Dual Input Tool

Abstract

The present disclosure relates to a gripping tool (20) comprising: - a frame (21) equipped with a fixing part (22) configured to be manipulated by a robotic system (1), - a holding system comprising: - a first nesting system (23) comprising a first housing (L1) configured to receive and nest one end of a first rolling cylinder and a second nesting system (24) comprising a second housing to receive and nest one end of a second rolling cylinder, - means for adjusting said center distance comprising a slide system (25) between the first nesting system (23) and the second nesting system (24), allowing adjustment of the spacing between the first nesting system (23) and the second nesting system (24). Abstract figure: Figure 4

Description

Title of the invention: Dual input tool

[0001] The present disclosure relates to a gripping tool, notable in that it is configured to grip, in particular in a rolling mill stand, typically in the presence of the metal strip, two rolling rolls simultaneously, and with a view to their simultaneous manipulation, in particular during roll changing operations.

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

[0003] The present disclosure also relates to an assembly comprising a gripping tool according to the present disclosure and 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 ground rolls into the rolling mill stand, said robotic system comprising a robot provided with a gripping system configured to ensure locking of a fixing part of the gripping tool.

[0004] The present disclosure also relates to a rolling installation comprising such an assembly according to the present disclosure.

[0005] The present disclosure also relates to a method for changing cylinders of a rolling mill using a gripping tool according to the present disclosure, or even an assembly according to the present disclosure. Technical field

[0006] 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 plane of travel 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.

[0007] 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 again into the rolling mill stand. rolling mill.

[0008] 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 of 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

[0009] 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.

[0010] 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.

[0011] Also known from document WO2022223927 of the present Applicant is 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] When changing cylinders, the robotic systems of document JP1976454C or document WO2022223927 proceed to remove the cylinders, one by one, one after the other in order to remove them from the rolling mill stand, then to the insertion of the rectified or new cylinders, one by one, one after the other.

[0013] There has always been a need to reduce the intervention time of roll changing operations. Indeed, these changing operations require stopping rolling operations, and therefore negatively impact the productivity of the rolling mill. Summary

[0014] The present disclosure improves the situation.

[0015] According to a first aspect, there is provided an input tool comprising: - a chassis equipped with a fixing part configured to be manipulated by a robotic system, - a support system comprising: — a first nesting system comprising a first housing configured to receive and nest one end of a first rolling cylinder and a second nesting system comprising a second housing to receive and nest 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 in a longitudinal direction, separated by a center distance, in a direction transverse to the first gripping axis and to the second gripping axis, — means for adjusting said center distance comprising a slide 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 allow simultaneous gripping of the two rolls consisting of the first roll and the second roll arranged parallel to each other in a rolling mill stand, by moving the gripping tool in a direction parallel to the two rolls comprising simultaneously an insertion of one end of the first roll into the first housing through a first inlet opening of said first housing and an insertion of the end of the second roll into the second housing through a second inlet opening of said housing until the first roll is fitted into the first housing and the second roll into the second housing, allowing gripping of the rolls held in overhang by their fitted ends.

[0016] The characteristics set out in the following paragraphs may, optionally- ally, 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 secured to the chassis, oriented in 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 center distance adjustment means comprise: - a spring system generating a return force forcing the first interlocking system and the second interlocking system to move 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 inlet opening, the first guide wall being configured to guide the end of the first cylinder during its insertion into the first housing, and a second guide wall, flared or chamfered, at the edge of the second inlet opening, the second guide wall being configured to guide the end of the second cylinder during its insertion into the second housing, and in which, said gripping tool being configured, during said movement of the gripping tool in a direction parallel to the two cylinders, so that said at least one first guide wall cooperates in guiding with the end of the first cylinder and said at least one second guide wall cooperates in guiding with the end of the second cylinder by ensuring forces resulting from the guides modifying said center distance, against the return force of the spring system.

[0019] According to one embodiment, the gripping tool comprises a pneumatic brake device configured to move from an unbraked position releasing the sliding of the slide system so as to freely allow 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 end of the first cylinder to be inserted 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 bearing against a bottom of the first housing, by penetration of a locking groove of the second cylinder, and in which the second nesting system comprises a second locking member and a second actuator configured to move said second locking member from a first retracted position, allowing the end of the second cylinder to be inserted into the second housing, to a second position for which the second locking member penetrates the interior of the second housing, ensuring locking of the second cylinder, typically bearing against a bottom of the second housing, by penetration of 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 nesting system comprises a first typically metallic body comprising the first housing, typically machined, extending along the first axis of the first housing from the first inlet opening to a bottom of the first housing, - the second nesting system comprises a second typically metallic body comprising the second housing, extending along the second axis of the second housing from the second inlet opening to a bottom of the second housing, and wherein the first housing and the second housing, extending, overlapping in a longitudinal direction of the gripping tool parallel to the first axis and second axis of the first and second housings, and in which, with respect to a virtual plane passing through the first axis of the first housing and through the second axis of the second housing, 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 entry border of the first opening on the first side of the plan which is arranged intermediate, in the direction of the first axis, between the bottom of the first housing and a first entry border of the first opening on the second side of the plan, - a second entry border of the second opening on the first side of the plane which is arranged intermediate, in the direction of the second axis, between the bottom of the second housing and a first entry border of the second entry opening on the second side of the plane.

[0023] The present disclosure also relates, according to a second aspect, to an assembly comprising a gripping tool according to the present disclosure and 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 ensure locking of the fixing part of the gripping tool.

[0024] The features set out in the following paragraphs may, optionally, be implemented, independently of one another or in combination with one another:

[0025] According to one embodiment, 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 forming the fixing part of the gripping tool, to a decoupled position allowing the release of the second mechanical coupling part.

[0026] 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 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 energy source to ensure the locking or unlocking of the first and second cylinders and / or to ensure the braking of the first interlocking system and the second interlocking system.

[0027] According to one embodiment, said gripping system is configured to allow the gripping tool to turn 180° between: - a first position for 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 capture of the first upper intermediate cylinders through an opening of a gate, during which the capture system positions the first notch and the second notch in line with an upper crosspiece of a frame of the opening of a gate, - a second position for 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 gripping of the first lower intermediate cylinders through an opening of a gate, during which the gripping system positions the first notch and the second notch in line with a lower crosspiece of a frame of the opening of the gate.

[0028] The present disclosure further relates, according to a third aspect, to an installation 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: — an upper working cylinder, — 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 said assembly according to the present disclosure, configured to allow simultaneous gripping of the two first cylinders, intermediate, lower or upper cylinders, by moving the gripping 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 inlet opening of said first housing and an insertion of the end of the second cylinder into the second housing through a second inlet opening of said housing.

[0029] The present disclosure also relates, according to a fourth aspect, to a method for changing rolls of a rolling mill, implementing a gripping tool according to the present disclosure, or an assembly according to the present disclosure, the rolling mill having a rolling mill stand and a set of 20 rolls, internal to the stand, having: - a higher group including: — an upper working cylinder, — 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, and in which method a simultaneous gripping of the two first cylinders, intermediate, lower or upper cylinders, in the rolling mill stand is ensured by moving the gripping tool, in a direction parallel to the two cylinders in ensuring, simultaneously, on the one hand, an insertion of the end of the first cylinder into the first housing through a first inlet 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 inlet 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 comprises 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 are fitted into the first and second housing.

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

[0032] According to one embodiment of the method, 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 method, 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 working cylinders, lower and upper, 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 opening of the gate: - in the first position of the gripping tool for which the first side of the virtual plane is arranged upwards then the second side is arranged downwards, said first position configured for gripping the first upper intermediate cylinders through said opening of the gate, during which the gripping system positions the first notch and the second notch upwards, in line with an upper crosspiece of the frame of the gate opening, - in the second position of the gripping tool for which the first side of the virtual plane is arranged downwards then the second side is arranged upwards, said second position configured for gripping the first lower intermediate cylinders through said opening of a gate, during which the gripping system positions the first notch and the second notch downwards,to the right of a lower crosspiece of the frame of the gate opening. Brief description of the drawings

[0034] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which: Fig.l

[0035] [Fig.l] schematically illustrates the configuration of the upper group and the lower group of a 20-roll rolling mill which respectively comprise, among other things, two first intermediate, upper rolls, above the metal strip, and two intermediate, lower rolls, below the metal strip. Fig. 2

[0036] [Fig.2] illustrates in perspective a capture tool according to the present disclosure, now two rolling cylinders in parallel, typically two first intermediate cylinders, (upper or lower). Fig. 3

[0037] [Fig.3] is a view of a rolling installation comprising a 20-roll rolling mill comprising on the front, at an access window, a main door and a gate hinged on the main door, (the main door shown closed and the gate shown in the open position), the opening of the gate giving access to the working rolls, as well as to the first intermediate, lower and upper rolls, as well as a robotic system comprising a robot configured to travel along a rail on the ground, in a direction transverse to a direction of travel in the rolling mill strip, the robotic system configured to lock the gripping tool according to [Fig.2], in order to simultaneously grip two first intermediate rolls (lower or upper), in the rolling mill stand, through the opening of the gate, in the main door. Fig. 4

[0038] [Fig.4] is a perspective detail view of the gripping tool according to the present disclosure, showing the first inlet opening of the first housing and the second inlet opening of the second housing, at a distal end of the gripping tool. Fig. 5

[0039] [Fig.5] is a perspective view of the gripping tool according to [Fig.4], according to a rear view illustrating a fixing 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

[0040] [Fig.6] is a sectional view of the gripping tool, along a sectional plane perpendicular to the first gripping axis of the first housing and perpendicular to the second gripping axis of the second housing, the sectional view illustrating: - a first fitting system comprising a first single-piece metal body, inside which a first cylindrical housing is machined, - a second fitting system comprising a second, single-piece metal body, inside which a second, cylindrical housing is machined, - a slide system comprising at least one transverse rail secured to the chassis, 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 middle spacing position between a minimum spacing position and a maximum spacing position, - a first locking member, movable through 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 penetrates 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 through a machining of the second body and configured to pass 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 for which the second locking member penetrates a locking groove of the second cylinder, and in particular comprising a chamber machined directly in the second body inside which slides a piston of the pneumatic actuator. [Fig.7]

[0041] [Fig.7] is a principle view of a locking by penetration of the worm member rusting, in a locking groove at one end of the rolling cylinder (first or second). Fig. 8

[0042] [Fig-8] is a view of a robotic system comprising a trolley carrying a system gripping system comprising, on the one hand, a first mechanical coupling part comprising several coupling parts distributed around a motorized rotation axis 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 rotation axis, 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

[0043] [Fig.9] is a sectional view of the robotic system of [Fig.8], illustrating in detail a possible kinematics of the robot of the robotic system. Description of the embodiments

[0044] Also, the present disclosure relates to an input 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 nesting system 23 comprising a first housing L1 configured to receive and nest one end of a first rolling cylinder C1 and a second nesting system 24 comprising a second housing to receive and nest one end of a second rolling cylinder C2.

[0045] The first housing L1 has a first gripping axis ALI for gripping the first cylinder C1 substantially coaxial with said first gripping axis and a second housing L2 has a second gripping axis for gripping the second cylinder substantially coaxial with said second gripping axis L2.

[0046] The first housing L1 is typically a housing of circular section, preferably cylindrical, allowing the insertion of the first cylinder C1, with the fitting clearance.

[0047] The first housing L2 is typically a housing of circular section, preferably cylindrical, allowing the insertion of the first cylinder C2, with the fitting clearance.

[0048] The two housings L1, L2 extend longitudinally, along the longitudinal direction XI, each from an inlet opening (first inlet opening 01, and second inlet opening 02), and to a bottom. The first inlet opening 01 and the second inlet opening 02 are typically arranged at a distal end of the gripping tool. The fixing portion 22 is typically arranged, along the longitudinal direction XI at the proximal end, opposite the distal end.

[0049] In the figures, and in general, the first input axis ALI and the second input axis AL2 are parallel and oriented in a longitudinal direction XL.

[0050] The first input axis ALI and the second input axis AL2 are separated by a center distance E, in a transverse direction Y1 to the first input axis ALI and to the second input axis AL2, perpendicular to the longitudinal direction XL.

[0051] Preferably, the gripping tool also comprises means for adjusting said center distance E comprising a slide system 25 between the first fitting system 23 and the second fitting system 24, allowing adjustment of the spacing between the first fitting system 23 and the second fitting system 24.

[0052] Such adjustment means advantageously make it possible to adapt the center distance E between the two housings L1, L2, and in order to adapt it to the center distance of the two cylinders C1, C2 to be gripped simultaneously in the rolling mill stand.

[0053] Such a gripping tool is advantageously configured to allow simultaneous gripping of the two rolls consisting of the first roll C1 and the second roll C2 arranged parallel to each other in a rolling mill stand L, by moving the gripping tool 20, in a direction parallel to the two rolls during which one simultaneously obtains an insertion of one end of the first roll C1 into the first housing L1 through the first inlet opening O1 of said first housing L1 and an insertion of the end of the second roll C2 into the second housing L2 through a second inlet opening O2 of said second housing until the first roll C1 is fitted into the first housing L1 and the second roll C2 is fitted into the second housing L2.

[0054] Once the first and second cylinders C1 and C2 are respectively fitted into the first housing L1 and the second housing L2, the gripping tool according to the present disclosure allows the cylinders C1, C2 to be gripped, held cantilevered by their fitted end.

[0055] The input tool according to the present disclosure provides significant progress compared to the known state of the art, in that it makes it possible to simultaneously extract two rolling rolls in a rolling mill stand, ensuring their simultaneous gripping, and preferably even when the center distance between the two rolls is not constant. The cycle time required for extracting the first intermediate rolls is substantially halved, and in comparison with a cycle time according to the state of the art for which the intermediate rolls are extracted from the stand by a robotic effector, but only one after the other.

[0056] Generally speaking, and as illustrated in the figures: - the first nesting system 23 may comprise a first CPI body, typically one-piece, typically metallic comprising the first housing, typically machined, extending along the first axis of the first housing ALI from the first inlet opening 01 to a bottom of the first housing, - the second nesting system 24 may comprise 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.

[0057] The first housing L1 and the second housing L2 extend, overlapping along the longitudinal direction XI of the gripping tool, parallel to the first gripping axis ALI and to the second gripping axis AL2 of the first housing L1 and second housing L2.

[0058] Generally speaking, and as illustrated, the slide system 25 may comprise at least one (or typically several) guide rails 150 secured to the frame 21, oriented in the transverse direction Yl, and for example several guide rails.

[0059] 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, in the transverse direction YL.

[0060] According to one embodiment, said means for adjusting the center distance E may comprise a spring system 26 generating a return force forcing the first interlocking system 23 and the second interlocking system 24 to move on said slide system 25 in a median spacing position between a maximum spacing position and a minimum spacing position between the first interlocking system 23 and the second interlocking system 24.

[0061] 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 with a view to reducing the center distance, but also with a view to increasing the center distance.

[0062] The means for adjusting the center distance may also comprise, in particular in synergy with this spring system, at least one first guide wall PG1, flared or chamfered, at the edge of the first inlet opening 01, the first guide wall PG1 being configured to guide the end of the first cylinder C1 during its insertion into the first housing L1, and a second guide wall PG2, flared or chamfered, at the edge of the second inlet opening 02, the second guide wall PG2 being configured to guide the end of the second cylinder C2 during its insertion into the second housing L2.

[0063] The guide walls PG1, PG2 cooperate, as the case may be, to bring together, or on the contrary separate, the first interlocking system 23 and the second interlocking system 24.

[0064] Such a gripping tool is then configured, during said movement of the gripping tool 20 in a direction parallel to the two cylinders, so that said at least one first guide wall PG1 cooperates in guiding with the end of the first cylinder C1 and said at least one second guide wall PG2 cooperates in guiding with the end of the second cylinder so as to ensure forces resulting from the guides automatically modifying said center distance E to that of the two cylinders to be gripped, against the return force of the spring system 26.

[0065] Such means for adjusting the center distance E advantageously make it possible to automatically adapt the spacing between the first interlocking system 23 and the second interlocking system 24, in the transverse direction, and without requiring an actuator specific to this adjustment.

[0066] According to one embodiment, the gripping tool 20 may also comprise a brake device, typically pneumatic, configured to move from an unbraked position releasing the sliding of the slide system 25 so as to freely allow adjustment of said center distance E, to a braked position blocking the sliding of the first interlocking system and the second interlocking system, locking said center distance E. Such braking makes it possible to block the first interlocking system 23 and the second interlocking system 24 on the chassis 21, once the two cylinders C1, C2 have been gripped. This prevents uncontrolled movements of the cylinders relative to the chassis, in the direction of the slide system, when the assembly comprising, on the one hand, the gripping tool and, on the other hand, the two cylinders held by the gripping tool are moved by the robotic system.

[0067] According to one embodiment, the first interlocking system 23 may comprise a first locking member OV1 and a first actuator ATI configured to move said first locking member OV1 from a first position PI, 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 while ensuring locking of the first cylinder C1, typically in support on the bottom of the first housing, by penetration of a locking groove G of the second cylinder.

[0068] Again, the second interlocking system 24 may comprise a second locking member OV2 and a second actuator AT2 configured to move said second locking member OV2 from a first retracted position PI, allowing the insertion of the end of the second cylinder into the second housing (or on the contrary its extraction), to a second position P2 for which the second locking member OV2 penetrates the interior of the second housing, ensuring locking of the second cylinder C2, typically bearing on a bottom of the second housing, by penetration of a locking groove G of the second cylinder.

[0069] The first locking member OV1 and the second locking member OV2 respectively ensure locking of the nested ends of the first cylinder C1 in the first housing L1 and of the second cylinder C2 in the second housing L2. The cylinders C1, C2 are prohibited from exiting the housings, once nested in the housings L1, L2.

[0070] The first actuator ATI and the second actuator AT2 may be pneumatic actuators.

[0071] Generally speaking, and as visible in [Fig.6], the first body CPI may comprise a bore inside which said locking member OV1 slides according to a limited stroke between the two positions, namely the first position PI and the second position P2.

[0072] Said first locking member OV 1 and said first actuator ATI may comprise: - a first piston at one, in particular lower, of the ends of said first locking member OV1, sliding in a first chamber CH1 typically via a first seal Jl, for example lower; this first chamber CH1 is connected to a first compressed air inlet configured to urge the first piston from the first position PI to the second position P2 of the locking member OV1, and as illustrated on the left in [Fig.6], - a second piston at one in particular the upper end of said first locking member OV1, slidably mounted in a second chamber CH2 via a second seal J2, for example an upper one, this second chamber CH2 being connected to a second compressed air inlet configured to urge the second piston from the second position P2 to the first piston PL

[0073] It is noted that the first chamber CH1, in particular the lower one, and the second chamber CH2, in particular the upper one, machined in the first body, can be respectively closed by two plugs. In [Fig.6], the lower plug allows the insertion or removal of the first locking member OVl / actuator ATI1 which may typically be a machined metal part, in particular a single piece.

[0074] Said second locking member OV2 and said second actuator AT2 may comprise: - a first piston at one in particular lower end of said second locking member OV2, sliding in a first chamber CH1 typically via a seal J1, for example lower; this first chamber CH1 is connected to a third compressed air inlet configured to urge the first piston from the first position PI to the second position P2 of the locking member OV2, - a second piston at one in particular the upper end of said second locking member OV2, slidably mounted in a second chamber CH2 via a second seal, for example an upper one, this second chamber CH2 being connected to a fourth compressed air inlet configured to urge the second piston from the second position P2 to the first piston PI, and as for example illustrated on the right in [Fig.6].

[0075] It is noted that the first chamber CH1, in particular the lower one, and the second chamber CH2, in particular the upper one, machined in the second body, can be respectively closed by two plugs. In [Fig.6], the lower plug allows the insertion or removal of the locking member OV2 / second actuator AT2 which can typically be a metal part machined in particular in one piece.

[0076] Generally, for the first locking member OV2, or the second locking member OV2, the diameter of the first chamber CH1 and of the first piston may be greater than the diameter of the second chamber CH2 and of the second piston.

[0077] In particular with reference to figures 4 and 6, and with respect to a virtual plane PV passing through the first axis ALI of the first housing L1 and through the second axis AL2 of the second housing L2, the first body CPI and the second body CP2 may 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 CPI and the second body CP2 are not notched.

[0078] In [Fig.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 in particular if the gripping tool is turned 180°.

[0079] Generally speaking, and as visible in [Fig.4], the first notch ECH1 and the second notch ECH2 result in an offset between: - a second entrance border Bd 12 of the first opening 01, on the first side of the plan, which is arranged intermediate, following the direction of the first axis ALI, between the bottom of the first housing L1 and a first entrance border Bdl 1 of the first opening, on the second side of the plan, - a second entry border Bd22 of the second opening 02 on the first side of the plane which is arranged intermediate, in the direction of the second axis AL2, between the bottom of the second housing L2 and a first entry border Bd21 of the second entry opening on the second side of the plane.

[0080] The notches ECH1 and ECH2 have the function of reducing as much as possible the size of the tool, on the first side of the virtual plane, at the level of the distal end of the gripping tool, and with a view to limiting as much as possible the risks of mechanical interference at this level during the insertion or extraction operations in the rolling mill stand.

[0081] For example, and according to an application which is described in more detail below, such notches ECH1, ECH2 can allow the gripping tool to be operated through an opening of a gate PT, in a main door PP of the rolling mill, while limiting the risks of interference with the frame of the opening of the gate: in such a case the gripping tool is arranged so that the first side is directed upwards, and the second side downwards, the notches ECH1 and ECH2, then upper, in line with an upper crosspiece of the frame for gripping the first upper intermediate rolls 13. On the contrary, and with regard to gripping the first lower intermediate rolls, the gripping tool is turned 180° so that the first side is directed downwards, the notches ECH1 and ECH2, then lower, in line with a lower crosspiece of the frame.

[0082] The gripping tool is also preferably oriented so that the first side is downwards, the notches ECH1 and ECH2, then lower, during the operations of depositing the two cylinders C1, C2 on a rack Rac, and with a view to limiting the risks of mechanical interference between the gripping tool and the rack Rac.

[0083] The present disclosure also relates to an assembly comprising a gripping tool according to the present disclosure 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 rectified rolls into the rolling mill stand comprising a robot provided with a gripping system 6 configured to ensure locking of the fixing part 22 of the gripping tool 20.

[0084] The robot Ro may comprise a carriage comprising a first chassis 2 provided with wheels 200 cooperating with rails Ral arranged on the ground, extending in the transverse direction Y, in line with the access opening of the rolling mill stand, said first chassis 2 being configured to move in the direction Y along the rails Ral, under the action of first motor means Ml driving the wheels 200.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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 depositing of the cylinder laterally on 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.

[0089] According to one embodiment, the gripping system 6 may comprise 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.

[0090] Again, the robotic system 1 can carry at least one controllable pneumatic energy 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'.

[0091] The gripping tool is equipped with the second pneumatic coupling part 72', and said pneumatic actuators, in particular those mentioned above, 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.

[0092] 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, typically parallel to the longitudinal direction XI of the gripping tool 20.

[0093] Such a motorized rotation axis A6 allows, for example, the gripping tool to be turned 180°.

[0094] Said gripping system 6 can thus be configured to allow the gripping tool 20 to turn 180° between in particular: - a first position of the gripping tool for 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 gripping the first intermediate cylinders 13, upper through an opening of a gate PT, during which the gripping system positions the first notch ECH1 and the second notch ECH2, upwards, in line with an upper crosspiece of a frame of the opening of a gate PT, - a second position of the gripping tool for 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 gripping the first intermediate cylinders 13, lower through an opening of a gate PT, during which the gripping system positions the first notch ECH1 and the second notch ECH2, downwards, in line with a lower crosspiece of a frame of the opening of the gate PT.

[0095] The second position of the gripping tool can still typically be used for removing extracted cylinders, particularly on a Rac rack.

[0096] 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 are 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°. The first pneumatic coupling part 71' may be centered on the axis of rotation A6 around which the first coupling part 71 is configured to pivot.

[0097] The present disclosure also 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 cage, presenting: - 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 support rollers H, G, F, E, lower.

[0098] According to the present disclosure, said installation comprises said assembly according to the present disclosure, configured to allow simultaneous gripping of the two cylinders, first intermediate cylinders 13, lower or upper, by moving the gripping 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 inlet opening 01 of said first housing L1 and an insertion of the end of the second cylinder C2 into the second housing L2 through a second inlet opening 02 of said second housing L2.

[0099] Generally speaking, and as illustrated in [Fig.3], the installation may comprise 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.

[0100] 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 Rac 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 of the present Applicant.

[0101] According to one embodiment, a MAG tool changing magazine can be arranged, along the transverse direction Y between the rolling mill stand and the support frame Cha, preferably close to the support frame Cha relative to the rolling mill stand. The MAG tool changing magazine can comprise a structure, in particular substantially vertical, comprising several storage cells typically superimposed for different gripping tools specific to gripping the different types of rolls, including the gripping tool according to the present disclosure specific to gripping the first intermediate rolls.

[0102] As illustrated in [Fig.3], 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 X direction, along the access opening (or maintenance window) of the rolling mill stand.

[0103] 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 gripping tool according to the present disclosure, 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', 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 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'.

[0104] The present disclosure also relates to a method for changing rolls of a rolling mill, implementing a gripping tool according to the present disclosure, or an assembly according to the present disclosure, the rolling mill having a rolling mill stand and a set of 20 rolls, internal to the stand, having: - a higher GS group including: — a working cylinder 12, upper, — first two 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: — first two intermediate cylinders 13, lower, — three second intermediate cylinders 14,15, lower, — four sets of lower support rollers H, G, F, E).

[0105] According to the changing method, a simultaneous gripping of the two first intermediate rolls 13, lower or upper, is ensured in the rolling mill stand by moving the gripping tool, in a direction parallel to the two rolls while ensuring, simultaneously, on the one hand, an insertion of the end of the first roll into the first housing through a first inlet opening 01 of said first housing L1, and, on the other hand, an insertion of the end of the second roll into the second housing L2 through a second inlet opening 02 of said second housing, until the first roll is obtained to fit into the first housing and the second roll into the second housing, allowing the rolls to be gripped by their fitted ends.

[0106] According to one embodiment of the method, the first intermediate cylinders 13 have peripheral locking grooves G. The method can then comprise locking the first cylinder in the first housing L1 by penetration of 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 penetration of 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.

[0107] According to one embodiment, the method may comprise an adjustment of the center distance E, during said movement of the gripping tool 20 in the direction parallel to the two cylinders, said at least one first guide wall PG1 cooperating in guiding with one end of the first cylinder C1 and said at least one second guide wall PG2 cooperating in guiding with one end of the second cylinder so as to generate forces resulting from the guidance modifying said center distance E, against the return force of the spring system 26.

[0108] According to one embodiment, implementing the gripping tool comprising the pneumatic braking device, the pneumatic braking device is switched from the unbraked position to the braked position blocking the sliding of the first fitting system and the second fitting system, prior to a movement by the robotic system of the cylinders held by the gripping tool.

[0109] Generally speaking, the rolling mill cage has, on the side of an access window, a door system comprising: - a main PP door, hinged to the cage giving access to all 20 cylinders of the rolling mill, - a PT gate 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 opening of gate with a frame.

[0110] An example of a 20-roll rolling mill comprising a main door and a gate is for example known from document WO2015071608 of the present Applicant. Opening the gate allows the replacement of the working rolls, and the first intermediate rolls, without having to open the main door, which provides the advantages developed in document WO2015071608.

[0111] According to one embodiment, the gripping system grips the first intermediate cylinders in the cage, advantageously by positioning the gripping 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 for which the first side of the virtual plane is arranged upwards then the second side is arranged downwards, said first position configured for the gripping of the first upper intermediate cylinders 13 through said opening of the gate PT, 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 frame of the gate opening PT, - in the second position for which the first side of the virtual plane is arranged downwards then the second side is arranged upwards, said second position configured for the gripping of the first lower intermediate cylinders through said opening of a gate, during which the gripping system positions the first notch ECH1 and the second notch ECH2 in line with a lower crosspiece of the frame of the gate opening PT. List of reference signs

[0112] - 1. Robotic system, - Ro. Robot, - Ral. Rail following the Y direction -2. First chassis - 200. 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, - Front vertical axis of rotation (between the fifth and fourth chassis), called the first axis of rotation - M4. Fourth motor means (pivoting of the fourth chassis relative to the third chassis around the vertical rotation axis), - 6. Input system, - M6. Motor means (pivoting of the cylinder gripped by the gripping system around its axis, or a parallel axis), -71, 72. Respectively first part of mechanical coupling and second part of mechanical coupling, -71', 72'. Respectively first part of pneumatic coupling and second part of pneumatic coupling, - Gi, Gs. Respectively upper group and lower group, -12. Working cylinders, - 13. First intermediate cylinders, - 14,15. Second intermediate cylinders, - A, B, C, D. respectively the four support cylinders or sets of support rollers of the upper group, - E, F, G, H. respectively the four support cylinders or sets of support rollers of the lower group, - PP. Main door, - PT. Gate, -Cha. Support frame, -Rac. Removable rack -AL. Maintenance aisle (of the workshop) following the longitudinal direction, - 20. Input tool, - 21. Chassis, - 22. Fixing part, - 23. First nesting system, - ICC. First body, - Ll. First accommodation, - ALI. First input axis (longitudinal axis of the first housing), -01. First entrance opening (first Ll accommodation), - PG1. First guide wall, - OV1. First locking member (locking the fitted end of the first cylinder), - ATI. First actuator, - 24. Second nesting system, - CP2. Second body, - L2. Second accommodation, - AL2. Second input axis (longitudinal axis of the second housing), - 02. Second entrance opening (second accommodation L2), - PG2. Second guide wall (flared or chamfered) - 0V2. Second locking member (locking the fitted end of the second cylinder), - AT2. Second actuator, - Bd21, Bd22. First entry border and second entry border (of the first entry opening of the first housing offset along the first entry axis) - Bd21, Bd22. First entry border and second entry border (of the second entry opening of the second housing offset along the second entry axis) - E. Center distance (between the first input axis and the second input axis), - G. Gorge, - PV. Virtual plan - 25. Slide system, - 250. Guide rail, - XYZ. Orthogonal reference frame linked to the rolling mill (Figures 1 and 3), - X1Y1Z1. Orthogonal reference linked to the input tool.

Claims

Claims

1. 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 nesting system (23) comprising a first housing (L1) configured to receive and nest one end of a first rolling cylinder (Cl) and a second nesting system (24) comprising a second housing to receive and nest one end of a second rolling cylinder (C2), and in which the first housing (L1) has a first gripping axis (ALI) for gripping the first cylinder (Cl) and a second housing (L2) has a second gripping axis for gripping the second cylinder, the first gripping axis (ALI) and the second gripping axis (AL2) being parallel oriented in a longitudinal direction (XI), separated by a center distance (E), in a direction (Yl) transverse to the first gripping axis and to the second gripping axis, — means for adjusting said center distance (E) comprising a slide system (25) between the first nesting system (23) and the second nesting system (24), allowing adjustment of the spacing between the first nesting system (23) and the second nesting system (24), and in which said gripping tool is configured to allow simultaneous gripping of the two cylinders consisting of the first cylinder (C1) and the second cylinder arranged (C2) parallel to each other in a rolling mill stand,by moving the gripping tool (10) in a direction parallel to the two cylinders comprising simultaneously inserting one end of the first cylinder (Cl) into the first housing (Ll) through a first inlet opening (01) of said first housing (Ll) and inserting the end of the second cylinder (C2) into the second housing (L2) through a second inlet opening (02) of said housing until the first cylinder (Cl) is fitted into the first housing (Ll) and the second cylinder (C2) into the second housing (L2) allowing the cylinders (Cl, C2) held cantilevered by their fitted ends to be fitted.,

2. The input tool of claim 1, wherein the input system slide (25) comprises at least one guide rail (250) secured to the chassis (21), oriented in the transverse direction (Y 1), and in which 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.

3. Tool according to claim 1 or 2, wherein said center distance adjustment means (E) comprise: - a spring system (26) generating a return force forcing the first interlocking system (23) and the second interlocking system (24) to move on said slide system (24) in a median spacing position between a maximum spacing position and a minimum spacing position between the first interlocking system (23) and the second interlocking system (24), - at least one first guide wall (PG1), flared or chamfered, at the edge of the first inlet opening (01), the first guide wall (PG1) being configured to guide the end of the first cylinder (C1) during its insertion into the first housing (L1), and a second guide wall (PG2), flared or chamfered, at the edge of the second inlet opening (02), the second guide wall (PG2) being configured to guide the end of the second cylinder (C2) during its insertion into the second housing (L2), and in which, said gripping tool being configured, during said movement of the gripping tool (20) in a direction parallel to the two cylinders,such that said at least one first guide wall (PG1) cooperates in guiding with the end of the first cylinder (Cl) and said at least one second guide wall (PG2) cooperates in guiding with the end of the second cylinder by ensuring forces resulting from the guides modifying said center distance (E), against 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 distance (E), to a braked position blocking the sliding of the first interlocking system and of the second interlocking system, locking said center distance (E).

5. Gripping tool according to one of claims 1 to 4, wherein the first fitting system (23) comprises a first locking member (OV1) and a first actuator (ATI) configured to move said first locking member (OV1) from a first position (PI), retracted, allowing the insertion of the end of the first cylinder into the first housing (L1), to a second position (P2) for which the first locking member penetrates the interior of the first housing (L1) ensuring locking of the first cylinder, typically bearing on a bottom of the first housing, by penetration of a locking groove (G) of the second cylinder, and wherein the second fitting system (14) comprises a second locking member (OV2) and a second actuator (AT2) configured to move said second locking member (OV2) from a first position (PI), retracted,allowing the insertion of the end of the second cylinder into the second housing, up to a second position (P2) for which the second locking member (OV2) penetrates the interior of the second housing, ensuring locking of the second cylinder, typically resting on a bottom of the second housing, by penetration of a locking groove of the second cylinder.,

6. A gripping tool according to claim 5 wherein the first actuator (ATI) and the second actuator (AT2) are pneumatic actuators.

7. Gripping tool according to one of claims 1 to 6, wherein: - the first fitting system comprises a first body (CPI) typically metallic comprising the first housing, typically machined, extending along the first axis of the first housing (ALI) from the first inlet opening (01) to a bottom of the first housing, - the second fitting system (14) comprises a second body (CP2) typically metallic comprising the second housing (L2), extending along the second axis (AL2) of the second housing from the second inlet opening (02) to a bottom of the second housing, and in which the first housing and the second housing, extending, overlapping along a longitudinal direction of the gripping tool parallel to the first axis and second axis of the first and second housings, and in which with respect to a virtual plane (PV) passing through the first axis (ALI) of the first housing and through the second axis (AL2) of the second housing, the first body and the second body 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 and the second body are not notched, obtaining an offset between, on the one hand: - a second entry edge (Bd 12) of the first opening (01) of the first side of the plane which is arranged intermediate, in the direction of the first axis, between the bottom of the first housing and a first entry edge (Bdl 1) of the first opening of the second side of the plane, - a second entry edge (Bd22) of the second opening (02) of the first side of the plane which is arranged intermediate, in the direction of the second axis,between the bottom of the second housing and a first entrance border (Bd21) of the second entrance opening on the second side of the plan.,

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 rectified rolls into the rolling mill stand comprising a robot provided with a gripping system (6) configured to ensure locking of the fixing part of the gripping tool (20).

9. Assembly according to claim 8, in which 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) forming the fixing part (22) of the gripping tool, to a decoupled position allowing the release of the second mechanical coupling part.

10. Assembly according to claim 9 comprising the gripping tool according to claim 4 or 6 in which 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 portion (72'), and wherein the gripping tool is equipped with a second pneumatic coupling portion (72') and said pneumatic actuators configured to be actuated by said at least one pneumatic energy source to ensure the locking or unlocking of the first and second cylinders and / or to ensure the braking of the first interlocking system and the second interlocking system.

11. Assembly according to one of claims 8 to 10, comprising the gripping tool according to claim 7 in which said gripping system (6) is configured to allow the 180° turning of the gripping tool (20) between: - a first position for 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 the capture of the first upper intermediate cylinders through an opening of a gate, during which the capture system positions the first notch (ECH1) and the second notch (ECH2) in line with an upper crosspiece of a frame of the opening of a gate (PT), - a second position for 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 the capture of the first lower intermediate cylinders through an opening of a gate, during which the capture system positions the first notch (ECH1) and the second notch (ECH2) in line with a lower crosspiece of a frame of the opening of the gate (PT).

12. 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 (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, said installation comprising said assembly according to one of claims 8 to 11, configured to allow simultaneous gripping of the two first intermediate cylinders (13), lower or upper, by movement of the gripping 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 (C1) into the first housing through a first inlet opening (01) of said first housing (L1) and an insertion of the end of the second cylinder (C2) into the second housing (L2) through a second inlet opening (02) of said housing (L2).

13. Method for changing rolls of a rolling mill, implementing a gripping tool according to one of claims 1 to 7, or an assembly according to one of claims 8 to 11, the rolling mill having a rolling mill stand and a set of 20 rolls, internal to the stand, having: - an upper group (GS) comprising: — an upper working roll (12), — two first intermediate rolls (13), upper, — three second intermediate rolls (14, 15), upper, — four sets of support rollers (A, B, C, D), upper, - a lower group (GI) comprising: — a lower working roll (12): — two first intermediate rolls (13), lower, — three second intermediate rolls (14, 15), lower, — four sets of support rollers (H, G, F, E), lower, and in which method a simultaneous gripping of the two first intermediate rolls (13), lower or upper, is ensured in the rolling mill stand by moving the gripping tool, in a direction parallel to the two rolls while ensuring, simultaneously, on the one hand, an insertion of the end of the first roll (Cl) into the first housing (Ll) through a first inlet opening (01) of said first housing (Ll), and, on the other hand, an insertion of the end of the second roll into the second housing (L2) through a second inlet opening (02) of said housing, until the first roll (Cl) is obtained in the first housing (Ll) and the second roll (C2) in the second housing (L2) at- allowing the cylinders to be gripped by their fitted ends.

14. A changing method according to claim 13 implementing a gripping tool (10) according to claim 5 or 6 and in which the first intermediate cylinders (13) have peripheral locking grooves (G), and in which the method comprises locking the first cylinder (Cl) in the first housing (Ll) by penetration of the first locking member (OV1) into the locking groove (G) of the first cylinder (Cl), and locking the second cylinder (C2) in the second housing (L2) by penetration of the second locking member (OV2) into the locking groove of the second cylinder, once the ends of the first and second cylinders (Cl, C2) are fitted into the first and second housing (Ll, L2).

15. A method of changing according to claim 13 or 14, implementing a gripping tool according to claim 3, comprising an adjustment of the center distance (E), during said movement of the gripping tool (10) in the direction parallel to the two cylinders, said at least one first guide wall (PG1) cooperating in guiding with one end of the first cylinder (Cl) and said at least one second guide wall (PG2) cooperating in guiding with one end of the second cylinder so as to generate forces resulting from the guides modifying said center distance (E), against the return force of the spring system (26).

16. A method of changing according to claim 15, implementing a gripping tool according to claim 4, in which the pneumatic brake device is switched from the unbraked position to the braked position blocking the sliding of the first fitting system and the second fitting system, prior to a movement by the robotic system of the cylinders held by the gripping tool.

17. A method of changing according to one of claims 13 to 16, implementing an assembly according to claim 11 and in which 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 all 20 rolls of the rolling mill, - a gate (PT) closing a maintenance opening in the main door, allowing the removal of the working rolls (12), lower and upper, as well as the first four intermediate cylinders (13), lower and upper, said gate opening having a frame method in which the gripping system grips the first intermediate cylinders in the cage, by positioning the gripping tool (20) through the opening of the gate: - in the first position of the gripping tool for which the first side of the virtual plane is arranged upwards then the second side is arranged downwards, said first position configured for gripping the first upper intermediate cylinders (13) through said opening of the gate, 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 frame of the gate opening, - in the second position of the gripping tool for which the first side of the virtual plane is arranged downwards then the second side is arranged upwards, said second position configured for gripping the first lower intermediate cylinders through said opening of a gate, during which the gripping system positions the first notch (ECH1) and the second notch (ECH2) downwards, in line with a lower crosspiece of the frame of the gate opening.

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