Rolling mill installation comprising a robotic system configured for extracting 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 (TAM) 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

Title of the invention: Rolling installation comprising a robotic system configured for the extraction of cylinders from a rolling mill and a tool changing magazine

[0001] The present disclosure relates to a rolling installation comprising a 20-roll rolling mill, a robotic system configured for extracting the rolls and rolling mill from the rolling mill stand or inserting the rolls into the stand, and a tool changing magazine comprising a set of gripping tools specific to the nature of the component to be gripped in the rolling mill stand, and in particular four gripping tools specific to gripping, respectively, the working rolls, the first intermediate rolls, the second intermediate rolls and the sets of support rollers of the 20-roll rolling mill.

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

[0003] The field of the invention relates more particularly to the equipment used to carry out 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 divided into a lower group and an upper group, and according to a symmetrical configuration relative to the running plane of the metal strip to be rolled. [Fig. 4] of document US 5,193,377 illustrates for example the upper group with a working roll, two first intermediate rolls, three second intermediate rolls, and four sets of support rollers.

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

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

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

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

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

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

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

[0011] However, document WO2022223927 of the present Applicant discloses a robotic system comprising a robot limiting the operational space requirement during loading / unloading operations, and allowing the removed rolls 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 the set of rolls or set of support rollers of a 20-roll rolling mill, namely the extraction and insertion of the rolling mill stand of the following components of the upper and lower group: - the working cylinders, lower and upper, - the first intermediate cylinders, - the second intermediate cylinders, and - the support roller assemblies.

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

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

[0014] The present disclosure improves the situation.

[0015] There is proposed an installation for rolling a metal strip comprising a rolling mill, having a rolling mill stand and a set of cylinders, internal to the stand, having: - a higher group including: — a working cylinder, upper, — two first intermediate, upper cylinders, — three second intermediate, upper cylinders, — four sets of upper support rollers, - a lower group comprising: — a lower working cylinder, — two first intermediate, lower cylinders, — three second intermediate, lower cylinders, — four sets of lower support rollers, said installation comprising a robotic system suitable for carrying out rolling mill roll changing operations, by extracting 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 gripping system configured to control the locking of a plurality of gripping tools and in which the installation comprises a gripping tool changing magazine comprising, in a storage area: - a first gripping tool configured for the insertion and extraction of a working cylinder - a second gripping tool, configured for the insertion and extraction of the first intermediate cylinders, - a third gripping tool, configured for the insertion and extraction of the second intermediate cylinders and - a fourth gripping tool, configured for inserting and extracting the support roller assemblies, and in which the gripping system comprises 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, 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 portion, the gripping tools configured to be selectively coupled to said first mechanical portion of the gripping system when the gripping tools are stored in said storage area of ​​said tool change magazine.

[0016] The features set out in the following paragraphs may, optionally, be implemented, independently of one another or in combination with one another:

[0017] According to one embodiment, the robotic system incorporates at least one controllable pneumatic energy 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 energy source.

[0018] According to one embodiment, the rolling mill stand having an access opening, possibly closed by a door system, the metal strip extending longitudinally in a horizontal X direction, and transversely in a horizontal Y direction, the Y direction being parallel to the axes of the rolling mill cylinders, and in which the robot comprises a carriage comprising a first chassis provided with wheels cooperating with rails arranged on the ground, extending in the Y direction, in line with the access opening of the rolling mill stand, said first chassis being configured to move in the Y direction along the rails, under the action of first motor means driving the wheels 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 rack / unloading, positioned removably on a support frame anchored to the ground in an anchoring position at a distance from the rolling mill in the transverse Y direction and laterally to the rails, the rack resting on the support frame having housings, oriented in the X direction, and in which the robotic system is configured to deposit 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 movable along the rails: - a second chassis and a first slide system connecting the second chassis and the first chassis configured to move the second chassis relative to the first chassis in the X direction, under the action of second motor means - a third chassis and a second slide system connecting the third chassis and the second chassis, configured to move the third chassis relative to the second chassis in a vertical Z direction, under the action of third motor means, - a fourth chassis, and rotational guide means connecting the fourth chassis and the third chassis around a vertical rotation axis, configured to drive the rotation of the fourth chassis relative to the third chassis, under the action of fourth motor means and in which 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 gripping the end piece secured to the cylinder, or by gripping the cylinder / or said support roller assembly by the gripping tool locked by the gripping system, with removal of the cylinder, laterally to the rails, after pivoting of the cylinder by rotation of the fourth chassis relative to the third chassis around the vertical rotation axis.

[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 towards the rails and in which the robotic system is configured to ensure the coupling of one of the tools stored in the store, by: - pivoting of the fourth chassis around said vertical rotation axis in order to align the first mechanical coupling part, mounted on the fourth chassis with the second coupling part of one of the tools stored in the magazine laterally to the rail, or even simultaneously if necessary, in order to align the first pneumatic coupling part, mounted on the fourth chassis and the second pneumatic coupling part of the gripping tool, - moving said second chassis relative to the first chassis so as to physically engage the first mechanical coupling part of the gripping system and the second mechanical coupling part aligned with each other, or even simultaneously engaging the first pneumatic coupling part and the second pneumatic coupling part - passage 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 also preferably simultaneously passage 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 comprises 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 of 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 distributed angularly around the axis of rotation.

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

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

[0026] According to a second aspect, the present disclosure further relates to a method for changing cylinders / support roller assemblies implemented in a rolling installation according to the present disclosure, comprising the following steps: / A / selecting 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 gripping 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 passage of the first coupling part to the coupled position, or also engagement by the robotic system of the first pneumatic coupling part with the second pneumatic coupling part and passage 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 component of the rolling mill 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, in 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 characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which: Fig.l

[0029] [Fig.l] is a view of a robotic system comprising a carriage 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

[0030] [Fig. 1a] is a sectional view of the robotic system, illustrating in detail a possible kinematics of the robot of the robotic system. Fig. 2

[0031] [Fig.2] is a schematic view of the various specific gripping tools, namely from top to bottom, the first gripping tool configured for gripping the working rolls, the second gripping tool configured for gripping the first intermediate rolls, the third gripping tool configured for gripping the second intermediate rolls, and finally the fourth gripping tool configured for gripping the support roller assemblies. Fig. 3

[0032] [Fig.3] is a view of a possible configuration of the rolling installation which comprises a 20-roll rolling mill comprising a stand receiving a set of rolls / sets of support rollers, including two working rolls, the 20-roll rolling mill configured to roll a metal strip moving in a longitudinal direction X, a robotic system comprising a robot comprising a carriage configured to move along rails, oriented in a transverse direction Y, in the extension of 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 rolling mill in the transverse Y direction, and laterally to the rails on which the robot moves, 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, - a gripping tool changing magazine, in the form of a vertical structure comprising several superimposed cells, respectively receiving the four gripping tools, the tool changing magazine arranged, in 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 wherein the support frame and the tool changing magazine are arranged and configured to free a maintenance aisle along the longitudinal direction X, said aisle extending along the access opening of the rolling mill. Fig. 4

[0033] [Fig.4] schematically illustrates the configuration of the upper group and the lower group of a 20-roll rolling mill. Description of the embodiments

[0034] The present disclosure relates to an installation for rolling a metal strip 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: — an upper working cylinder 12, — 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 G! 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.

[0035] Such a rolling mill configuration known as 20 rolls, namely comprising said working rolls 12, the first intermediate rolls 13, the second intermediate rolls 14 15 and the sets of support rollers A to E, is illustrated schematically in [Fig.4].

[0036] Such a rolling mill makes it possible to roll a metal strip BM in a longitudinal direction X, said metal strip extending in width in the transverse direction Y.

[0037] The 20-roll rolling mill may be a single-unit cage rolling mill, or may comprise two moving parts, namely a rolling mill typically known to those skilled in the art under the English term “split-housing”. Such a “split housing” rolling mill comprises the two parts which are movable relative to each other, respectively forming an upper cage part, 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 cage part 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 comprises a hydraulic clamping mechanism configured to move the cage system from a cage open position for which the upper cage portion and the lower cage portion are spaced apart from each other, to a clamping position for which the upper cage portion and the lower cage portion are brought together, suitable for the rolling operations of the metal strip.

[0038] Generally speaking, in particular for a rolling mill with a single-piece cage or of the “split housing” type, each set of support rollers A to E typically comprises, in a manner known per se, a support shaft along which rollers typically formed by bearings are distributed. For this purpose, the inner ring of each bearing is mounted on the support shaft, the outer ring of the bearing being intended to roll on one or even two contiguous cylinders belonging to the cylinders of the second intermediate cylinders.

[0039] The set of support rollers also comprises a saddle whose arcuate body extends longitudinally along the length of the support shaft, and whose convex face is intended to come to bear on a concave seat of a mounting portion of the stand, namely for example a mounting portion of the upper stand part, for the support roller assemblies A to D, and a mounting portion of the lower stand part for the support roller assemblies E to H. This saddle also has extensions, projecting from the concave face of the body, crossed by the support shaft, the extensions being distributed over the length of the shaft and in particular arranged between the rollers. Eccentric rings are also provided between the support shaft and these extensions, the shaft having a pinion intended to mesh in the rolling mill stand with a corresponding pinion, or even a rack. This pinion (or this rack) thus makes it possible to drive the support shaft in rotation, and thus to move the position of the support shaft and the rollers carried relative to the arcuate body of the saddle apart or closer together, thanks to the eccentric rings.

[0040] The cage further comprises an access opening (or maintenance window), on a first side of the rolling mill at the front, which is typically opposite the second side of the rolling mill which comprises a motorization for driving the rotation of the rolls. A door system is configured to close the access window during rolling operations and configured to open the access window to allow maintenance operations, and in particular operations for changing the rolls of the rolling mill, including the support roller assemblies.

[0041] During rolling campaigns, friction causes wear of the cylinders / set of support rollers which require more or less frequent maintenance due to their nature.

[0042] 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.

[0043] The cylinders or set of support rollers can each be extracted from the stand, by extracting the cylinder (or the set of support rollers) along a longitudinal axis of the element. The extracted cylinders are replaced by ground cylinders, or even by new cylinders, which are inserted into the rolling mill stand.

[0044] For this purpose, the installation comprises a robotic system 1 suitable for carrying out the operations of changing the rolls of the rolling mill, by extracting the worn rolls from the rolling mill stand and / or inserting new or rectified rolls into the rolling mill stand, said robotic system comprising a robot Ro provided with a gripping system 6 configured to control the locking of a plurality of gripping tools.

[0045] The robot Ro may comprise a carriage comprising a first chassis 2 provided with wheels 20 cooperating with rails Ral arranged on the ground, extending in the transverse direction Y, at right angles to the access opening of the rolling mill stand, said first chassis 2 being configured to move in the Y direction along the rails Ral, under the action of first motor means Ml driving the wheels 20.

[0046] The robot may comprise: - a second chassis 3 and a first slide system G1 connecting the second chassis 3 and the first chassis 2 configured to move the second chassis 3 relative to the first chassis 2 in the direction X, under the action of second motor means M2. - a third chassis 4 and a second slide system G2 connecting the third chassis 4 and the second chassis 3, configured to move the third chassis 4 relative to the second chassis 3 in a vertical direction Z, under the action of third motor means M3.

[0047] The movement of the first chassis 2, along the rails Ral, 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, allow movements of the gripping system in translation in the three directions of space.

[0048] The robot may further comprise a fourth chassis 5, and rotational guide 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 are known per se from document WO2022223927 of the present Applicant for the extraction or insertion of the cylinders. The robot may further comprise a horizontal rotation axis, disclosed by WO2022223927, making it possible to tilt the axis of a gripped cylinder under the action of fifth motor means M5.

[0049] 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 piece secured to the cylinder, or by gripping the cylinder / or said support roller assembly by a gripping tool locked by the gripping system, with removal 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 rotation axis Av.

[0050] According to the present disclosure, said installation also comprises a MAG change magazine for gripping tools comprising, in a storage area: - a first gripping tool OT1 configured for the insertion and extraction of a working cylinder - a second OT2 gripping tool, configured for the insertion and extraction of the first intermediate cylinders, - a third OT3 gripping tool, configured for the insertion and extraction of the second intermediate cylinders and - a fourth OT4 gripping tool, configured for the insertion and extraction of support roller assemblies.

[0051] According to the present 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 respectively grip 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 sets of support rollers, and advantageously preferably without requiring the prior installation of an adapter on the component to be gripped, unlike the state of the art described in document WO2022223927.

[0052] In other words: - the first gripping tool OT1, 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, with a view to its extraction or insertion, preferably without requiring the installation of an adapter on the working cylinder, - the second gripping tool OT2 is configured to grip a first intermediate cylinder 13, with a view to its extraction or insertion, preferably without requiring the installation of an adapter on the first intermediate cylinder 13, - the third gripping tool OT3 is configured to grip a second intermediate cylinder 14, 15, with a view to its extraction and / or its insertion, preferably without requiring the installation of an adapter on the second intermediate cylinder 14, - the fourth gripping tool OT3 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 said set of support rollers.

[0053] According to the present disclosure, the gripping system 6 comprises 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.

[0054] According to the present 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 MAG tool change magazine.

[0055] Also notably, the gripping system 6 may comprise a motor M6 configured to pivot the first coupling part 71, around an axis of rotation A6, or even coincident with the axis of rotation of a cylinder / or of a set of support rollers gripped by the gripping tool OT1, OT2, OT3, OT4.

[0056] Such a motorized rotation axis A6 makes it possible, for example, to orient the sets of support rollers A, B, C, D, E, F, G, H during the insertion of said set of support rollers, by orienting the saddle (then blocked in rotation by the fourth gripping tool) and typically their pinion, in an angular position allowing its insertion into a seat of complementary shape of the cage.

[0057] Such a rotation axis A6 can also make it possible to use as first gripping tool OT1, the gripping tool disclosed by the application for registration number FR2300035, which comprises a drum configured to be pivoted around a central axis of the drum.

[0058] According to one embodiment, the robotic system 1 incorporates 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', configured to move from a coupled position to lock a second pneumatic coupling part 72'.

[0059] 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 energy source.

[0060] Generally speaking, the coupling of the first pneumatic coupling part 71' and the second pneumatic torque part 72' makes it possible to control said at least one pneumatic actuator of the gripping tool, which may typically be an actuator of a mechanized gripper configured to ensure a specific gripping of the component to be gripped (for example of the working cylinder by the first gripping tool OT1, of the first intermediate cylinder by the second gripping tool OT2, of the second intermediate cylinder by the third gripping tool OT3 and of the shaft of the set of support rollers for the fourth gripping tool OT3). The mechanized grippers used for respectively the first gripping tool OT1, the second gripping tool OT2, third gripping tool OT3 and fourth gripping tool OT4 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 clamp configured to grip a work cylinder by its end.

[0061] Such a pneumatic coupling can also make it possible, for example, to ensure the control of the cylinder of the pushing system disclosed by FR2300034. In such a case, and when the gripping tool such as that described by FR2300034 comprises several pneumatic actuators, these can be controlled independently of each other by several independently controllable pneumatic energy sources.

[0062] According to one embodiment, illustrated in [Fig.l], the first coupling part 71 may comprise several coupling parts that can be activated for locking / unlocking, said activatable coupling parts distributed angularly around the axis of rotation A6. By way of example, the first coupling part 71 comprises four coupling parts distributed around the axis of rotation A6, every 90°.

[0063] The first pneumatic coupling portion 71' may be centered on the rotation axis A6 around which the first coupling portion 71 is configured to pivot.

[0064] The rolling installation according to the present disclosure advantageously allows the implementation of a method for changing cylinders / support 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 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 passage of the first mechanical coupling part 71 to the coupled position, or also engagement by the robotic system of the first pneumatic coupling part 71' with the second pneumatic coupling part 72' and passage 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 component of the rolling mill 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.

[0065] Preferably in step / C / the gripping of the component by the gripping tool se- The selected connection is made without first placing an adapter on the component.

[0066] Generally, the tool changing magazine MAG is arranged laterally to the rails Ral, in a fixed position in said installation. The tool changing magazine MAG may comprise a structure, substantially vertical, comprising several superimposed storage cells, 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 cells.

[0067] Generally speaking, and as illustrated in [Fig.3], the installation may comprise a loading / unloading rack Ra, positioned removably on a support frame Cha anchored to the ground in an anchoring position at a distance from the rolling mill in the transverse direction Y and laterally to the rails Ral.

[0068] The rack Rac resting on the support frame Cha may have housings, oriented in the X direction. The robotic system is configured to place the cylinder on the loading / unloading rack Ra resting on the support frame Cha, typically after pivoting of said gripping system around said vertical rotation axis Av, and as disclosed per se by WO2022223927.

[0069] According to one embodiment, the tool changing magazine MAG is arranged, in 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.

[0070] As illustrated in [Fig.2], the support frame Cha and the tool changing magazine MAG are spatially arranged relative to the rolling mill stand, configured to free a maintenance aisle AL along the direction X, along the access opening (or maintenance window) of the rolling mill stand.

[0071] 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 magazine, said gripping tools oriented in a direction parallel to the direction X and perpendicular to the rails Ral. The different gripping tools expose their second mechanical coupling part72), or even their second pneumatic coupling part72' towards the rails Ral.

[0072] According to the robot kinematics previously described, 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 rotation axis 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 energy source, in order to align the first pneumatic coupling part 71', embedded on the fourth chassis and the second pneumatic coupling part 72' of the gripping tool, - moving 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 engaging the first pneumatic coupling part 71' and the second pneumatic coupling part 72' - passage 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 also preferably simultaneously passage 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'.

[0073] 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

[0074] - 1: System - BM. Metal band, - L. Rolling Mill, - Ro. Robot, - Ral. Rails (robot) - L. Rolling Mill, - 1. Robotic system, - Ro. Robot, - Ral. Rail following the Y direction -2. First chassis - 20. Wheels, - ML First motor means (movement of the carriage in the Y direction) - 3. Second chassis, - Gl. First slide system in the X direction (between the second and the first frame), - M2. Second motor means (movement of the carriage in the X direction), - 4. Third chassis, - G2. Second slide system in the Z direction - M3. Third motor means (movement of the third chassis along the second slide system in the Z direction) - 5. Fourth chassis, - Av. Vertical axis of rotation (between the fifth and fourth chassis), called first axis of rotation - M4. Fourth motor means (pivoting of the fourth chassis relative to the third chassis around the vertical rotation axis), - 6. Input system, - M6. Motor means (pivoting of the cylinder gripped by the gripper 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 frame, -Rac. Removable rack -AL. Maintenance aisle (of the workshop) following the longitudinal direction

Claims

Claims

1. Installation for rolling a metal strip 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: — an upper working cylinder (12), — two first intermediate cylinders (13), upper, — three second intermediate cylinders (14, 15), upper, — four sets of upper support rollers (A, B, C, D), - a lower group (G,) comprising: — a working cylinder (12), lower: — two first intermediate cylinders (13), lower, — three second intermediate cylinders (14,15), lower, — four sets of lower support rollers (H, G, F, E), said installation comprising 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 rectified rolls into the rolling mill stand comprising a robot provided with a gripping system (6) configured to control the locking of a plurality of gripping tools characterized in that said installation comprises a change magazine (MAG) for gripping tools comprising, in a storage area: - a first gripping tool (OT1) configured for the insertion and extraction of a working cylinder - a second gripping tool (OT2), configured for the insertion and extraction of the first intermediate cylinders, - a third gripping tool (OT3), configured for the insertion and extraction of the second intermediate cylinders and - a fourth gripping tool (OT4), configured for the insertion and extraction of the support roller assemblies, and wherein the gripping system (6) comprises 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 and wherein 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) 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 gripping system (6) when the gripping tools are stored in said storage area of ​​said tool change magazine (MAG).

2. Installation according to claim 1, in which the robotic system (1) carries 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'), configured to move from a coupled position to lock a second pneumatic coupling part (72'), and in which 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 actuated by said at least one pneumatic energy source.

3. Rolling installation according to claim 1 or 2, in which the rolling mill stand has an access opening, possibly closed by a door system, the metal strip (Bm) extending longitudinally in a horizontal X direction, and transversely in a horizontal Y direction, the Y direction being parallel to the axes of the rolling mill cylinders, and in which the robot (Ro) comprises a carriage comprising a first chassis (2) provided with wheels (20) cooperating with rails (Ral) arranged on the ground, extending in the Y direction, in line with the access opening of the rolling mill stand, said first chassis (2) being configured to move in the Y direction along the rails (Ral), under the action of first motor means (Ml) driving the wheels (20) and in which the tool changing magazine (MAG) is arranged laterally to the rails (Ral), in a fixed position in said installation.

4. Installation according to claim 3 comprising a loading / unloading rack (Rac), positioned removably 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 (Ral), the rack (Ra) resting on the support frame (Cha) having housings, oriented in the X direction, and in which the robotic system is configured to deposit the cylinder, on the loading / unloading rack (Ra) resting on the support frame (Cha), and in which the tool change magazine (MAG) is arranged, in the Y direction between the rolling mill stand and the support frame, close to the support frame (Cha) 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 (AL) in the X direction, along the access opening of the rolling mill.

5. Installation according to one of claims 3 or 4, in which the robot comprises, in addition to the first chassis (2) movable along the rails (Ral): - a second chassis (3) and a first slide system (Gl) connecting the second chassis (3) and the first chassis (2) configured to move the second chassis (3) relative to the first chassis (2) in the X direction, under the action of second motor means (M2) - a third chassis (4) and a second slide system (G2) connecting the third chassis (4) and the second chassis (3), configured to move the third chassis (4) relative to the second chassis (3) in a vertical Z direction, under the action of third motor means (M3), - a fourth chassis (5), and rotational guide 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) and in which said gripping system (6) comprising the first mechanical coupling part, is mounted on the fourth chassis (5) and in which the robotic system (1) is configured to ensure the extraction of a cylinder, by gripping the end piece secured to the cylinder, or by gripping the cylinder / or said support roller assembly by the gripping tool locked by the gripping system, with removal of the cylinder, laterally to the rails, after pivoting of the cylinder by rotation of the fourth chassis (5) relative to the third chassis (4) around the vertical axis of rotation (Av).,

6. Installation according to claim 5, in which the tools of

7.

8. gripping 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 magazine, said gripping tools oriented in a direction parallel to the X direction and perpendicular to the rails (Ral), the gripping tools exposing their second mechanical coupling part (72), or even their second pneumatic coupling part (72') towards the rails (Ral) and in which the robotic system is configured to ensure the coupling of one of the tools stored in the magazine, by: - pivoting of the fourth chassis (5) around said vertical rotation axis (Av) in order to align the first mechanical coupling part (71), mounted on the fourth chassis with the second coupling part of one of the tools stored in the magazine laterally to the rail, or even simultaneously when the installation is dependent on claim 2, 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, - moving 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 engaging the first pneumatic coupling part (71') and the second pneumatic coupling part (72') - passage from the decoupled position of the first mechanical coupling part (71) to said locked position configured to mechanically lock the second mechanical coupling part (72), or even also preferably simultaneously passage 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'). Rolling installation according to one of claims 1 to 6, in which the gripping system (6) comprises a motor (M6) configured to pivot the first coupling part (71), around an axis of rotation (A6), or even coincident with the axis of rotation of a cylinder / or of a set of support rollers gripped by the gripping tool (OT1, OT2, OT3, OT4). Rolling plant according to claim 7, wherein the first coupling part (71) comprises several coupling parts couplings that can be activated when locking / unlocking, said activatable coupling parts distributed angularly around the axis of rotation (A6).

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

10. Rolling installation according to one of claims 1 to 9, in which the tool changing magazine (MAG) comprises a structure, substantially vertical, comprising several superimposed storage cells, 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 cells.

11. Method for changing cylinders / support roller assemblies implemented in a rolling installation according to one of claims 1 to 10, 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 stored in the tool change magazine, / 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 passage of the first coupling part to the coupled position, or also engagement by the robotic system of the first pneumatic coupling part (71') with the second pneumatic coupling part (72') and passage 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 component of the rolling mill 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 by the robotic system coupled to the tool, selected grip.

12. Method for changing cylinders / set of support rollers according to claim 11 in which in step / C / the gripping of the component by the selected gripping tool is carried out without prior placement of an adapter on the component.

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