the situation.

[0015] A metal strip rolling installation is proposed, comprising a rolling mill, featuring a rolling mill stand and a set of cylinders, internal to the stand, having: an upper group comprising: -- one upper working cylinder, -- two upper intermediate cylinders, -- three upper intermediate cylinders, -- four sets of upper support rollers, a lower group comprising: -- one lower working cylinder, -- two lower intermediate cylinders, -- three lower intermediate cylinders, -- four sets of lower support rollers, said installation comprising a robotic system suitable for performing the rolling mill roll change operations, by extracting worn rolls from the rolling mill stand and / or inserting new or ground rolls into the rolling mill stand, comprising a robot equipped with a gripping system configured to control the locking of a plurality of gripping tools, and wherein the installation includes a gripping tool change magazine comprising, in a storage area: a first input tool configured for the insertion and extraction of a working cylinder, a second input tool configured for the insertion and extraction of the first intermediate cylinders, a third input tool configured for the insertion and extraction of the second intermediate cylinders, and a fourth input tool configured for the insertion and extraction of the support roller assemblies, and wherein the input system comprises a quick coupling system, including a first motorized mechanical coupling part configured to move from a coupled position configured to mechanically lock a second mechanical coupling part, to a decoupled position allowing the release of the second mechanical coupling part and wherein each of the gripping tools among the first gripping tool, the second gripping tool, the third gripping tool and the fourth gripping tool are equipped with said second mechanical coupling part, the gripping tools configured to be selectively coupled to said first mechanical part of the gripping system when the gripping tools are stored in said storage area of ​​said tool change magazine.

[0016] The features described in the following paragraphs may optionally be implemented, independently of each other or in combination with each other:

[0017] According to one embodiment, the robotic system incorporates at least one controllable pneumatic power source, the quick coupling system, comprising, in addition to the first mechanical coupling part, a first pneumatic coupling part, configured to move from a coupled position to lock a second pneumatic coupling part, and in which all or part of the gripping tools among the first gripping tool, the second gripping tool, the third gripping tool and the fourth gripping tool are equipped with said second mechanical coupling part and at least one pneumatic actuator configured to be actuated by said at least one pneumatic power source.

[0018] According to one embodiment, the rolling mill cage has an access opening, optionally closed by a door system, the metal strip extending longitudinally along a horizontal X direction, and transversely along a horizontal Y direction, the Y direction being parallel to the axes of the rolling mill cylinders, and in which the robot includes a trolley comprising a first chassis equipped with wheels cooperating with rails arranged on the ground, extending in the Y direction, at the right of the access opening of the rolling mill cage, said first chassis being configured to move in the Y direction along the rails, under the action of first drive means driving the wheels and in which the tool change magazine is arranged laterally to the rails, in a fixed position in said installation.

[0019] According to one embodiment, said installation comprises 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 Y direction transversely and laterally to the rails, the rack resting on the support frame having housings, oriented in the X direction, and in which the robotic system is configured to place the cylinder, on the loading / unloading rack resting on the support frame, and in which the tool change magazine is arranged, in the Y direction between the rolling mill stand and the support frame, close to the support frame relative to the rolling mill stand and in which the support frame and the tool change magazine are arranged relative to the rolling mill stand, configured to free up a maintenance aisle in the X direction, along the access opening of the rolling mill,

[0020] According to one embodiment, the robot comprises, in addition to the first chassis that can be moved along the rails: - 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 along the 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 along a vertical Z direction, under the action of third drive means; - a fourth chassis, 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 relative to the third chassis, under the action of fourth drive means, and wherein said gripping system, comprising the first mechanical coupling part, is mounted on the fourth chassis and and in which the robotic system is configured to ensure the extraction of a cylinder, by grasping the end piece attached to the cylinder, or by grasping the cylinder / or said support roller assembly by the gripping tool locked by the gripping system, with the cylinder being placed laterally to the rails, after pivoting the cylinder by rotating the fourth chassis relative to the third chassis around the vertical axis of rotation.

[0021] According to one embodiment, the gripping tools comprising the first gripping tool, the second gripping tool, the third gripping tool and the fourth gripping tool are stored in the storage area of ​​the magazine, said gripping tools oriented in a direction parallel to the X direction and perpendicular to the rails, the gripping tools exposing their second mechanical coupling part, or even their second pneumatic coupling part, to the rails and wherein the robotic system is configured to ensure the coupling of one of the tools stored in the magazine, by: - pivoting of the fourth chassis around said vertical axis of rotation in order to align the first part of the mechanical coupling, mounted on the fourth chassis, with the second part of the coupling of one of the tools stored in the magazine laterally to the rail, or even simultaneously if necessary, in order to align the first part of the pneumatic coupling, mounted on the fourth chassis, and the second part of the pneumatic coupling of the gripping tool, - displacement of said second chassis relative to the first chassis so as to physically engage the first part of the mechanical coupling of the gripping system and the second part of the mechanical coupling aligned with each other,or even simultaneously engage the first pneumatic coupling part and the second pneumatic coupling part - transition from the decoupled position of the first mechanical coupling part to said locked position configured to mechanically lock the second mechanical coupling part, or even preferably simultaneously transition from the decoupled position of the first pneumatic coupling part to said locked position configured to pneumatically lock the second mechanical coupling part.

[0022] According to one embodiment, the gripping system includes a motor configured to pivot the first coupling part around an axis of rotation, or even coincident with the axis of rotation of a cylinder / or a set of support rollers gripped by the gripping tool.

[0023] According to one embodiment, the first coupling part comprises several coupling parts that can be activated upon locking / unlocking, said activatable coupling parts being distributed angularly around the axis of rotation.

[0024] According to one embodiment, the first part of the pneumatic coupling is centered on the axis of rotation around which the first part of the coupling is configured to pivot.

[0025] According to one embodiment, the tool change magazine comprises a substantially vertical structure comprising several superimposed storage compartments, configured to receive respectively, in a superimposed manner, the first input tool, the second input tool, the third input tool, and the fourth input tool in said storage compartments.

[0026] According to a second aspect, this disclosure also relates to a method for changing support roller / roller assemblies implemented in a rolling mill according to this disclosure, comprising the following steps: / A / selection of a gripping tool from among the first gripping tool, the second gripping tool, the third gripping tool and the fourth gripping tool, the gripping tools being stored in the tool change magazine, / B / engagement by the robotic system of the first mechanical coupling part with the second mechanical coupling part of the selected gripping tool, and movement of the first coupling part to the coupled position, or possibly also engagement by the robotic system of the first pneumatic coupling part with the second pneumatic coupling part and movement of the first pneumatic coupling part to the coupled position, / C / matching by the robotic system of the gripping tool coupled to the gripping system and gripping of a rolling mill component corresponding to the selected gripping tool, said component comprising, or consisting of,a working cylinder for the first gripping tool, a first intermediate cylinder for the second gripping tool, a second intermediate cylinder for the third gripping tool, and a set of support rollers for the fourth gripping tool; / D / extraction of said component by the robotic system coupled to the selected gripping tool.

[0027] According to one embodiment, at step / C / the component is gripped by the selected gripping tool without prior placement of an adapter on the component. Brief description of the drawings

[0028] 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 view of a robotic system comprising a trolley carrying a gripping system comprising, on the one hand, a first mechanical coupling part comprising several coupling parts distributed around a motorized axis of rotation of the gripping system said first coupling part configured to move from a coupled position ensuring the locking of a second mechanical coupling part of a gripping tool to a decoupled position allowing the release of the gripping tool, and on the other hand, a first pneumatic coupling part, centered on the axis of rotation, configured to move from a coupled position ensuring the locking of a second pneumatic coupling part of the gripping tool, to a decoupled position. Fig. 2 [ Fig. 1a ] is a cross-sectional view of the robotic system, illustrating in detail a possible kinematic of the robot of the robotic system. Fig. 2 [ Fig. 2] is a schematic view of the different specific gripping tools, namely from top to bottom, the first gripping tool configured for gripping the working cylinders, the second gripping tool configured for gripping the first intermediate cylinders, the third gripping tool configured for gripping the second intermediate cylinders, and finally the fourth gripping tool configured for gripping the support roller assemblies. Fig. 3 [ Fig. 3[ ] is a view of a possible configuration of the rolling mill installation which includes a 20-roll mill comprising a stand receiving a set of rolls / sets of support rollers, including two work rolls, the 20-roll mill configured to roll a metal strip in a running direction X, a robotic system comprising a robot including a carriage configured to move along rails, oriented in a transverse direction Y, in line with an access window of the stand, said installation further comprising: - a loading / unloading rack, positioned removably on a support frame anchored to the ground in an anchoring position at a distance from the mill in the transverse direction Y, and laterally to the rails on which the robot moves, the rack resting on the support frame having slots, oriented in the direction X,and in which the robotic system is configured to place the cylinder onto the loading / unloading rack resting on the support frame, - a tool change magazine, in the form of a vertical structure comprising several superimposed compartments, receiving respectively the four gripping tools, the tool change magazine arranged, along the transverse direction Y between the rolling mill stand and the support frame, close to the support frame relative to the rolling mill stand and in which the support frame and the tool change magazine are arranged and configured to free up a maintenance aisle along the longitudinal direction X, said aisle extending along the access opening of the rolling mill. Fig. 4 [ Fig. 4 ] schematically illustrates the configuration of the upper and lower groups of a 20-roll rolling mill. Description of the implementation methods

[0029] This disclosure relates to a metal strip rolling plant comprising a rolling mill L, having a rolling mill stand and a set of cylinders, internal to the stand, having: an upper group GS comprising: -- a working cylinder 12, upper, -- two first intermediate cylinders 13, upper, -- three second intermediate cylinders 14,15, upper, -- four sets of support rollers A, B, C, D, upper, a lower group GI comprising: -- a working cylinder 12, lower: -- two first intermediate cylinders 13, lower, -- three second intermediate cylinders 14,15, lower, -- four sets of support rollers H, G, F, E, lower.

[0030] Such a configuration of a rolling mill, known as a 20-roll mill, namely comprising the said working rolls 12, the first intermediate rolls 13, the second intermediate rolls 14 and 15 and the sets of support rolls A to E, is schematically illustrated in the figure 4 .

[0031] Such a rolling mill allows a metal strip BM to be rolled in a scrolling direction along a longitudinal direction X, said metal strip extending in width along the transverse direction Y.

[0032] The 20-roller mill can be a one-piece stand mill, or it can comprise two moving parts, namely a mill typically known to those skilled in the art under the English name " split-housing » .Such a split-housing rolling mill comprises two parts that are movable relative to each other, forming respectively an upper stand, configured to transmit a clamping force to the four sets of support rollers A, B, C, D, of the upper group GS, and an upper stand configured to transmit a clamping force to the four sets of support rollers E, F, G, H of the lower group Gi. Such a rolling mill then includes a hydraulic clamping mechanism configured to move the stand system from an open stand position, in which the upper and lower stand parts are separated, to a clamping position, in which the upper and lower stand parts are brought together, suitable for rolling metal strip.

[0033] Generally speaking, particularly for a one-piece stand rolling mill or of the " split housing Each set of support rollers A to E typically comprises, in a manner known per se, a support shaft along which are distributed rollers typically formed by bearings. For this purpose, the inner ring of each bearing is mounted on the support shaft, the outer ring of the bearing being intended to roll on one, or even two, contiguous cylinders belonging to the cylinders of the second intermediate cylinders.

[0034] The support roller assembly also includes a saddle whose arched body extends longitudinally along the length of the support shaft, and whose convex face is designed to bear against a concave seat of a portion of the stand's mounting, namely, for example, a portion of the mounting of the upper stand for support roller assemblies A to D, and a portion of the mounting of the lower stand for support roller assemblies E to H. This saddle also has extensions, projecting from the concave face of the body, through which the support shaft passes. These extensions are distributed along the length of the shaft and, in particular, arranged between the rollers. Eccentric rings are also provided between the support shaft and these extensions. The shaft has a pinion designed to mesh with a corresponding pinion in the rolling mill stand, or alternatively, a rack.This pinion (or rack) thus allows the support shaft to be driven in rotation, and thus the position of the support shaft and the rollers carried relative to the arched body of the saddle to be moved further apart or closer together, thanks to the eccentric rings.

[0035] The stand also includes an access opening (or maintenance window) on one side of the rolling mill's front, typically opposite the other side, which houses the drive for rotating the rolls. A door system is configured to close the access window during rolling operations and to open it for maintenance, particularly for changing the rolling mill's rolls, including support roller assemblies.

[0036] During rolling campaigns, friction causes wear on the cylinders / set of support rollers which require more or less frequent maintenance depending on their nature.

[0037] Thus, the maintenance frequency of the working cylinders is greater than the replacement frequency of the first intermediate cylinders, which is itself greater than the replacement frequency of the second intermediate cylinders and that of the support roller assemblies.

[0038] The cylinders or sets of support rollers can each be extracted from the stand by pulling the cylinder (or set of support rollers) along a longitudinal axis of the element. The extracted cylinders are then replaced with ground cylinders, or even new cylinders, which are inserted into the rolling mill stand.

[0039] For this purpose, the installation includes a robotic system 1 suitable for ensuring the operations of changing the rolling mill cylinders, by extracting the worn cylinders from the rolling mill cage and / or inserting new or ground cylinders into the rolling mill cage, said robotic system including robot Ro equipped with a gripping system 6 configured to control the locking of a plurality of gripping tools.

[0040] The robot Ro can include a trolley comprising a first chassis 2 equipped with wheels 20 cooperating with rails Ra1 arranged on the ground, extending along the transverse direction Y, at the right of the access opening of the rolling mill cage, said first chassis 2 being configured to move along the direction Y along the rails Ra1, under the action of first motor means M1 driving the wheels 20.

[0041] The robot can understand: a second chassis 3 and a first sliding system G1 connecting the second chassis 3 and the first chassis 2 configured to move the second chassis 3 relative to the first chassis 2 along the X direction, under the action of second motor means M2. a third chassis 4 and a second sliding 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 along a vertical Z direction, under the action of third motor means M3.

[0042] The movement of the first chassis 2, along the rails Ra1, in the transverse direction Y, of the second chassis 3 relative to the second chassis in the longitudinal direction X and of the third chassis 4 relative to the second chassis in the direction Z, allows translational movement of the input system in the three directions of space.

[0043] The robot may further include a fourth chassis 5, and rotational guidance means connecting the fourth chassis and the third chassis around a vertical rotation axis Av), configured to drive the rotation of the fourth chassis 5 relative to the third chassis 4, under the action of a fourth motor means M4. Such robot kinematics is known in itself from the Applicant's document WO2022223927 for the extraction or insertion of cylinders. The robot may further include a horizontal rotation axis, disclosed by WO2022223927, allowing the axis of a gripped cylinder to be tilted under the action of a fifth motor means M5.

[0044] Said gripping system 6 is mounted on the fourth chassis. Such a robotic system 1 is configured to ensure the extraction of a cylinder, by gripping the end attached to the cylinder, or by gripping the cylinder / or said support roller assembly by a gripping tool locked by the gripping system, with placement of the cylinder (or said support roller assembly), laterally to the rails, after pivoting of the cylinder by rotation of the fourth chassis relative to the third chassis 4 around the vertical axis of rotation Av.

[0045] According to this disclosure, the said facility further includes a MAG changeover store for gripping tools comprising, in a storage area: a first OT1 input tool configured for the insertion and extraction of a working cylinder, a second OT2 input tool configured for the insertion and extraction of the first intermediate cylinders, a third OT3 input tool configured for the insertion and extraction of the second intermediate cylinders, and a fourth OT4 input tool configured for the insertion and extraction of the support roller assemblies.

[0046] According to this disclosure, the gripping tools comprising the first gripping tool OT1, the second gripping tool OT2, the third gripping tool OT3, and the fourth gripping tool OT4 are specific tools configured to ensure respectively the gripping of a working cylinder 12, at least one of the first intermediate working cylinders 13, at least one of the second intermediate cylinders 14, 15 and at least one of the support roller assemblies, and advantageously preferably without requiring the prior installation of an adapter on the component to be gripped, contrary to the prior art described in document WO2022223927.

[0047] In other words: The first OT1 gripping tool, which may be the tool disclosed by the application for registration number FR2300035, dated January 3, 2023, is configured to grip a working cylinder 12, for its extraction or insertion, preferably without requiring the installation of an adapter on the working cylinder; the second OT2 gripping tool is configured to grip a first intermediate cylinder 13, for its extraction or insertion, preferably without requiring the installation of an adapter on the first intermediate cylinder 13; the third OT3 gripping tool is configured to grip a second intermediate cylinder 14, 15, for its extraction and / or insertion, preferably without requiring the installation of an adapter on the second intermediate cylinder 14; the fourth OT3 gripping tool is configured to grip a set of support rollers A, B, C, D, E, F. G, H,preferably without requiring the installation of an adapter on the said assembly of support rollers.

[0048] According to this disclosure, the input system 6 includes a quick coupling system 7, comprising a first mechanical coupling part 71, motorized M7, configured to move from a coupled position configured to mechanically lock a second mechanical coupling part 72, to a decoupled position allowing the release of the second mechanical coupling part.

[0049] According to this disclosure; each of the gripping tools among the first gripping tool OT1, the second gripping tool OT2, the third gripping tool OT3 and the fourth gripping tool OT4 is equipped with said second mechanical coupling part 72 the gripping tools configured to be selectively coupled to said first mechanical coupling part 71 of the gripping system 6 when the tools are stored in said storage area of ​​said tool change magazine MAG.

[0050] Also notably, the input system 6 may include a motor M6 configured to pivot the first coupling part 71 around a rotation axis A6, or even coincide with the rotation axis of a cylinder / or a set of support rollers input by the input tool OT1, OT2, OT3, OT4.

[0051] Such a motorized rotation axis A6 allows, for example, the orientation of the support roller assemblies A, B, C, D, E, F, G, H during the insertion of said support roller assembly, by orienting the saddle (then blocked in rotation by the fourth gripping tool) and typically their pinion, into an angular position allowing its insertion into a seat of complementary shape to the cage

[0052] Such an A6 rotation axis can still allow the use of OT1 as the first input tool, the input tool disclosed by the application for registration number FR2300035, which includes a drum configured to be pivoted around a central axis of the drum.

[0053] According to one embodiment, the robotic system 1 includes at least one controllable pneumatic power source, the quick coupling system, comprising, in addition to the first mechanical coupling part 72, a first pneumatic coupling part 71', configured to move from a coupled position to lock a second pneumatic coupling part 72'.

[0054] All or part of the gripping tools among the first gripping tool OT1, the second gripping tool OT2, the third gripping tool OT3 and the fourth gripping tool OT4 are equipped with said second mechanical coupling part 72 and at least one pneumatic actuator configured to be controlled by said at least one pneumatic power source.

[0055] In general, the coupling of the first pneumatic coupling part 71' and the second pneumatic coupling part 72' allows control of said at least one pneumatic actuator of the gripping tool, which can typically be an actuator of a mechanized gripper configured to ensure a specific grip on the component to be gripped (for example, the working cylinder by the first gripping tool OT1, the first intermediate cylinder by the second gripping tool OT2, the second intermediate cylinder by the third gripping tool OT3, and the shaft of the support roller assembly for the fourth gripping tool OT3). The mechanized grippers used for the first gripping tool OT1, the second gripping tool OT2, the third gripping tool OT3, and the fourth gripping tool OT4, respectively, are typically distinct, since they are designed specifically for the nature of the component to be gripped.For example; and when the first gripping tool is that disclosed by FR2300034, the pneumatic actuator may be a pneumatic actuator of a mechanized gripper configured to ensure the gripping of a work cylinder by its end.

[0056] Such a pneumatic coupling can also, for example, ensure the control of the cylinder of the thrust system disclosed by FR2300034. In such a case, and when the grasping tool such as that described by FR2300034 includes several pneumatic actuators, these are controllable independently of each other by several independently controllable pneumatic energy sources.

[0057] According to one embodiment, illustrated in the figure 1, the first coupling part 71 may include several coupling parts that can be activated at lock / unlock, said activatable coupling parts distributed angularly around the axis of rotation A6. As an example, the first coupling part 71 includes four coupling parts distributed around the axis of rotation A6, every 90°.

[0058] The first pneumatic coupling part 71' can be centered on the rotation axis A6 around which the first coupling part 71 is configured to pivot.

[0059] The rolling mill installation according to this disclosure advantageously allows the implementation of a process for changing support roller / roller assemblies comprising the following steps: / A / selection of a gripping tool from among the first gripping tool OT1, the second gripping tool OT2, the third gripping tool OT3 and the fourth gripping tool OT4, the gripping tools being stored in the tool change magazine MAG, / B / engagement by the robotic system of the first mechanical coupling part 71 with the second mechanical coupling part 72 of the selected gripping tool, and movement of the first mechanical coupling part 71 to the coupled position, or even engagement by the robotic system of the first pneumatic coupling part 71' with the second pneumatic coupling part 72' and movement of the first pneumatic coupling part 71' to the coupled position, / C / matching by the robotic system of the gripping tool coupled to the gripping system and gripping of a rolling mill component corresponding to the selected gripping tool,said component comprising (or consisting of) a working cylinder 12 for the first gripping tool OT1, a first intermediate cylinder 13 for the second gripping tool OT2, a second intermediate cylinder 14, 15 for the third gripping tool OT3 and a set of support rollers for the fourth gripping tool OT4, / D / extraction of said component from the rolling mill by the robotic system coupled to the selected gripping tool. ,

[0060] Preferably at step / C / the component is gripped by the selected gripping tool without prior placement of an adapter on the component.

[0061] Generally, the MAG tool change magazine is arranged laterally to the Ra1 rails, in a fixed position within the installation. The MAG tool change magazine may comprise a substantially vertical structure comprising several superimposed storage bays, typically four in number, configured to receive, respectively, in a superimposed manner, the first gripping tool OT1, the second gripping tool OT2, the third gripping tool OT3, and the fourth gripping tool OT4 in said storage bays.

[0062] In general, and as illustrated in the figure 3 The installation may include a loading / unloading rack Ra, positioned removablely on a support frame Cha anchored to the ground in an anchoring position away from the rolling mill in the transverse Y direction and laterally to the rails Ra1.

[0063] The Rac rack resting on the Cha support chassis may have housings, oriented along the X direction. The robotic system is configured to place the cylinder, on the loading / unloading rack Ra resting on the Cha support chassis, typically after pivoting said gripping system around said vertical rotation axis Av, and as disclosed in itself by WO2022223927.

[0064] According to one embodiment, the MAG tool change magazine is arranged, along the transverse direction Y between the rolling mill stand and the support frame Cha, preferably close to the support frame Cha relative to the rolling mill stand.

[0065] As illustrated in the figure 2The Cha support frame and the MAG tool change magazine are spatially arranged relative to the rolling mill stand, configured to free up a maintenance aisle AL along the X direction, along the access opening (or maintenance window) of the rolling mill stand.

[0066] According to one embodiment, the gripping tools comprising the first gripping tool OT1, the second gripping tool OT2, the third gripping tool OT3 and the fourth gripping tool OT4 are stored in the storage area of ​​the store, said gripping tools oriented in a direction parallel to the X direction and perpendicular to the rails Ra1. The various gripping tools expose their second mechanical coupling part72), or even their second pneumatic coupling part72' towards the rails Ra1.

[0067] According to the robot kinematics described above, the robotic system can be configured to ensure the coupling of one of the tools stored in the magazine, by: pivoting of the fourth chassis 5 around said vertical axis of rotation Av in order to align the first mechanical coupling part 71, mounted on the fourth chassis 5 with the second coupling part 72 of one of the tools stored in the tool change magazine arranged laterally to the rail, or even simultaneously, when the robot is equipped with said at least one pneumatic power source, in order to align the first pneumatic coupling part 71', mounted on the fourth chassis and the second pneumatic coupling part 72' of the gripping tool, displacement of said second chassis 3 relative to the first chassis 1 so as to physically engage the first mechanical coupling part 71 of the gripping system and the second mechanical coupling part 72 aligned with each other,or even simultaneously engage the first pneumatic coupling part 71' and the second pneumatic coupling part 72', transitioning from the decoupled position of the first mechanical part 71 to said locked position configured to mechanically lock the second mechanical coupling part 72, or even preferably simultaneously transitioning from the decoupled position of the first pneumatic coupling part 71' to said locked position configured to pneumatically lock the second mechanical coupling part 72'.

[0068] According to one embodiment, at least one of the four gripping tools, for example the second gripping tool OT2 configured for gripping the first intermediate rolls and / or the third gripping tool OT3 configured for gripping the second intermediate rolls, can be configured for gripping another component of the rolling mill in particular, typically the spray ramps. List of reference signs

[0069] 1: BM System. Metal strip, L. Rolling mill, Ro. Robot, Ra1. Rails (robot) L. Rolling mill, 1. Robotic system, Ro. Robot, Ra1. Rail along the Y direction 2. First frame 20. Wheels, M1. First drive means (carriage movement along the Y direction) 3. Second frame, G1. First slide system along the X direction (between the second and first frames), M2. Second drive means (carriage movement along the X direction), 4. Third frame, G2. Second slide system along the Z direction M3. Third drive means (third frame movement along the second slide system along the Z direction) 5. Fourth frame, Av. Vertical axis of rotation (between the fifth and fourth frames), called the first axis of rotation M4. Fourth drive means (fourth frame pivoting relative to the third frame around the vertical axis of rotation), 6. Gripping system, M6.Drive means (pivoting of the cylinder gripped by the gripping system around its axis, or a parallel axis, 71, 72. Respectively first part of mechanical coupling and second part of mechanical coupling, 71', 72'. Respectively first part of pneumatic coupling and second part of pneumatic coupling, Gi, Gs. Respectively upper group and lower group, 12. Working cylinders, 13. First intermediate cylinders, 14, 15. Second intermediate cylinders, A, B, C, D. respectively the four support cylinders or sets of support rollers of the upper group, E, F, G, H. respectively the four support cylinders or sets of support rollers of the lower group. Cha. Support chassis, Rac. Removable rack. AL. Maintenance aisle (of the workshop) along the longitudinal direction.

Claims

1. Facility for rolling a metal strip comprising a rolling mill (L), having a rolling mill stand and a set of rolls, inside the stand, having: - an upper group (GS) comprising: -- an upper work roll (12), -- two upper first intermediate rolls (13), -- three upper second intermediate rolls (14, 15), -- four upper sets of backup rollers (A, B, C, D), - a lower group (GI) comprising: -- a lower work roll (12): -- two lower first intermediate rolls (13), -- three lower second intermediate rolls (14, 15), -- four lower sets of backup rollers (H, G, F, E), said facility comprising a robotic system (1) suitable for carrying out rolling mill roll changing operations, by removing worn rolls from the rolling mill stand and / or inserting new or rectified rolls into the rolling mill stand, comprising a robot provided with a grasping system (6) configured to control the locking of a plurality of gripping tools, characterized in that said facility comprises a gripping tool change magazine (MAG) comprising, in a storage area: - a first grasping tool (OT1) configured to insert and remove a work roll - a second grasping tool (OT2) configured to insert and remove the first intermediate rolls, - a third grasping tool (OT3) configured to insert and remove the second intermediate rolls, and - a fourth grasping tool (OT4) configured to insert and remove the sets of backup rollers, and wherein the grasping system (6) comprises a quick-coupling system (7), comprising a first mechanical coupling part (71) which is motorized (M7), the part being configured to move from a coupled position, configured to mechanically lock a second mechanical coupling part (72), to an uncoupled position allowing the second mechanical coupling part to be released and wherein each of the gripping tools from among the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3) and the fourth grasping tool (OT4) are equipped with said second mechanical coupling part (72), the gripping tools configured to be selectively coupled to said first mechanical part (71) of the grasping system (6) when the gripping tools are stored in said storage area of said tool change magazine (MAG).

2. Facility according to claim 1, wherein the robotic system (1) includes at least one controllable pneumatic power source, the quick-coupling system comprising, in addition to the first mechanical coupling part (72), a first pneumatic coupling part (71') which is configured to move from a coupled position to lock a second pneumatic coupling part (72'), and wherein some or all of the gripping tools from among the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3) and the fourth grasping tool (OT4) are equipped with said second mechanical coupling portion (72) and at least one pneumatic actuator configured to be actuated by said at least one pneumatic power source.

3. Rolling facility according to claim 1 or 2, wherein the rolling mill stand has an access opening, optionally closed by a door system, the metal strip (Bm) extending longitudinally in a horizontal direction X and transversely in a horizontal direction Y, the Y direction being parallel to the axes of the rolls of the rolling mill, and wherein the robot (Ro) comprises a carriage comprising a first frame (2) which is provided with wheels (20) engaging with rails (Ra1) which are arranged on the ground and extend in the Y direction, facing the access opening 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 the wheels (20) and wherein the tool change magazine (MAG) is arranged laterally to the rails (Ra1), in a fixed position in said facility.

4. Facility according to claim 3, comprising a loading / unloading rack (Rac), removably positioned on a support frame (Cha) anchored to the ground in an anchoring position at a distance from the rolling mill in the transverse Y direction and laterally to the rails (Ra1), the rack (Ra) resting on the support frame (Cha) having recesses oriented in the X direction, and wherein the robotic system is configured to deposit the roll onto the loading / unloading rack (Ra) resting on the support frame (Cha), and wherein the tool change magazine (MAG) is arranged, in the Y direction between the rolling mill stand and the support frame, near the support frame (Cha) relative to the rolling mill stand, and wherein the support frame and the tool change magazine are arranged relative to the rolling mill stand and are configured to leave a maintenance path (AL) in the X direction, along the access opening of the rolling mill.

5. Facility according to one of claims 3 or 4, wherein the robot comprises, in addition to the first frame (2) which can be moved along the rails (Ra1): - a second frame (3) and a first slide system (G1) connecting the second frame (3) and the first frame (2), which is configured to move the second frame (3) relative to the first frame (2) in the X direction, under the action of second motor means (M2) - a third frame (4) and a second slide system (G2) connecting the third frame (4) and the second frame (3), which is configured to move the third frame (4) relative to the second frame (3) in a vertical direction Z, under the action of third motor means (M3), - a fourth frame (5), and rotational guide means connecting the fourth frame and the third frame about a vertical axis of rotation (Av), which means are configured to rotate the fourth frame (5) relative to the third frame (4), under the action of fourth motor means (M4), and wherein said grasping system (6) which comprises the first mechanical coupling part is mounted on the fourth frame (5) and wherein the robotic system (1) is configured to remove a roll, by grasping the end piece secured to the roll, or by grasping the roll or said set of backup rollers using the gripping tool locked by the grasping system, with the roll being deposited, laterally to the rails, after the roll has been pivoted by the rotation of the fourth frame (5) relative to the third frame (4) about the vertical axis of rotation (Av).

6. Facility according to claim 5, wherein the gripping tools comprising the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3) and the fourth grasping tool (OT4) are stored in the storage area of the magazine, said gripping tools oriented in a direction parallel to the X direction and perpendicular to the rails (Ra1), the gripping tools exposing their second mechanical coupling part (72) or their second pneumatic coupling part (72') to the rails (Ra1) and wherein the robotic system is configured to couple one of the tools stored in the magazine, by: - pivoting the fourth frame (5) about said vertical axis of rotation (Av) in order to align the first mechanical coupling part (71), mounted on the fourth frame, with the second coupling part of one of the tools stored in the magazine laterally to the rail, or simultaneously when the facility is dependent on claim 2, in order to align the first pneumatic coupling part (71'), mounted on the fourth frame, and the second pneumatic coupling part (72') of the grasping tool, - moving said second frame (3) relative to the first frame (1) so as to physically engage the first mechanical coupling part (71) of the grasping system and the second mechanical coupling part (72') which are aligned with each other, or simultaneously to engage the first pneumatic coupling part (71') and the second pneumatic coupling part (72') - moving the first mechanical coupling part (71) from the uncoupled position to said locked position configured to mechanically lock the second mechanical coupling part (72), or preferably also simultaneously moving the first pneumatic coupling part (71') from the uncoupled position to said locked position configured to pneumatically lock the second mechanical coupling part (72').

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

8. Rolling facility according to claim 7, wherein the first coupling part (71) comprises a plurality of locking / unlocking activatable coupling parts, said activatable coupling parts being angularly distributed about the axis of rotation (A6).

9. Rolling facility according to claim 2 and 8, wherein the first pneumatic coupling part (71') is centered on the axis of rotation (A6) about which the first coupling part (71) is configured to pivot.

10. Rolling facility according to one of claims 1 to 9, wherein the tool change magazine (MAG) comprises a substantially vertical structure comprising a plurality of superposed storage cavities configured to receive respectively, in a superposed manner, the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3), and the fourth grasping tool (OT4) in said storage cavities.

11. Method for changing rolls / sets of backup rollers implemented in a rolling facility according to one of claims 1 to 10, comprising the following steps: / A / selecting a gripping tool from among the first grasping tool (OT1), the second grasping tool (OT2), the third grasping tool (OT3) and the fourth grasping tool (OT4), the gripping tools being stored in the tool change magazine, / B / engaging, by means of the robotic system, the first mechanical coupling part (71) with the second mechanical coupling part (72) of the selected gripping tool, and the first coupling part moving into the coupled position, or also engaging, by means of the robotic system, the first pneumatic coupling part (71') with the second pneumatic coupling part (72') and the first pneumatic coupling part moving into the coupled position, / C / matching, by means of the robotic system, the gripping tool coupled to the grasping system and grasping a rolling mill component corresponding to the selected gripping tool, said component comprising, or consisting of, a work roll (12) for the first grasping tool (OT1), a first intermediate roll (13) for the second grasping tool (OT2), a second intermediate roll (14, 15) for the third grasping tool (OT3) and a set of backup rollers for the fourth grasping tool (OT4), / D / extracting said component by means of the robotic system coupled to the selected gripping tool.

12. Method for changing rolls / sets of backup rollers according to claim 11, wherein in step / C / the component is grasped by the selected gripping tool without prior arrangement of an adapter on the component.

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