Dual gripping tool

Abstract

This disclosure relates to a gripping tool (20) comprising: - a chassis (21) equipped with a fixing part (22) configured to be manipulated by a robotic system (1), - a holding system comprising: -- a first interlocking system (23) comprising a first housing (L1) configured to receive and house in interlocking one end of a first rolling cylinder and a second interlocking system (24) comprising a second housing to receive and house in interlocking one end of a second rolling cylinder, -- means for adjusting said center distance comprising a sliding system (25) between the first interlocking system (23) and the second interlocking system (24), allowing adjustment of the spacing between the first interlocking system (23) and the second interlocking system (24).

Description

[0001] This disclosure relates to a gripping tool notable in that it is configured to grip, particularly in a rolling mill stand, typically in the presence of the metal strip, two rolling cylinders simultaneously, and for the purpose of their simultaneous manipulation, particularly during cylinder changeover operations.

[0002] Such a data entry tool finds particular application for the simultaneous entry of the first two intermediate rolls of a 20-roll rolling mill, and in particular the simultaneous entry of the first two upper intermediate rolls, and / or the simultaneous entry of the first two lower intermediate rolls.

[0003] This disclosure further relates to an assembly comprising a gripping tool as described in this disclosure and a robotic system suitable for performing rolling mill roll change operations, by removing worn rolls from the rolling mill stand and / or inserting new or ground rolls into the rolling mill stand, said robotic system comprising a robot equipped with a gripping system configured to ensure locking of a fastening part of the gripping tool.

[0004] This disclosure is further to a rolling mill comprising such an assembly as detailed in this disclosure.

[0005] This disclosure further relates to a rolling mill cylinder change method employing a gripping tool as described in this disclosure, or an assembly as described in this disclosure. technical field

[0006] 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, and 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.

[0007] 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.

[0008] The extraction (or insertion) of internal components (cylinders or roller assemblies) is usually carried out using handling equipment attached to the end of the component to be removed (i.e., the end of the cylinder or the shaft supporting the roller assembly). This equipment is fitted with a counterweight. The counterweight balances the component being lifted when it is handled by the hoist of an overhead crane in the workshop, keeping it approximately horizontal. This occurs when the hoist hook grips a ring positioned on the equipment between the counterweight and the component being lifted. During the removal (or, conversely, during its insertion) of the component, the lifted component is rigidly attached to the equipment's counterweight, which may swing at the lower end of the hoist cable. Previous technique

[0009] 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.

[0010] 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.

[0011] We also know from document WO2022223927 of the present Applicant of 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] During cylinder changes, the robotic systems of document JP1976454C or document WO2022223927 have gripping tools configured to grasp a single cylinder at a time, and proceed to remove the cylinders, one by one, one after the other in order to remove them from the rolling mill cage, then insert the ground or new cylinders, one by one, one after the other.

[0013] There has always been a need to reduce the intervention time for roll changeover operations. These operations require stopping rolling operations, and therefore negatively impact the rolling mill's productivity. Summary

[0014] This disclosure improves the situation.

[0015] It is proposed, according to a first aspect, an input tool including: a chassis equipped with a fixing part configured to be manipulated by a robotic system, a holding system comprising: -- a first interlocking system comprising a first housing configured to receive and house in interlocking one end of a first rolling cylinder and a second interlocking system comprising a second housing to receive and house in interlocking one end of a second rolling cylinder, and in which the first housing has a first gripping axis for gripping the first cylinder and a second housing has a second gripping axis for gripping the second cylinder, the first gripping axis and the second gripping axis being parallel oriented along a longitudinal direction, separated by a center distance, along a direction transverse to the first gripping axis and the second gripping axis,-- means for adjusting said center distance comprising a sliding system between the first interlocking system and the second interlocking system, allowing adjustment of the spacing between the first interlocking system and the second interlocking system, , and wherein said gripping tool is configured to permit simultaneous gripping of the two cylinders consisting of the first cylinder and the second cylinder arranged parallel to each other in a rolling mill cage, by moving the gripping tool along a direction parallel to the two cylinders comprising simultaneously an insertion of one end of the first cylinder into the first housing through a first entry opening of said first housing and an insertion of the end of the second cylinder into the second housing through a second entry opening of said housing until interlocking of the first cylinder into the first housing and of the second cylinder into the second housing permitting the gripping of the cylinders held in cantilever by their interlocking ends.

[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 slide system comprises at least one guide rail fixed to the chassis, oriented along the transverse direction, and in which the first interlocking system and the second interlocking system are mounted to slide along said at least one rail, movable relative to the chassis according to a limited stroke.

[0018] According to one embodiment, said means for adjusting the center distance comprise: a spring system generating a restoring force constraining the first interlocking system and the second interlocking system moving on said slide system in a median spacing position between a maximum spacing position and a minimum spacing position between the first interlocking system and the second interlocking system, at least one first guide wall, flared or chamfered, at the edge of the first entry opening, the first guide wall being configured to guide the end of the first cylinder when it is inserted into the first housing, and a second guide wall, flared or chamfered, at the edge of the second entry opening, the second guide wall being configured to guide the end of the second cylinder when it is inserted into the second housing, and in which, said gripping tool being configured, during said movement of the gripping tool along a direction parallel to the two cylinders, so that said at least one first guide wall cooperates in the guidance with the end of the first cylinder and said at least one second guide wall cooperates in the guidance with the end of the second cylinder in such a way as to ensure that the forces resulting from the guides modifying said center distance are against the restoring force of the spring system.

[0019] According to one embodiment, the gripping tool includes a pneumatic brake device configured to move from an unbraked position releasing the sliding of the slide system so as to freely allow an adjustment of said center distance, to a braked position blocking the sliding of the first interlocking system and the second interlocking system, locking said center distance.

[0020] According to one embodiment, the first interlocking system comprises a first locking member and a first actuator configured to move said first locking member from a first retracted position, allowing the insertion of the end of the first cylinder into the first housing, to a second position for which the first locking member penetrates the interior of the first housing, ensuring locking of the first cylinder, typically resting against a bottom of the first housing, by penetration of a locking groove of the second cylinder, and in which the second interlocking system comprises a second locking member and a second actuator configured to move said second locking member from a first retracted position, allowing the insertion of the end of the second cylinder into the second housing,up to a second position in which the second locking mechanism penetrates the interior of the second housing, ensuring the locking of the second cylinder, typically resting against the bottom of the second housing, by engaging a locking groove of the second cylinder.

[0021] According to one embodiment, the first actuator and the second actuator are pneumatic actuators.

[0022] According to one embodiment: The first interlocking system comprises a first typically metallic body including the first housing, typically machined, extending along the first axis of the first housing from the first entry opening to a bottom of the first housing; the second interlocking system comprises a second typically metallic body including the second housing, extending along the second axis of the second housing from the second entry opening to a bottom of the second housing. and in which the first dwelling and the second dwelling, extending, overlapping along a longitudinal direction of the input tool parallel to the first axis and second axis of the first and second dwellings, and in which, with respect to a virtual plane passing through the first axis of the first dwelling and through the second axis of the second dwelling, the first body and the second body respectively have a first notch and a second notch, on a first side of the virtual plane and with respect to a second side of the plane for which the first body and the second body are not notched, obtaining an offset between, on the one hand: a second entrance edge of the first opening on the first side of the plane which is arranged intermediate, along the direction of the first axis, between the bottom of the first dwelling and a first entrance edge of the first opening on the second side of the plane,a second entrance edge of the second opening on the first side of the plan which is arranged intermediately, along the direction of the second axis, between the bottom of the second dwelling and a first entrance edge of the second entrance opening on the second side of the plan.

[0023] This disclosure also relates, according to a second aspect, an assembly comprising a gripping tool according to this disclosure and a robotic system suitable for performing 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 ensure locking of the gripping tool's fixing part.

[0024] The features described in the following paragraphs may optionally be implemented, independently of each other or in combination with each other:

[0025] According to one embodiment, the gripping system includes a quick coupling system, comprising a first motorized mechanical coupling part, configured to move from a coupled position configured to mechanically lock a second mechanical coupling part forming the gripping tool fixing part, to a decoupled position allowing the release of the second mechanical coupling part.

[0026] According to one embodiment, the robotic system includes 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 the gripping tool is equipped with a second pneumatic coupling part and said pneumatic actuators configured to be actuated by said at least one pneumatic power source to ensure the locking or unlocking of the first and second cylinders and / or to ensure the braking of the first and second interlocking systems.

[0027] According to one embodiment, said input system is configured to allow the input tool to rotate 180° between: a first position in which the first side of the virtual plane is arranged upwards while the second side is arranged downwards, said first position configured in particular for the entry of the first upper intermediate cylinders through a gate opening, during which the entry system positions the first notch and the second notch in line with an upper crossbar of a frame of the gate opening, a second position in which the first side of the virtual plane is arranged downwards while the second side is arranged upwards, said second position configured in particular for the entry of the first lower intermediate cylinders through a gate opening, during which the entry system positions the first notch and the second notch in line with a lower crossbar of a frame of the gate opening.

[0028] This disclosure concerns, again, according to a third aspect, a metal strip rolling installation comprising a rolling mill, having 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 said assembly according to this disclosure, configured to permit simultaneous seizure of the first two intermediate, lower or upper cylinders, by movement of the seizure tool by said robotic system, in a direction parallel to the two cylinders until simultaneously obtaining an insertion of the end of the first cylinder into the first housing through a first entry opening of said first housing and an insertion of the end of the second cylinder into the second housing through a second entry opening of said housing.

[0029] This disclosure also relates, according to a fourth aspect, a method for changing the cylinders of a rolling mill, employing a gripping tool according to this disclosure, or an assembly according to this disclosure, the rolling mill having a rolling mill stand and an assembly of 20 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, and in which process a simultaneous gripping of the first two intermediate cylinders, lower or upper, is ensured in the rolling mill cage by moving the gripping tool, along a direction parallel to the two cylinders by ensuring, simultaneously, on the one hand, an insertion of the end of the first cylinder into the first housing through a first entry opening of said first housing, and, on the other hand, an insertion of the end of the second cylinder into the second housing through a second entry opening of said housing, until the first cylinder is fitted into the first housing and the second cylinder into the second housing allowing the cylinders to be gripped by their fitted ends.

[0030] According to one embodiment, the first intermediate cylinders have peripheral locking grooves, and in which the method includes locking the first cylinder in the first housing by penetration of the first locking member into the locking groove of the first cylinder, and locking the second cylinder in the second housing by penetration of the second locking member into the locking groove of the second cylinder, once the ends of the first and second cylinders have been fitted into the first and second housings.

[0031] According to one embodiment, the method includes an adjustment of the center distance, during said movement of the gripping tool along the direction parallel to the two cylinders, said at least a first guide wall cooperating in the guidance with one end of the first cylinder and said at least a second guide wall cooperating in the guidance with one end of the second cylinder so as to generate forces resulting from the guides modifying said center distance, against the restoring force of the spring system.

[0032] According to one embodiment of the process, the pneumatic brake device is switched from the unbraked position to the braked position, blocking the sliding of the first interlocking system and the second interlocking system, prior to movement by the robotic system of the cylinders held by the gripping tool.

[0033] According to one embodiment of the process, the rolling mill cage has, on the side of an access window, a door system comprising: a main door, hinged to the cage giving access to all 20 cylinders of the rolling mill, a gate closing a maintenance opening in the main door, allowing the removal of the lower and upper working cylinders, as well as the first four intermediate cylinders, lower and upper, said gate opening having a frame process in which the gripping system grips the first intermediate cylinders in the cage, by positioning the gripping tool through the gate opening: in the first position of the gripping tool for which the first side of the virtual plane is arranged upwards while the second side is arranged downwards, said first position configured for gripping the first upper intermediate cylinders through said gate opening, during which the gripping system positions the first notch and the second notch upwards,at the right of an upper crossbar of the gate opening frame, in the second position of the input tool for which the first side of the virtual plane is arranged downwards while the second side is arranged upwards, said second position configured for the input of the first lower intermediate cylinders through said gate opening, during which the input system positions the first notch and the second notch downwards, at the right of a lower crossbar of the gate opening frame. Brief description of the drawings

[0034] 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] schematically illustrates the configuration of the upper and lower groups of a 20-roll rolling mill which include respectively, among other things, two first intermediate, upper rolls above the metal strip, and two intermediate, lower rolls below the metal strip. Fig. 2 [ Fig. 2 ] illustrates in perspective a data entry tool according to this disclosure, holding two rolling cylinders in parallel, typically two first intermediate cylinders, (upper or lower). Fig. 3 [ Fig. 3[ ] is a view of a rolling mill installation comprising a 20-roll mill with a main door and a hinged gate on the front, at the level of an access window (the main door shown closed and the gate shown in the open position), the opening of the gate providing access to the working rolls, as well as the first intermediate, lower, and upper rolls, and a robotic system comprising a robot configured to travel along a floor rail, following a direction transverse to a direction of travel in the mill strip, the robotic system configured to lock the gripping tool according to the figure 2 , in order to proceed with the simultaneous seizure of the first two intermediate cylinders (lower or upper), in the rolling mill cage, through the opening of the gate, in the main door. Fig. 4 [ Fig. 4] is a perspective detail view of the input tool according to this disclosure, showing the first entry opening of the first housing and the second entry opening of the second housing, at a distal end of the input tool. Fig. 5 [ Fig. 5 ] is viewed from the perspective of the input tool according to the figure 4 , according to a rear view illustrating a fastening part intended to be locked by a robotic gripping system, comprising a central pneumatic coupling part, and mechanical coupling parts around this pneumatic coupling part, the mechanical and pneumatic coupling parts belonging to a quick coupling system. Fig. 6 [ Fig. 6] is a cross-sectional view of the gripping tool, along a cutting plane perpendicular to the first gripping axis of the first housing and perpendicular to the second gripping axis of the second housing, the cross-sectional view illustrating: a first interlocking system comprising a first one-piece metal body, within which a first cylindrical housing is machined, a second interlocking system comprising a second one-piece metal body, within which a second cylindrical housing is machined, a slide system comprising at least one transverse rail integral with the frame, along which the first body and the second body are configured to be moved along a limited stroke in order to ensure adjustment of the center distance between the first gripping axis and the second gripping axis,a spring system constraining the first body and the second body in a midway gap position between a minimum gap position and a maximum gap position, a first locking member, movable through a machining of the first body and configured to move from a first retracted position allowing the insertion (or extraction) of the first rolling cylinder to a second locking position under the action of a pneumatic actuator for which the first locking member enters a locking groove of the first cylinder, and in particular comprising a chamber machined directly in the first body inside which a piston of the pneumatic actuator slides, a second locking member,movable via machining of the second body and configured to move from a first retracted position allowing the insertion (or extraction) of the second rolling cylinder to a second locking position under the action of a pneumatic actuator, in which the second locking member enters a locking groove of the second cylinder, and in particular comprising a chamber machined directly into the second body inside which a piston of the pneumatic actuator slides. Fig. 7 [ Fig. 7 ] is a principle view of a locking mechanism by penetration of the locking member, in a locking groove at one end of the rolling cylinder (first or second). Fig. 8 [ Fig. 8] is viewed from 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 the 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. 9 [ Fig. 9 ] is a cross-sectional view of the robotic system of the figure 8 illustrating in detail a possible kinematic of the robot of the robotic system. Description of the implementation methods

[0035] Also, this disclosure relates to a data entry tool 20 comprising: a chassis 21 equipped with a fixing part 22 configured to be manipulated by a robotic system 1, a holding system comprising a first interlocking system 23 comprising a first housing L1 configured to receive and house in interlocking one end of a first rolling cylinder C1 and a second interlocking system 24 comprising a second housing to receive and house in interlocking one end of a second rolling cylinder C2.

[0036] The first housing L1 has a first input axis AL1 for the input of the first cylinder C1 substantially coaxial with said first input axis and a second housing L2 has a second input axis for the input of the second cylinder substantially coaxial with said second input axis L2.

[0037] The first housing L1 is typically a housing with a circular section, preferably cylindrical, allowing the insertion of the first cylinder C1, with a fit.

[0038] The first housing L2 is typically a housing with a circular section, preferably cylindrical, allowing the insertion of the first cylinder C2, with a fit.

[0039] The two housings L1 and L2 extend longitudinally, along the longitudinal direction X1, each from an entry opening (first entry opening O1, and second entry opening O2), to a base. The first entry opening O1 and the second entry opening O2 are typically arranged at a distal end of the grasping tool. The fixing portion 22 is typically arranged, along the longitudinal direction X1, at the proximal end, opposite the distal end.

[0040] In the figures, and in general, the first input axis AL1 and the second input axis AL2 are parallel and oriented along a longitudinal direction X1.

[0041] The first input axis AL1 and the second input axis AL2 are separated by a center distance E, along a transverse direction Y1 to the first input axis AL1 and to the second input axis AL2, perpendicular to the longitudinal direction X1.

[0042] Preferably, the input tool also includes means for adjusting said center distance E comprising a slide system 25 between the first interlocking system 23 and the second interlocking system 24, allowing adjustment of the spacing between the first interlocking system 23 and the second interlocking system 24.

[0043] Such adjustment means advantageously allow the center distance E between the two housings L1, L2 to be adapted to the center distance of the two cylinders C1 C2 to be gripped simultaneously in the rolling mill cage.

[0044] Such a gripping tool is advantageously configured to allow simultaneous gripping of the two cylinders consisting of the first cylinder C1 and the second cylinder C2 arranged parallel to each other in a rolling mill cage L, by moving the gripping tool 20, along a direction parallel to the two cylinders during which one end of the first cylinder C1 is simultaneously inserted into the first housing L1 through the first inlet opening O1 of said first housing L1 and one end of the second cylinder C2 is simultaneously inserted into the second housing L2 through a second inlet opening O2 of said second housing until the first cylinder C1 is inserted into the first housing L1 and the second cylinder C2 into the second housing L2.

[0045] Once the first and second cylinders C1 and C2 are respectively fitted into the first housing L1 and the second housing L2, the seizure tool according to this disclosure allows the seizures of the cylinders C1, C2 held in cantilever by their fitted end.

[0046] The gripping tool described in this disclosure represents a significant improvement over the prior art, as it allows for the simultaneous extraction of two rolling cylinders from a rolling mill stand, ensuring their simultaneous gripping, and preferably even when the center distance between the two cylinders is not constant. It substantially halves the cycle time required to extract the first intermediate cylinders, compared to a prior art cycle time in which the intermediate cylinders are extracted from the stand by a robotic end effector, but only one after the other.

[0047] In general, and as illustrated in the figures: the first interlocking system 23 may include a first body CP1, typically monobloc, typically metallic comprising the first housing, typically machined, extending along the first axis of the first housing AL1 from the first inlet opening O1 to a bottom of the first housing, the second interlocking system 24 may include a second body CP2, monobloc, typically monobloc and typically metallic comprising the second housing L2, extending along the second axis AL2 of the second housing from the second inlet opening O2 to a bottom of the second housing.

[0048] The first housing L1 and the second housing L2 extend, overlapping along the longitudinal direction X1 of the input tool, parallel to the first input axis AL1 and the second input axis AL2 of the first housing L1 and second housing L2.

[0049] In general, and as illustrated, the slide system 25 can include at least one (or typically several) guide rail 150 attached to the chassis 21, oriented along the transverse direction Y1, and for example several guide rails.

[0050] The first interlocking system 23 and the second interlocking system 24 are mounted to slide along said at least one rail 250, movable relative to the chassis 21 according to a limited stroke, along the transverse direction Y1.

[0051] According to one embodiment, said means for adjusting the center distance E may include a spring system 26 generating a restoring force constraining the first interlocking system 23 and the second interlocking system 24 moving on said slide system 25 in a median position of spacing between a maximum position of spacing and a minimum position of spacing between the first interlocking system 23 and the second interlocking system 24.

[0052] Such a spring system 26 makes it possible to ensure that, in the rest position, namely when the first system 13, and the second system 14 are not stressed, there is always an available stroke for adjusting the center distance in both directions of the slide 25, namely not only for reducing the center distance, but also for increasing the center distance.

[0053] The means for adjusting the center distance may also include, in particular in synergy with this spring system, at least a first guide wall PG1, flared or chamfered, at the edge of the first inlet opening O1, the first guide wall PG1 being configured to guide the end of the first cylinder C1 when it is inserted into the first housing L1, and a second guide wall PG2, flared or chamfered, at the edge of the second inlet opening O2, the second guide wall PG2 being configured to guide the end of the second cylinder C2 when it is inserted into the second housing L2.

[0054] The guide walls PG1, PG2 cooperate, as appropriate, to bring together, or on the contrary move apart, the first interlocking system 23 and the second interlocking system 24.

[0055] Such a gripping tool is then configured, during said movement of the gripping tool 20 along a direction parallel to the two cylinders, so that said at least one first guide wall PG1 cooperates in the guidance with the end of the first cylinder C1 and said at least one second guide wall PG2 cooperates in the guidance with the end of the second cylinder in such a way as to ensure forces resulting from the guides automatically modify said center distance E to that of the two cylinders to be gripped, against the restoring force of the spring system 26.

[0056] Such means of adjusting the center distance E advantageously allow the spacing between the first interlocking system 23 and the second interlocking system 24 to be adapted automatically, according to the transverse direction, and without requiring a specific actuator for this adjustment.

[0057] According to one embodiment, the gripping tool 20 may further include a braking device, typically pneumatic, configured to move from an unbraked position, allowing the sliding of the slide system 25 to freely adjust the center distance E, to a braked position, blocking the sliding of the first and second interlocking systems, thus locking the center distance E. Such braking makes it possible to lock the first and second interlocking systems 23 and 24 on the frame 21 once the two cylinders C1 and C2 have been gripped. This prevents uncontrolled movement of the cylinders relative to the frame, along the direction of the slide system, when the assembly comprising the gripping tool and the two cylinders held by the gripping tool is moved by the robotic system.

[0058] According to one embodiment, the first interlocking system 23 may include a first locking member OV1 and a first actuator AT1 configured to move said first locking member OV1 from a first position P1, retracted, allowing the insertion of the end of the first cylinder into the first housing L1 (or on the contrary its extraction), to a second position P2 for which the first locking member penetrates the interior of the first housing L1 ensuring a locking of the first cylinder C1, typically resting on the bottom of the first housing, by penetration of a locking groove G of the second cylinder.

[0059] Furthermore, the second interlocking system 24 may include a second locking member OV2 and a second actuator AT2 configured to move said second locking member OV2 from a first retracted position P1, allowing the insertion of the end of the second cylinder into the second housing (or conversely its extraction), to a second position P2 for which the second locking member OV2 enters the interior of the second housing, ensuring a locking of the second cylinder C2, typically resting on a bottom of the second housing, by penetration of a locking groove G of the second cylinder.

[0060] The first locking mechanism OV1 and the second locking mechanism OV2 respectively ensure that the inserted ends of the first cylinder C1 are locked in the first housing L1 and the second cylinder C2 in the second housing L2. Cylinders C1 and C2 cannot be removed from the housings once inserted into housings L1 and L2.

[0061] The first actuator AT1 and the second actuator AT2 can be pneumatic actuators.

[0062] Generally speaking, and as can be seen at the figure 6 , the first body CP1 may include a bore inside which said locking member OV1 slides according to a limited stroke between the two positions, namely the first position P1 and the second position P2.

[0063] Said first locking member OV1 and said first actuator AT1 may comprise: a first piston at one, in particular lower, end of said first locking member OV1, sliding in a first chamber CH1 typically via a first seal J1, for example lower; this first chamber CH1 is connected to a first compressed air inlet configured to actuate the first piston from the first position P1 to the second position P2 of the locking member OV1, and as illustrated on the left of the figure 6 , a second piston at one in particular upper end of said first locking member OV1, mounted sliding in a second chamber CH2 via a second seal J2, for example upper, this second chamber CH2 being connected to a second compressed air inlet configured to actuate the second piston from the second position P2 to the first piston P1.

[0064] It is noted that the first chamber CH1, specifically the lower chamber, and the second chamber CH2, specifically the upper chamber, machined from the first body, can each be closed by two plugs. At the figure 6 , the lower cap allows the insertion or removal of the first locking member OV1 / actuator ATI1 which can typically be a machined metal part, especially one made in one piece.

[0065] Said second locking member OV2 and said second actuator AT2 may comprise: a first piston at one of the lower ends of said second locking member OV2, sliding in a first chamber CH1 typically via a first seal J1, for example lower; this first chamber CH1 is connected to a third compressed air inlet configured to actuate the first piston from the first position P1 to the second position P2 of the locking member OV2, a second piston at one of the upper ends of said second locking member OV2, mounted to slide in a second chamber CH2 via a second seal, for example upper, this second chamber CH2 being connected to a fourth compressed air inlet configured to actuate the second piston from the second position P2 to the first piston P1, and as illustrated for example on the right at the figure 6 .

[0066] It is noted that the first chamber CH1, specifically the lower chamber, and the second chamber CH2, specifically the upper chamber, machined from the second body, can each be closed by two plugs. At the figure 6 , the lower cap allows the insertion or removal of the locking member OV2 / second actuator AT2 which can typically be a machined metal part, especially one made from a single piece.

[0067] In general, for the first locking member OV2, or the second locking member OV2, the diameter of the first chamber CH1 and the first piston can be greater than the diameter of the second chamber CH2 and the second piston.

[0068] In particular with reference to figures 4 And 6, and with respect to a virtual plane PV passing through the first axis AL1 of the first dwelling L1 and through the second axis AL2 of the second dwelling L2, the first body CP1 and the second body CP2 can respectively have a first notch ECH1 and a second notch ECH2, on a first side of the virtual plane PV, and with respect to a second side of the plane for which the first body CP1 and the second body CP2 are not notched.

[0069] To the figure 6 The first notch ECH1 and the second notch ECH2 on the first side are located above the virtual plane PV. The first side can be located below, particularly if the input tool is rotated 180°.

[0070] Generally speaking, and as can be seen in the figure 4 The first notch ECH1 and the second notch ECH2 result in a misalignment between: a second entrance edge Bd12 of the first opening O1, on the first side of the plan, which is arranged intermediate, following the direction of the first axis AL1, between the bottom of the first housing L1 and a first entrance edge Bd11 of the first opening, on the second side of the plan, a second entrance edge Bd22 of the second opening O2 on the first side of the plan which is arranged intermediate, following the direction of the second axis AL2, between the bottom of the second housing L2 and a first entrance edge Bd21 of the second entrance opening on the second side of the plan.

[0071] The notches ECH1 and ECH2 are designed to minimize the tool's footprint as much as possible, on the first side of the virtual plane, at the distal end of the gripping tool, and to limit as much as possible the risk of mechanical interference at this level during insertion or extraction operations in the rolling mill cage.

[0072] For example, and according to an application described in more detail below, such notches ECH1, ECH2 can allow the gripping tool to be operated through an opening in a gate PT, in a main gate PP of the rolling mill, while limiting the risk of interference with the gate opening frame: in such a case, the gripping tool is arranged so that the first side faces upwards and the second side downwards, with the upper notches ECH1 and ECH2 aligned with an upper cross member of the frame for gripping the first upper intermediate rolls 13. Conversely, for gripping the first lower intermediate rolls, the gripping tool is rotated 180° so that the first side faces downwards, with the lower notches ECH1 and ECH2 aligned with a lower cross member of the frame.

[0073] The gripping tool is preferably oriented so that the first side is towards the bottom of the notches ECH1 and ECH2, which are then lower, during the operations of placing the two cylinders C1, C2 onto a Rac rack, and in order to limit the risks of mechanical interference between the gripping tool and the Rac rack.

[0074] The present disclosure is further related to an assembly comprising a gripping tool according to this disclosure and a robotic system 1 suitable for performing 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 6 configured to ensure locking of the fastening part 22 of the gripping tool 20.

[0075] The robot Ro can include a trolley comprising a first chassis 2 equipped with wheels 200 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 200.

[0076] 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.

[0077] 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.

[0078] 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 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.

[0079] The said gripping system 6 is mounted on the fourth chassis. Such a robotic system 1 is configured to ensure the extraction of a cylinder, with the cylinder being placed laterally on the rails, after pivoting the cylinder by rotation of the fourth chassis relative to the third chassis 4 around the vertical axis of rotation Av.

[0080] According to one embodiment, the gripping system 6 may include 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 forming the fixing part 22 of the gripping tool, to a decoupled position allowing the release of the second mechanical coupling part.

[0081] Furthermore, the robotic system 1 can incorporate at least one controllable pneumatic power source, the quick coupling system, comprising, in addition to the first mechanical coupling part 71, a first pneumatic coupling part 71', configured to move from a coupled position to lock a second pneumatic coupling part 72'.

[0082] The input tool is equipped with the second pneumatic coupling part 72', and the aforementioned pneumatic actuators configured to be actuated by said at least one pneumatic energy source in particular to ensure the locking or unlocking of the first cylinder and the second cylinder by the first and second locking members OV1 OV2 and / or to ensure the braking of the first interlocking system 23 and the second interlocking system 24.

[0083] Also notably, the gripping system 6 may include a motor M6 configured to pivot the first coupling part 71, around a rotation axis A6, typically parallel to the longitudinal direction X1 of the gripping tool 20.

[0084] Such a motorized A6 rotation axis allows, for example, the input tool to be rotated 180°.

[0085] The aforementioned input system 6 can be configured to allow the input tool 20 to rotate 180° between, in particular: a first position of the input tool in which the first side of the virtual plane PV is arranged upwards while the second side is arranged downwards, said first position configured in particular for inputting the first intermediate cylinders 13, upper through an opening of a gate PT, during which the input system positions the first notch ECH1 and the second notch ECH2 upwards, aligned with an upper crossbar of a frame of the opening of a gate PT, a second position of the input tool in which the first side of the virtual plane PV is arranged downwards while the second side is arranged upwards, said second position configured in particular for inputting the first intermediate cylinders 13, lower through an opening of a gate PT, during which the input system positions the first notch ECH1 and the second notch ECH2 downwards,at the level of a lower crossbar of the frame of the PT gate opening.

[0086] The second position of the gripping tool can still typically be used for depositing extracted cylinders, especially on a Rac rack.

[0087] According to one embodiment, illustrated in the figure 1 The first coupling part 71 may comprise several coupling parts that are activatable upon locking / unlocking. These activatable coupling parts are distributed angularly around the rotation axis A6. For example, the first coupling part 71 may comprise four coupling parts distributed around the rotation axis A6, every 90°. The first pneumatic coupling part 71' may be centered on the rotation axis A6, around which the first coupling part 71 is configured to pivot.

[0088] This disclosure further 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.

[0089] According to this disclosure, said installation includes said assembly according to this disclosure, configured to permit simultaneous seizure of the two first intermediate cylinders 13, lower or upper, by movement of the seizure tool by said robotic system 1, in a direction parallel to the two cylinders until simultaneously obtaining an insertion of the end of the first cylinder C1 into the first housing L1 through the first entry opening O1 of said first housing L1 and an insertion of the end of the second cylinder C2 into the second housing L2 through a second entry opening O2 of said second housing L2.

[0090] In general, and as illustrated in the figure 3The installation may include a loading / unloading rack Rac, 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.

[0091] 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 Rac loading / unloading rack 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 of this Applicant.

[0092] According to one embodiment, a MAG tool change magazine can be arranged along the transverse Y direction between the rolling mill stand and the support frame Cha, preferably close to the support frame Cha relative to the rolling mill stand. The MAG tool change magazine may include a structure, notably a substantially vertical one, comprising several typically stacked storage bays for different gripping tools specific to gripping different types of rolls, including the gripping tool according to this disclosure specific to gripping the first intermediate rolls.

[0093] As illustrated in the figure 3 The 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.

[0094] According to the robot kinematics, the robotic system can be configured to ensure the coupling of one of the tools stored in the magazine, and in particular the grasping tool as described in this disclosure, 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'.

[0095] This disclosure further relates to a method for changing the rolls of a rolling mill, implementing a gripping tool as described in this disclosure, or an assembly as described in this disclosure, the rolling mill having a rolling mill stand and an assembly of 20 rolls, 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.

[0096] According to the change method, a simultaneous gripping of the two first intermediate cylinders 13, lower or upper, is ensured in the rolling mill cage by moving the gripping tool, following a direction parallel to the two cylinders by ensuring, simultaneously, on the one hand, an insertion of the end of the first cylinder into the first housing through a first entry opening O1 of said first housing L1, and, on the other hand, an insertion of the end of the second cylinder into the second housing L2 through a second entry opening O2 of said second housing, until the first cylinder is fitted into the first housing and the second cylinder into the second housing allowing the cylinders to be gripped by their fitted ends.

[0097] According to one embodiment of the method, the first intermediate cylinders 13 have peripheral locking grooves G. The method can then include locking the first cylinder in the first housing L1 by penetrating the first locking member OV1 into the locking groove G of the first cylinder C1 and locking the second cylinder C2 in the second housing L2 by penetrating the second locking member OV2 into the locking groove of the second cylinder C2, once the ends of the first and second cylinders C1, C2 are fitted into the first and second housings L1, L2.

[0098] According to one embodiment, the method may include an adjustment of the center distance E, during said movement of the gripping tool 20 along the direction parallel to the two cylinders, said at least a first guide wall PG1 cooperating in the guidance with one end of the first cylinder C1 and said at least a second guide wall PG2 cooperating in the guidance with one end of the second cylinder so as to generate forces resulting from the guides modifying said center distance E, against the restoring force of the spring system 26.

[0099] According to one embodiment, implementing the gripping tool including the pneumatic braking device, the pneumatic braking device is switched from the unbraked position to the braked position blocking the sliding of the first interlocking system and the second interlocking system, prior to movement by the robotic system of the cylinders held by the gripping tool.

[0100] Generally speaking, the rolling mill cage has, on the side of an access window, a door system comprising: a main door PP, hinged to the cage giving access to all 20 cylinders of the rolling mill, a gate PT closing a maintenance opening in the main door, allowing the removal of the working cylinders 12, lower and upper, as well as the first four intermediate cylinders 13, lower and upper, said gate opening having a frame.

[0101] An example of a 20-roll rolling mill with a main door and a wicket gate is described in the Applicant's document WO2015071608. Opening the wicket gate allows for the replacement of the work rolls and the first intermediate rolls without having to open the main door, thus providing the advantages described in document WO2015071608.

[0102] According to one embodiment, the seizure system seizes the first intermediate cylinders in the cage, advantageously by positioning the seizure tool 20 through the opening of the gate PT, and without requiring the opening of the main door PP, and preferably: in the first position in which the first side of the virtual plane is arranged upwards while the second side is arranged downwards, said first position configured for the entry of the first upper intermediate cylinders 13 through said gate opening PT, during which the entry system 1 positions the first notch ECH1 and the second notch ECH2 upwards at the right of an upper crossbar of the frame of the gate opening PT, in the second position in which the first side of the virtual plane is arranged downwards while the second side is arranged upwards, said second position configured for the entry of the first lower intermediate cylinders through said gate opening, during which the entry system positions the first notch ECH1 and the second notch ECH2 at the right of an lower crossbar of the frame of the gate opening PT. List of reference signs

[0103] 1. Robotic system, Ro. Robot, Ra1. Rail along the Y direction. 2. First chassis, 200. 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). 6. Gripping system, M6. Drive means (pivoting the cylinder gripped by the gripping system around its axis, or a parallel axis). 71, 72.Respectively, first mechanical coupling section and second mechanical coupling section, 71', 72'. Respectively, first pneumatic coupling section and second pneumatic coupling section, 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 support roller assemblies of the upper group, E, F, G, H. Respectively, the four support cylinders or support roller assemblies of the lower group, PP. Main door, PT. Pedestrian door, Cha. Support frame, Rac. Removable rack AL. Maintenance aisle (of the workshop) in the longitudinal direction, 20. Gripping tool, 21. Frame, 22. Fastening part, 23. First interlocking system, CP1. First body, L1. First housing, AL1. First axis of capture (longitudinal axis of the first housing), O1.First entry opening (first housing L1), PG1. First guide wall, OV1. First locking member (locking the inserted end of the first cylinder), AT1. First actuator, 24. Second locking system, CP2. Second body, L2. Second housing, AL2. Second gripping axis (longitudinal axis of the second housing), O2. Second entry opening (second housing L2), PG2. Second guide wall (flared or chamfered) OV2. Second locking member (locking the inserted end of the second cylinder), AT2. Second actuator, Bd21, Bd22. First entry edge and second entry edge (of the first entry opening of the first housing offset along the first gripping axis) Bd21, Bd22. First entry edge and second entry edge (of the second entry opening of the second dwelling offset along the second input axis) E. Center distance (between the first input axis and the second input axis), G.Throat, PV. Virtual plane 25. Slide system, 250. Guide rail, XYZ. Orthogonal coordinate system linked to the rolling mill (. Figures 1 And 3 ), X1Y1Z1. Orthogonal coordinate system linked to the input tool.

Claims

1. Gripping tool (20) comprising: - a frame (21) equipped with an attachment part (22) configured to be handled by a robotic system (1), - a holding system comprising: -- a first nesting system (23) comprising a first housing (L1) configured to receive and nestably accommodate one end of a first rolling roll (C1) and a second nesting system (24) comprising a second housing for receiving and nestably accommodating one end of a second rolling roll (C2), and wherein the first housing (L1) has a first gripping axis (AL1) for gripping the first roll (C1) and a second housing (L2) has a second gripping axis for gripping the second roll, the first gripping axis (AL1) and the second gripping axis (AL2) being parallel and oriented in a longitudinal direction (X1), separated by a center-to-center distance (E) in a transverse direction (Y1) to the first gripping axis and to the second gripping axis, -- means for adjusting said center-to-center distance (E), comprising a slide system (25) between the first nesting system (23) and the second nesting system (24), allowing the spacing between the first nesting system (23) and the second nesting system (24) to be adjusted, and wherein said gripping tool is configured for simultaneous gripping of two rolls consisting of the first roll (C1) and the second roll (C2) which are arranged parallel to each other in a rolling stand (L1), by moving the gripping tool (20) in a direction parallel to the two rolls, comprising simultaneously inserting one end of the first roll (C1) into the first housing (L1) through a first inlet opening (O1) of said first housing (L1) and inserting the end of the second roll (C2) into the second housing (L2) through a second inlet opening (O2) of said housing until the first roll (C1) is nested in the first housing (L1) and the second roll (C2) is nested in the second housing (L2), allowing gripping of the rolls (C1, C2) which are held cantilevered by their nested ends.

2. Gripping tool according to claim 1, wherein the slide system (25) comprises at least one guide rail (250) rigidly connected to the frame (21), oriented in the transverse direction (Y1), and wherein the first nesting system (23) and the second nesting system (24) are slidably mounted along said at least one rail (250) and are movable relative to the frame (21) over a limited distance.

3. Tool according to claim 1 or 2, wherein said means for adjusting the center-to-center distance (E) comprise: - a spring system (26) generating a return force constraining the first nesting system (23) and the second nesting system (24) moving on said slide system (24) in a median spaced position between a maximum spaced position and a minimum spaced position between the first nesting system (23) and the second nesting system (24), - at least one first guide wall (PG1) that is flared or beveled, at the edge of the first inlet opening (O1), the first guide wall (PG1) being configured to guide the end of the first roll (C1) as it is inserted into the first housing (L1), and a second guide wall (PG2) that is flared or beveled, at the edge of the second inlet opening (O2), the second guide wall (PG2) being configured to guide the end of the second roll (C2) as it is inserted into the second housing (L2), and wherein, during said movement of the gripping tool (20) in a direction parallel to the two rolls, said gripping tool is configured so that said at least one first guide wall (PG1) guidingly cooperates with the end of the first roll (C1) and said at least one second guide wall (PG2) guidingly cooperates with the end of the second roll providing forces resulting from the guiding modifying said center-to-center distance (E), counter to the return force of the spring system (26).

4. Gripping tool according to one of claims 1 to 3, comprising a pneumatic brake device configured to move from an unbraked position releasing the sliding of the slide system (25) so as to freely allow adjustment of said center-to-center distance (E), to a braked position blocking the sliding of the first nesting system and the second nesting system, locking said center-to-center distance (E).

5. Gripping tool according to one of claims 1 to 4, wherein the first nesting system (23) comprises a first locking member (OV1) and a first actuator (AT1) which is configured to move said first locking member (OV1) from a first position (P1), a retracted position, allowing the end of the first roll to be inserted into the first housing (L1), to a second position (P2) in which the first locking member penetrates inside the first housing (L1), locking the first roll, typically bearing on a bottom of the first housing, by penetrating a locking groove (G) of the second roll, and wherein the second nesting system (14) comprises a second locking member (OV2) and a second actuator (AT2) which is configured to move said second locking member (OV2) from a first retracted position (P1), allowing the end of the second roll to be inserted into the second housing, to a second position (P2) in which the second locking member (OV2) penetrates inside the second housing, locking the second roll, typically bearing on a bottom of the second housing, by penetrating a locking groove of the second roll.

6. Gripping tool according to claim 5, wherein the first actuator (AT1) and the second actuator (AT2) are pneumatic actuators.

7. Gripping tool according to one of claims 1 to 6, wherein: - the first nesting system comprises a typically metal first body (CP1) comprising the first housing, typically machined, extending along the first axis (AL1) of the first housing from the first inlet opening (O1) to a bottom of the first housing, - the second nesting system (14) comprises a typically metal second body (CP2) comprising the second housing (L2), extending along the second axis (AL2) of the second housing from the second inlet opening (O2) to a bottom of the second housing, and wherein the first housing and the second housing extend overlapping in a longitudinal direction of the gripping tool parallel to the first axis and second axis of the first and second housings, and wherein, relative to a virtual plane (PV) passing through the first axis (AL1) of the first housing and through the second axis (AL2) of the second housing, the first body and the second body have a first notch (ECH1) and a second notch (ECH2), respectively, on a first side of the virtual plane (PV) and relative to a second side of the plane for which the first body and the second body are not notched, obtaining an offset between: - a second inlet edge (Bd12) of the first opening (O1) on the first side of the plane which is arranged intermediately, in the direction of the first axis, between the bottom of the first housing and a first inlet edge (Bd11) of the first opening on the second side of the plane, - a second inlet edge (Bd22) of the second opening (O2) on the first side of the plane, which is arranged intermediately, in the direction of the second axis, between the bottom of the second housing and a first inlet edge (Bd21) of the second inlet opening on the second side of the plane.

8. Assembly comprising a gripping tool according to one of claims 1 to 7 and a robotic system (1) suitable for carrying out rolling mill roll changing operations, by extracting worn rolls from the rolling mill stand and / or inserting new or reconditioned rolls into the rolling mill stand, comprising a robot provided with a gripping system (6) configured to lock the attachment part of the gripping tool (20).

9. Assembly according to claim 8, wherein the gripping 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) forming the attachment part (22) of the gripping tool, to an uncoupled position allowing the second mechanical coupling part to be released.

10. Assembly according to claim 9 comprising the gripping tool according to claim 4 or 6, wherein the robotic system (1) has on-board at least one controllable pneumatic energy 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 for locking a second pneumatic coupling part (72'), and wherein the gripping tool is equipped with a second pneumatic coupling part (72') and said pneumatic actuators are configured to be actuated by said at least one pneumatic energy source to lock or unlock the first roll and second roll and / or to ensure braking of the first nesting system and the second nesting system.

11. Assembly according to one of claims 8 to 10, comprising the gripping tool according to claim 7 wherein said gripping system (6) is configured to allow the gripping tool (20) to turn 180° between: - a first position in which the first side of the virtual plane (PV) is arranged upwards while the second side is arranged downwards, said first position being configured in particular for gripping the upper first intermediate rolls through an opening of a hatch, during which the gripping system positions the first notch (ECH1) and the second notch (ECH2) in line with an upper crosspiece of a framework of the opening of a hatch (PT), - a second position in which the first side of the virtual plane (PV) is arranged downwards while the second side is arranged upwards, said second position being configured in particular for gripping the lower first intermediate rolls through an opening of a hatch, during which the gripping system positions the first notch (ECH1) and the second notch (ECH2) in line with a lower crosspiece of a framework of the opening of the hatch (PT).

12. Plant for rolling a metal strip comprising a rolling mill (L), having a rolling 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 plant comprising said assembly according to one of claims 8 to 11, configured to allow simultaneous gripping of the two, lower or upper, first intermediate rolls (13) by moving the gripping tool by means of said robotic system, in a direction parallel to the two rolls, until the end of the first roll (C1) is inserted into the first housing through a first inlet opening (O1) of said first housing (L1), and simultaneously the end of the second roll (C2) is inserted into the second housing (L2) through a second inlet opening (O2) of said housing (L2).

13. Method for changing the rolls of a rolling mill, using a gripping tool according to one of claims 1 to 7, or an assembly according to one of claims 8 to 12, the rolling mill having a rolling stand and a set of 20 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), and in which method the two, lower or upper, first intermediate rolls (13) are simultaneously gripped in the rolling mill stand by moving the gripping tool in a direction parallel to the two rolls, simultaneously inserting the end of the first roll (C1) into the first housing (L1) through a first inlet opening (O1) of said first housing (L1) and inserting the end of the second roll into the second housing (L2) through a second inlet opening (O2) of said housing, until the first roll (C1) is nested in the first housing (L1) and the second roll (C2) is nested in the second housing (L2), allowing the rolls to be gripped by their nested ends.

14. Changing method according to claim 13 using a gripping tool (20) according to claim 5 or 6, wherein the first intermediate rolls (13) have peripheral locking grooves (G), and wherein the method comprises locking the first roll (C1) in the first housing (L1) by penetration of the first locking member (OV1) into the locking groove (G) of the first roll (C1), and locking the second roll (C2) in the second housing (L2) by penetration of the second locking member (OV2) into the locking groove of the second roll, once the ends of the first and second rolls (C1, C2) have been nested in the first and second housing (L1, L2).

15. Changing method according to claim 13 or 14, using a gripping tool according to claim 3, comprising adjusting the center-to-center distance (E), during said movement of the gripping tool (20) in the direction parallel to the two rolls, said at least one first guide wall (PG1) guidingly cooperating with one end of the first roll (C1) and said at least one second guide wall (PG2) guidingly cooperating with one end of the second roll so as to generate forces resulting from the guiding modifying said center-to-center distance (E), counter to the return force of the spring system (26).

16. Changing method according to claim 15, using a gripping tool according to claim 4, wherein the pneumatic brake device is switched from the unbraked position to the braked position blocking the sliding of the first nesting system and the second nesting system, prior to a movement by the robotic system of the rolls held by the gripping tool.

17. Changing method according to one of claims 13 to 16, using an assembly according to claim 11 and wherein the rolling mill stand has, on the side of an access window, a door system comprising: - a main door (PP), hinged to the stand, giving access to the set of 20 rolling mill rolls, - a hatch (PT) closing a maintenance opening in the main door, allowing the removal of the lower and upper work rolls (12) as well as the four, lower and upper, first intermediate rolls (13), said hatch opening having a framework, method wherein the gripping system grips the first intermediate rolls in the stand by positioning the gripping tool (20) through the hatch opening: - in the first position of the gripping tool, in which the first side of the virtual plane is arranged upwards while the second side is arranged downwards, said first position being configured for gripping the upper first intermediate rolls (13) through said hatch opening, during which the gripping system (1) positions the first notch (ECH1) and the second notch (ECH2) upwards, in line with an upper crosspiece of the hatch opening framework, - in the second position of the gripping tool, in which the first side of the virtual plane is arranged downwards while the second side is arranged upwards, said second position being configured for gripping the lower first intermediate rolls through said hatch opening, during which the gripping system positions the first notch (ECH1) and the second notch (ECH2) downwards, in line with a lower crosspiece of the hatch opening framework.

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