Rack system, laminating installation comprising such a system and method implemented by such a system

Abstract

A rolling mill cylinder storage support system comprising: - a support frame (Cha) including a first support (Cha1) and a second support (Cha2), respectively fixed parallel to the ground, - pairs of individual fixed cradles (Bc), each comprising a first cradle and a second cradle spaced at a specific distance, secured respectively to the first support (Cha1) and the second support (Cha2), for supporting cylinders transversely to the support frame, according to the different support positions, - a handling system configured to release and lift a cylinder from one of the support positions of the fixed cradle pairs, by lifting one or more mobile cradles using lifting means, moving a mobile frame (SMCH), and placing it on another of the fixed cradle support positions, offset along the length of the support frame (Cha), by lowering the lifting means. Figure 6

Description

Title of the invention: Rack system, rolling mill comprising such a system and method implemented by such a system

[0001] This disclosure relates to a rolling mill support system, as well as a rolling mill installation comprising such a support system.

[0002] The present disclosure is further related to a method for evacuating worn cylinders, implemented by a support system according to the present disclosure.

[0003] The present disclosure is further related to a method of feeding new or reground cylinders, implemented by a support system according to the present disclosure. technical field

[0004] The field of the invention relates more particularly to equipment used to perform maintenance operations on a 20 High type rolling mill. A 20 High rolling mill is, for example, known from prior art US 5,193,377 and US 5,471,859. In such a rolling mill, the rolls (and sets of support rollers) are arranged in a lower group G1 and an upper group G2, and in a symmetrical configuration with respect to the plane of travel of the metal strip to be rolled. Figure 5 of US 5,193,377 illustrates, for example, the upper group with a work roll, two first intermediate rolls, three second intermediate rolls, and four sets of support rollers.

[0005] As rolling campaigns progress, it is necessary to renew the surface finish of the rolling mill cylinders. This operation is carried out by opening the access door of the rolling mill stand and removing the cylinders from the stand. These cylinders are then ground before being reinserted into the rolling mill stand.

[0006] Each support roller assembly typically comprises a support shaft along which rollers, typically formed by bearings, are distributed. For this purpose, the inner ring of each bearing is mounted on the support shaft, the outer ring of the bearing being designed to roll on one, or even two, adjacent cylinders belonging to the cylinders of the intermediate bearings. The support roller assembly further comprises a saddle whose arched body extends longitudinally along the length of the support shaft, and whose convex face is designed to bear against a concave seat of a mounting portion of the cage. This saddle also has extensions, projecting from the concave face of the body, through which the support shaft passes, the extensions being distributed along the length of the shaft and, in particular, arranged between the rollers. Eccentric rings are also provided between the support shaft and these extensions. The shaft has a pinion designed to mesh with a corresponding pinion, or a rack, within the rolling mill stand. This pinion (or rack) thus drives the support shaft in rotation, thereby moving the position of the support shaft and the rollers relative to the arched body of the saddle, thanks to the eccentric rings. It is understood that these support roller assemblies also require maintenance, which is carried out by removing this component from the stand, along the axis of the support shaft.

[0007] The extraction (or insertion) of internal components (cylinders or sets of support rollers) is usually carried out using handling equipment attached to the end of the component to be removed (namely, to the end of the cylinder to be removed or the shaft supporting the set of support rollers to be removed), equipped with a counterweight. The purpose of the counterweight is to balance the component being grasped when handled by the hoist of an overhead crane in the workshop, and to keep it substantially horizontal, while the hoist hook grips a ring positioned on the equipment between the counterweight and the grasped component. During the removal of the component (or conversely, during its insertion), the grasped component is rigidly attached to the equipment's counterweight, which is likely to swing at the lower end of the hoist cable.

[0008] During extraction maneuvers, operators are necessarily present near the seized component, and in order to guide the extraction (or placement) operations which are therefore particularly dangerous due to the possible pendulum movements of the heavy elements suspended from the overhead crane cable. Previous technique

[0009] However, the prior art of robotic systems is known, in particular that disclosed by the Applicant's document WO 2022 / 223927 Al, illustrated in figures 1 and 2.

[0010] Thus, the said rolling mill comprises a rolling stand and a set of cylinders, internal to the stand, including two work rolls 12, support rolls or support rollers A, B, C, D, E, F, G, H, and even intermediate rolls, in particular first intermediate rolls 13 and second intermediate rolls 14, 15, the rolling stand having an access opening, optionally closed by a door system. In Figures 1 and 2, the metal strip Bm extends longitudinally along a horizontal X direction and transversely along a horizontal Y direction, the Y direction being parallel to the axes of the rolling mill cylinders.

[0011] Said installation includes a robotic system 1 suitable for performing the rolling mill roll change operations, by extracting worn rolls from the rolling mill stand and / or by inserting new (or ground) rolls into the rolling mill stand, said robotic system having a robot Ro comprising: - a trolley comprising a chassis 2 equipped with wheels cooperating with rails Ral arranged on the ground, extending in the Y direction, directly opposite the access opening of the rolling mill stand, said chassis being configured to move in the Y direction along the Ral rails, and - a gripping system, configured to control the locking and unlocking of the gripping of an Eb tip attached to a cylinder, or the gripping of a tip of a gripping system of a rolling mill cylinder.

[0012] The laminating installation further includes a rack system comprising a Cha support chassis, supporting removable Rac racks.

[0013] The support frame is fixed to the ground in an anchoring position at a distance from the rolling mill along the Y direction transversely and laterally to the Ral rails, the position of the support frame freeing up a maintenance aisle AL along the X direction, along the access opening of the rolling mill.

[0014] The Cha support chassis comprises a first Chai support, and a second Cha2 support on which each of the Rac racks rests, and the first and second supports being oriented lengthwise along the transverse direction Y.

[0015] The robotic system 1 is configured to ensure the extraction of a worn cylinder, either by grasping the end cap attached to the cylinder, or by grasping the cylinder with the gripping system locked by the gripping system, with the cylinder being placed laterally on the Ral rails, onto the first rack resting on the support frame Cha. Conversely, the robotic system can grasp a new working cylinder, pre-positioned on the rack, in order to insert it into the rolling mill cage.

[0016] Notably, the complete rack of spent cylinders can be evacuated by self-guided vehicles, by accessing the free clearance from the distal end of the rack, furthest from the rolling mill stand.

[0017] According to the Applicant's findings, such a rolling mill installation, including in particular such a robotic system and such a rack system, gives satisfaction, but nevertheless requires significant activity from the automated guided vehicles to supply or extract the racks on the support chassis.

[0018] In particular, when several removable racks are arranged on the support frame, the automated guided vehicle cannot access the rack closest to the rolling mill without first removing the racks located between this rack, closest to the stand, on the one hand, and the access opening for the guided vehicle on the other. automatic, on the other hand, this opening being located at the distal end of the rack, furthest from the rolling mill cage.

[0019] In the event of insufficient capacity of the automated guided vehicles, the removal of the racks, due to time constraints, is only carried out at the distal section of the rack, the section furthest from the cage, and not at the proximal section, the section closest to the cage. Only the racks arranged on the distal section can be extracted / fed, which results in an increased distance traveled by the robot from the cage to deposit or retrieve a cylinder from the rack, and therefore an increased maintenance cycle time, with a consequent increase in the downtime of the rolling operations of the installation at the rolling mill.

[0020] Document EP 4,414,095 A1 provides an answer to this problem, by disclosing a rack system for storing cylinders from a rolling mill comprising: a support frame configured to support several racks, the racks distributed along the length of the support frame in different positions according to the length of the rack, the support frame.

[0021] The chassis comprises a first support, and a second support, respectively fixed to the ground in a parallel manner, the first support and the second support leaving a free clearance between them, arranged below the level of the racks resting on the support chassis.

[0022] The system comprises at least a first rack and a second rack configured to rest on the support chassis Cha, simultaneously resting on the first support and the second support, at two opposite edges of the first rack, in two positions along the length of the first rack and at two opposite edges of the second rack in two positions along the length of the second rack, said second rack arranged in an intermediate position on said support chassis along the length of the support chassis.

[0023] The first rack supports a plurality of working cylinders, and is configured to move from a storage position in which said first rack rests simultaneously on the first support and the second support to a transport position in which the first rack is configured to be retracted into the free clearance, below the level of the second rack resting on said support chassis (in the intermediate position.

[0024] A motorized handling system is configured to move in said free clearance between the first support and the second support, said handling system comprising a chassis provided with movement means configured to move between the first support and the second support, along the length of the support chassis, and lifting means configured to provide support at least for the first rack in said transport position.

[0025] Such a handling system is configured to ensure, from said storage position of the first rack simultaneously supported by the first support and the second support, / a / a passage of the first rack into said transport position of the first rack, allowing its retraction into the free space, / b / a descent of the first rack into the free space between the first support and the second support, into a lowered position below the level of the second rack resting on the support frame in said intermediate position, and / c / a joint movement of the handling system and said first rack supported by the lifting means in the lowered position of the first rack, by a movement of the handling system along the length of the chassis so as to move the first rack, under the second rack resting on the support chassis in said intermediate position, from a first side of the second rack and to a second opposite side.

[0026] Advantageously compared to the prior art previously cited and illustrated in Figures 1 and 2 of this application, the rack system according to EP 4,414,095 A1 allows: - during evacuation operations, and in relation to the illustrated prior art, to evacuate the first rack on a proximal section of the support frame close to the rolling mill, to a distal section of the support frame, a distance from the rolling mill, where the automatic guided vehicle operates, without having to first remove the second rack which is supported in an intermediate position, - during feeding operations, and in relation to the state of the art illustrated, to feed the first rack up to the proximal section of the support frame near the rolling mill, from the distal section of the support frame where the automatic guidance vehicle operates, without having to remove the second rack which is supported in an intermediate position beforehand.

[0027] According to the Applicant's findings, if such a rack structure according to EP 4,414,095 A1 comprising the chassis, the racks and its intermediate handling system brings a notable improvement over the prior art in terms of capacity, it implies the use of specific racks, intended for the supports of the working cylinders, comprising functional surfaces configured not only to be supported by simultaneous supports on the first and second supports in the storage position, but also to be able to be offset and lowered between the two supports, when offset.

[0028] However, in some cases, the cylinder support racks must, in order to adapt to different stations of the rolling mill site, and for example be compatible with other equipment such as cylinder grinding stations, which is not necessarily possible with the racks of the rack structure according to EP 4.414.095 A.

[0029] The present disclosure improves this situation. Summary

[0030] This disclosure relates to a support system for storing rolling mill cylinders comprising: - a support frame configured to support cylinders distributed along the length of the support frame in different positions depending on the length of the frame, the support frame comprising a first support, and a second support, respectively fixed to the ground in a parallel manner, the first support and the second support leaving a free clearance between them, - pairs of individual, fixed cradles, each comprising a first cradle and a second cradle spaced according to a spacing, secured respectively to the first support and to the second support, the pairs of cradles, distributed and spaced along the length of the chassis according to different support positions, the pairs of cradles configured respectively for the support of cylinders transversely to the supporting chassis, according to the different support positions, each cylinder resting on the first cradle secured to the first support and on the second cradle secured to the second support transversely to the chassis, - a handling system comprising: — at least one mobile chassis equipped with means of movement configured to move within the free space between the first support and the second support, depending on the length of the support chassis, — one or more mobile cradles, and lifting means mounted on said at least one mobile chassis configured to lift the mobile cradle(s) by engaging with a cylinder supported at the ends of the cylinder on the first fixed cradle and the second fixed cradle to release the cylinder from the fixed cradles of the pair of fixed cradles, or configured to place a cylinder displaced by the mobile cradle(s) and place it on the first and second cradles of one of the pairs of fixed cradles, and in which the handling system is configured to release and lift a cylinder on one of the support positions of the fixed cradle pairs, by lifting the mobile cradle(s) by the lifting means, move it by moving the mobile chassis and place it on another of the support positions of the fixed cradles, offset according to the length of the support chassis, by lowering the lifting means.

[0031] According to optional features, taken alone or in combination;

[0032] According to one embodiment, the pairs of fixed, individual cradles comprise, in part or entirely, pairs of cradles, each pair comprising two cradles spaced at a distance less than one dimension of the cylinder to be supported, and pairs of cradles spaced along the longitudinal direction. of the chassis, with spacing greater than the diameter of the cylinder to be supported, and the fixed cradles projecting inwards from the intermediate clearance, leaving free openings between two successive pairs of cradles, the openings providing a passage, along the transverse direction of the chassis, which is larger than the diameter of the cylinder and a dimension along the longitudinal direction of the chassis which is larger than the diameter of the cylinder and in which the handling system is configured to: / a / release a cylinder from one of the support positions of the fixed cradle pairs and lift it by raising the mobile cradle(s), / b / shift the cylinder engaged with the movable cradles, to the free openings between two successive pairs of cradles by moving the movable frame, / c / lower the engaged cylinder through the free openings, below the level of the fixed cradles by lowering the movable cradle(s), / d / move the engaged cylinder along the length of the support frame by passing through the free clearance, below the fixed cradle pairs or even below cylinders supported by the fixed cradles, and up to two other free openings, by moving the movable frame, to mount the cylinder in engagement through the free openings by raising the movable cradle(s), / f / shift the cylinder engaged with the mobile cradles to the position of the pair of fixed cradles of the other support position by moving the mobile chassis, / g / lower the cylinder engaged with the mobile cradles and place it on the first cradle and the second cradle of the other support position.

[0033] In particular, the fixed support may include: - of the first pairs of individual cradles for supporting cylinders of length and diameter, the first cradle and the second cradle spaced apart from each other, in the direction transverse to the frame, according to a first spacing, and for which the handling system is configured to move a cylinder from said one support position of a first pair of cradles and to said other support position of another of the first pairs of individual cradles, passing the cylinder through the free openings according to actions / c / and ld, and according to a movement in / d / in said intermediate clearance under the individual cradles, - second pairs of individual cradles for supporting cylinders of greater length than, arranged on the support frame above the level of the first pairs of cradles, and in which the first and second cradles of the second pairs of individual cradles are each spaced according to a second spacing greater than the spacing, and for which the handling system is configured to move a cylinder from said one support position of one of the second pairs of individual cradles and to said other support position of another of the second pairs of fixed cradles, and according to a displacement of the cylinder over the cradles of the second pairs.

[0034] According to one embodiment, said at least one mobile chassis may include: - a first handling device comprising a first mobile chassis guided along the length of the support chassis by an internal rail attached to the first support and a first lifting means for a first mobile cradle, adjacent to the first support, - a second handling device comprising a second mobile chassis guided along the length of the support chassis by an internal rail attached to the second support and a second lifting means for a second mobile cradle, adjacent to the second support.

[0035] According to a second aspect, the present disclosure relates to equipment comprising: - a support system as described in this disclosure - an automatically guided vehicle configured to move on a horizontal surface such as a floor and comprising a load-lifting system, - at least one removable rack, smaller than the width of the clearance between the first and second chassis, having transverse slots for supporting cylinders, the cylinders protruding on either side of the rack, said at least one rack configured to be moved by the automatically guided vehicle and raised or lowered by the vehicle's lifting system, and in which the automatically guided vehicle is configured to load cylinders onto a first section of the length of the supporting chassis by: / A1 / Movement of the automated guided vehicle carrying said at least one rack supporting cylinders in transverse housings, extending beyond said at least one rack on either side, to a high position of the lifting system and said at least one rack, greater than the height of the fixed cradles, / B1 / At least partial insertion of the automated guided vehicle by moving the vehicle, into the free clearance on the first length section of the chassis, / C1 / Lowering said at least one rack supporting the cylinders into a low position until the free clearance between the first support and the second support, at least until the transfer of the cylinders from said at least one rack to the supporting chassis, each cylinder resting on the first cradle and the second cradle of a pair of fixed cradles, / D1 / Evacuation of the automated guided vehicle and the rack unloaded from the cylinders in the lowered position of the lifting system and said at least one rack, and / or in which the automatically guided vehicle is configured to unload cylinders supported on a first section of chassis length by: / A2 / Movement of the automatically guided vehicle carrying at least one empty rack, in a low position of the lifting system and of said at least one rack, / B2 / At least partial insertion of the vehicle into the free clearance on the first length section of the chassis, in a low position of the lifting system and of the rack in the free clearance, / C2 / Raising said at least one rack into a high position until the transfer of the cylinders from the fixed cradle pairs onto the transverse housings of said at least one rack, / D2 / Evacuation of the vehicle and said at least one rack loaded with cylinders in the raised position.

[0036] According to one embodiment of said equipment, the support chassis comprises: - said first length section of the chassis at one end for which the pairs of successive fixed cradles are spaced along the length direction of the chassis by a first center distance and by a center distance corresponding to the spacing of the transverse housings of the rack, - at least a second length section of the chassis for which the pairs of successive fixed cradles are spaced along the length direction of the chassis by a second center distance, less than the first center distance, and in which the handling device is configured to transfer a cylinder supported on one of the pairs of cradles of the first length section to one of the pairs of cradles of said at least a second length section.

[0037] According to one embodiment, the equipment comprises a removable intermediate support configured to be moved by the automated guided vehicle, having a width dimension less than the clearance space, and in which the automated guided vehicle is configured to load cylinders above the first length section of the chassis by: / A3 / Movement of the automated guided vehicle carrying said intermediate support, / B3 / At least partial insertion of the vehicle and said intermediate support into the clearance space on the first length section of the support chassis, / C3 / Lowering said intermediate support and placing said intermediate support on the ground in the clearance space, / D3 / Removal of the vehicle unloaded from said intermediate support, / E3 / Movement of one or more vehicles carrying at least one rack supporting rolling mill components, such as cylinders or ramps, into a high position, / F3 / Lowering of the rack supporting the components and placing the rack on the intermediate support.

[0038] According to one embodiment, the equipment includes a centering deflector, anchored to the ground, configured to obtain centering of said intermediate support between the first support and the second support.

[0039] According to a third aspect, the present disclosure relates to a metal strip rolling installation comprising a rolling mill, and a system according to the present disclosure or equipment according to the present disclosure, said rolling mill having a rolling stand and a set of cylinders, internal to the stand, including two work rolls, support rolls or support rollers, and even intermediate rolls, in particular first intermediate rolls and second intermediate rolls, the rolling stand having an access opening, optionally 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 rolls, said installation comprising a robotic system suitable for performing rolling mill roll change operations,by extracting worn cylinders from the rolling mill stand and / or inserting new or ground cylinders into the rolling mill stand, said robotic system comprising a robot including: , - a trolley comprising a chassis equipped with wheels cooperating with rails arranged on the ground, extending in the Y direction, at the right of the access opening of the rolling mill stand, said chassis being configured to move in the Y direction along the rails, and a gripping system, configured to control the locking and unlocking of the grip of a tip attached to a cylinder, or the gripping of a tip of a gripping system of a cylinder of the rolling mill, and in which said support chassis is fixed to the ground in an anchoring position at a distance from the rolling mill in the Y direction transverse and laterally to the rails, freeing up a maintenance aisle in the X direction, along the access opening of the rolling mill, the support chassis including the first support, the second support and the free clearance oriented lengthwise in the transverse Y direction; and in which the robotic system is configured to ensure the extraction of a cylinder, either by grasping the end piece attached to the cylinder, or by grasping the cylinder using the gripping system locked by the gripping system, with the cylinder being placed laterally to the rails on one of the pairs of fixed cradles in a first of the support positions of the support chassis, and in which the handling system is configured to ensure the movement of the cylinder from the first support position, to a second support position.

[0040] According to a fourth aspect, the present disclosure relates to a method for removing worn cylinders implemented by a system according to this disclosure, equipment according to this disclosure, or installation according to this disclosure, whereby one or more worn work cylinders rest on the support frame, the worn cylinder or each worn cylinder supported by a pair of fixed cradles on a proximal section of the length of the support frame, near a rolling mill stand, opposite a distal section of the length of the support frame, the handling system is controlled to ensure movement of the worn work cylinder or each worn work cylinder from the support position on the proximal section to another support position of a pair of fixed cradles on the distal section of the support frame, in particular by implementing actions / a / to / g / , and wherein the worn cylinder or cylinders are removed from the distal section of the support frame,in particular by an automatically guided vehicle.

[0041] According to a fifth aspect, the present disclosure relates to a method of feeding new or ground rolls implemented by a support system according to the present disclosure, of equipment according to the present disclosure, or of an installation according to the present disclosure, in which a distal section of length of the support frame, opposite a proximal section of length of the support frame, near a rolling mill stand, is fed with one or more new or ground work rolls arranged on pairs of fixed cradles on the distal section in particular by an automatic vehicle, and in which the handling system is piloted to ensure movement of the new or ground roll or each of the new or ground rolls from the support position on the distal section to another support position of a pair of fixed cradles on the proximal section of the support frame, in particular by implementing actions / a / to / g / .

[0042] According to an embodiment of the evacuation process according to the fourth aspect, or of the feeding process according to the fifth aspect, the working cylinders of length L1 are supported on the first pairs of cradles.

[0043] According to a sixth aspect, the present disclosure relates to a method for removing worn cylinders implemented by a system comprising first and second pairs of cradles, equipment according to the present disclosure comprising such a system, or an installation according to the present disclosure comprising such a system, one or more first intermediate worn cylinders of length, resting on the support frame, the worn cylinder or cylinders resting on one of the second pairs of cradles fixed on a section proximal length of the support frame, close to a rolling mill stand, opposite a distal length of the support frame, and in which the handling system is piloted to ensure movement of the worn cylinder or cylinders from the support position on the proximal section to another support position of a pair of fixed cradles on the distal section of the support frame, and in which the first worn intermediate cylinder or cylinders are evacuated from the distal section of the support frame, in particular by an automatically guided vehicle.

[0044] According to a seventh aspect, the present disclosure relates to a method of feeding new or ground cylinders implemented by a support system comprising the first and second pairs of cradles, of equipment according to the present disclosure comprising such a system, or of an installation according to the present disclosure comprising such a system in which a distal section of length of the support frame, opposite a proximal section of length of the support frame, near a rolling mill stand, is fed with one or more new or ground first intermediate cylinders arranged on the second pairs of cradles fixed on the distal section, in particular by an automatic vehicle,and in which the handling system is controlled to ensure the movement of one or each of the first new or reground intermediate cylinders from the support position on the distal section to another support position of a second pair of fixed cradles on the proximal section.

[0045] According to an eighth aspect, the present disclosure relates to a method for feeding components of a 20-roll rolling mill, implemented by equipment according to this disclosure comprising an intermediate support, or by an installation according to this disclosure comprising such equipment, in which the equipment is fed with rolling mill components, in particular intermediate second rolls, support rollers or support rolls, or even spray rails, by implementing the following steps: / A3 / Movement of the automatically guided vehicle carrying said intermediate support, / B 3 / At least partial insertion of the vehicle and said intermediate support into the free clearance on the first length section of the chassis, / C3 / Lowering of said intermediate support and placement of said intermediate support on the ground in the clear space, / D3 / Evacuation of the automated guided vehicle unloaded from said intermediate support, / E3 / Movement of one or more vehicles carrying a rack supporting rolling mill components, such as cylinders, support rollers or ramps, into a high position, / F3 / Lowering of the rack supporting the components until the rack is placed on the intermediate support. Brief description of the drawings

[0046] Other features, details and advantages will become apparent from reading the detailed description below and from analyzing the accompanying drawings, in which: Fig. 1

[0047] [Fig. 1] is a view of a rolling mill installation according to the prior art comprising: - a rolling mill comprising cylinders, including two working cylinders ensuring the rolling of a metal strip moving along the X direction, and in the axis of a maintenance window in the rolling mill stand, - a robotic system traveling on rails in a Y direction suitable for changing the rolling mill cylinders, - a rack system comprising a support frame, positioned at a distance from the rolling mill leaving a maintenance aisle free, between the rack system and the rolling mill stand, the maintenance aisle oriented along the X direction, parallel to the metal strip, the rack system comprising a support frame anchored to the ground, laterally to the rails of the robotic system, the support frame oriented lengthwise parallel to the rail, comprising a first support and a second parallel support, on which are arranged a plurality of racks, arranged successively along the length of the support frame, each in simultaneous support on the first and second support, and in which the robotic system is configured to extract a worn cylinder from the rolling mill stand and place it laterally on one of the racks, and to grasp a new (or ground) cylinder pre-positioned on a rack and insert it as a replacement into the rolling mill stand. Fig. 2

[0048] [Fig. 2] is a view according to [Fig. 1], wherein the racks comprise, on or near a proximal section of the support frame close to the cage, two racks supporting work cylinders, and on or near a distal section of the support frame, opposite the proximal section of the support frame, two larger racks supporting the first intermediate cylinders and the second intermediate cylinders, the two supports, first support and second support, leaving between them a free clearance for an automated guided vehicle circulating in the workshop, the automated guided vehicle configured to evacuate the racks supporting worn cylinders from the support chassis, or conversely, supplying the chassis with racks supporting new cylinders. Fig. 3

[0049] [Fig.3] is a view of a rolling mill comprising: - a 20-roll rolling mill, the rolling mill configured to roll a metal strip extending lengthwise along an X direction and widthwise along a Y direction, comprising a ca - a robotic system configured to perform rolling mill roll change operations, by extracting worn rolls from the rolling mill stand and / or inserting new or reground rolls into the rolling mill stand, comprising a robot with a trolley configured to move along a rail, positioned at an access window of the rolling mill, and a gripping system configured to grasp an internal component of the rolling mill, such as a roll or a spray bar; - a support system for storage as described in this disclosure, comprising a support frame positioned at a distance from the rolling mill stand, leaving a maintenance aisle between the rolling mill stand and the support frame, and in which the robot is configured to extract components from the rolling mill stand, with the component oriented longitudinally along the Y direction, and deposit them after pivoting the component.with a longitudinal orientation of the component along the X direction on the support frame directly supported on fixed cradles of the support frame in the case of working cylinders, or intermediate cylinders, , - an automatically guided vehicle configured to unload or load components, at a distal section of the support chassis, opposite a proximal section of the support chassis, closer to the rolling mill stand. [Fig.4]

[0050] [Fig.4] shows several views of the automatically guided vehicle, configured to move autonomously on the ground, using rolling elements, and including a load-lifting system, including: - a first view, top left (A), in which the vehicle carries on a lifting fork a rack supporting working cylinders, in transverse slots of a rack, - a second view, at the top intermediate position (B), in which the vehicle carries on a lifting fork a rack supporting the first intermediate cylinders in transverse housings of a rack, - a third view, top right (C), in which the vehicle carries an intermediate support on a lifting fork, intended to be placed between the first and second supports of the support chassis - a first view, bottom left (D), for which the vehicle carries on a lifting fork a rack supporting intermediate second cylinders, - a second view, bottom intermediate (E), for which the vehicle carries on a lifting fork a rack supporting sets of support rollers, - a third view, top right (F), for which the vehicle carries on a lifting fork a rack supporting rolling mill spray ramps. Fig. 5

[0051] [Fig.5] is a detail view of the support frame of [Fig.3] which extends lengthwise, parallel to the rails of the robotic system, along the Y direction, the support frame comprising a first support and a second support, each extending lengthwise along the Y direction, and spaced apart from each other along the X direction, leaving an intermediate clearance between them, the support frame comprising pairs of fixed cradles, distributed along the length of the first and second supports, configured for supporting cylinders, in several support positions along the length of the support frame, each pair of fixed cradles comprising a first fixed cradle on the first support and a second fixed cradle on the second support, configured for supporting a cylinder respectively at two of its ends,at least the pairs of fixed cradles for supporting the working cylinders being formed by parts projecting inwards from the free clearance, two successive pairs of cradles being spaced to form openings creating a passage intended to be traversed by a working cylinder. Fig. 6

[0052] [Fig.6] is a consecutive view of [Fig.5] for which a guided vehicle An automatic system is inserted between the first and second supports of the support frame, and lowers a rack supporting work rolls of length Ll, to a low position for which the work rolls have been transferred from transverse housings of the rack to fixed cradles at the distal section of the rolling mill stand over a first length section of the stand, [Fig. 6] illustrating a handling system arranged in the free clearance, between the first and second supports, the handling system comprising a movable frame, in particular: - a first mobile chassis configured to move by motor along the length of the first support via a (first) rail, and a first lifting system mounted on the first mobile chassis, configured to raise and lower a first mobile cradle, - a second mobile chassis configured to move in a motorized manner along the length of the second support via a (second) rail, and a second lifting system mounted on the second mobile chassis, configured to raise and lower a second mobile cradle. Fig. 7

[0053] [Fig.7] is a view of [Fig.6] further comprising working cylinders supported on the support chassis, on a second length section of the support chassis. [Fig.7] illustrating the first length section of the support chassis, at which the self-guided vehicle can load working cylinders onto fixed cradle pairs distributed successively along a first center distance, and a second length section comprising fixed cradle pairs separated along a second center distance, less than the first center distance. FIG. 8

[0054] [Fig. 8] is a side view of [Fig. 7] illustrating the first center-to-center distance on the first length section of the support frame, configured to facilitate transfer operations, and the second center-to-center distance in pairs of cradles, of smaller dimensions. Fig. 8A

[0055] [Fig.8A] is a view according to [Fig.8] illustrating the trajectory of a work roll, typically new or ground, moved by the handling system from a first support position on a pair of fixed cradles on the first length section of the support frame, and to a second support position on a pair of fixed cradles on the second length section of the support frame, at which point the gripping system of the robotic system can grasp the new or ground roll for insertion into the rolling mill stand, the trajectory passing through the intermediate clearance under the other work rolls supported by the support frame. Fig. 8B

[0056] [Fig.8B] is a view according to [Fig.8] illustrating the trajectory of a working cylinder, typically worn, moved by the handling system, from a support position on a pair of fixed cradles on the second length section, at which point the grasping system of the robotic system can deposit the worn cylinder and to a support position on a pair of fixed cradles on the first length section of the support chassis for its removal by the automated guided vehicle. Fig. 9

[0057] [Fig.9] is a consecutive view of [Fig.5] in which an automatically guided vehicle is inserted between the first and second supports of the chassis support, and lowers a rack supporting first intermediate rolls, of length L2, to a low position for which the rolls have been transferred from transverse housings of the rack to second pairs of fixed cradles at the level of the distal section of the rolling mill stand on the first length section of the stand, the second pairs of cradles for the support of the first intermediate rolls being arranged on the support frame, above the first pairs of fixed cradles for the support of the work rolls and with a spacing between the first fixed cradle, and the second upper fixed cradle of the second pairs of cradles for the support of the first intermediate rolls, of length L2, greater than the spacing between the first cradle and the second cradle of the first pairs of cradles for the support of the work rolls, of length L1 less than L2. Fig. 9A

[0058] [Fig.9A] is a view of [Fig.9] further comprising first intermediate cylinders supported on the support chassis, on a second length section of the support chassis associated with the second pairs of cradles. Fig. 9B

[0059] [Fig.9B] is a view of a trajectory illustrating the movement of a typically new or rectified first intermediate cylinder, by the handling system, from its support position on the first section of the support frame and to a pair of cradles on a second length section of the support frame, at which point the robotic system can grasp the first intermediate cylinder. Fig. 9C

[0060] [Fig.9C] is a view of a trajectory illustrating the movement of a typically worn first intermediate cylinder, by the handling system, from its support position on the second section of the support chassis and to a cradle couple on a first length section of the support chassis. Fig. 10

[0061] [Fig.10] is a consecutive view of [Fig.5] for which a guided vehicle automatic inserts itself between the first support and the second support of the chassis support places an intermediate support on the ground, in the free clearance between the first support and the second support in order to support a rack. Fig. II

[0062] [Fig. 11] is a consecutive view of [Fig. 10] in which an automatically guided vehicle inserts itself between the first and second supports of the chassis and places a rack carrying intermediate second cylinders onto the support intermediate in support on the ground, at the level of the first length section of the support chassis. Fig. 12

[0063] [Fig. 12] is a consecutive view of [Fig. 10] for which a guided vehicle automatic inserts itself between the first support and the second support of the chassis and places a rack carrying sets of support rollers on the intermediate support resting on the ground, at the level of the first length section of the support chassis. Fig. 13

[0064] [Fig. 13] is a consecutive view of [Fig. 10] for which a guided vehicle The automatic system inserts itself between the first and second supports of the chassis and places a rack carrying spray ramps onto the intermediate support resting on the ground, at the level of the first length section of the support chassis. Fig. 14

[0065] [Fig. 14] schematically illustrates a rolling mill with 20 rolls. Description of the implementation methods

[0066] The present disclosure relates to a support system for storing rolling mill cylinders comprising a support frame Cha configured to support several cylinders, distributed along the length of the support frame Cha, in different support positions along the length of the support frame.

[0067] The support chassis Cha comprises a first support Chai and a second support Cha2, respectively fixed to the ground in a parallel manner to each other, oriented along the longitudinal direction of the support chassis Ch. The first support Chai and the second support Cha2 leave a free clearance between them.

[0068] The support chassis Cha comprises pairs of individual fixed cradles Bc, each comprising a first cradle and a second cradle, spaced according to a spacing, secured respectively on the first support Chai and on the second support Cha2.

[0069] The pairs of cradles Bc are distributed and spaced along the length of the chassis according to different support positions, said pairs of cradles configured respectively for the support of cylinders transversely to the support chassis, according to the different support positions.

[0070] Each cylinder rests on the first cradle attached to the first support and on the second cradle attached to the second support transversely to the chassis.

[0071] The handling system comprises: -at least one mobile chassis SMCH equipped with means of movement configured to move within the free clearance between the first support Chai and the second support Cha2, depending on the length of the support chassis Cha, -one or more mobile cradles Bcm, and lifting means SML on board said at least one mobile chassis SMCH configured to lift the mobile cradle(s) Bcm by engaging with a cylinder supported at the ends of the cylinder on the first fixed cradle and the second fixed cradle to release the cylinder from the fixed cradles of the pair, or configured to drop a cylinder moved by the mobile cradle(s) and drop it on the first and second cradles of another pair of fixed cradles.

[0072] According to this disclosure, the handling system is configured to release and lift a cylinder on one of the support positions of the fixed cradle pairs, by lifting the mobile cradle(s) Bcm by the lifting means SML, move it by moving the mobile chassis SMS and place it on another of the support positions of the fixed cradles, offset along the length of the support chassis Cha by lowering the lifting means SML.

[0073] The individual fixed cradle pairs Bc may include in part or in whole pairs of cradles Bc, comprising for each pair, the two cradles spaced at a distance El less than a dimension L1 of the cylinder to be supported, the pairs of cradles BC spaced along the longitudinal direction of the chassis, at a distance greater than a diameter DI of the cylinder to be supported, and the fixed cradles Bc being projecting towards the interior of the intermediate clearance, leaving between them free openings Ov between two successive pairs of cradles, and as illustrated by way of example in [Fig.6].

[0074] The openings opposite provide a passage Ps, along the transverse direction to the frame, which is of a dimension greater than the dimension L1 of the cylinder and of a dimension along the length direction of the frame greater than the diameter DI of the cylinder, the passage thus dimensioned to be crossed by the cylinder of length L1 and diameter DI.

[0075] The handling system is then configured to: / a / release a cylinder from one of the support positions of the fixed cradle pairs Bc and lift it by raising the mobile cradle(s) Bcm, / b / offset the cylinder engaged with the mobile cradles at the free openings Ov of a first passage between two successive pairs of cradles by moving the mobile chassis, / c / lower the engaged cylinder through the free openings Ov, below the level of the fixed cradles by lowering the movable cradle(s) Bcm / d / move the engaged cylinder along the length of the support chassis Cha, passing through the free clearance, below the fixed cradle pairs Bcm or even below the cylinder supported by the fixed cradles, and up to two other free openings Ov for a second passage, by moving the mobile chassis SMCH / e / mount the engaged cylinder through the free openings Ov of the second passage by raising the mobile cradle(s) Bm, / f / offset the engaged cylinder with the mobile cradles to the position of the fixed cradle pair in the other support position by moving the mobile chassis SMCH, / g / lower the cylinder engaged with the mobile cradles and place it on the first cradle and the second cradle of the other support position.

[0076] Figures 8B and 8C illustrate two trajectories of the cylinder moved by the handling system, following opposite directions of movement, each trajectory of the cylinder from a first support position of a pair of fixed cradles to a second position of another pair of fixed cradles advantageously passing under the level of the cylinders supported on the fixed cradles, in intermediate positions between the first and second support positions.

[0077] The handling system may include: - a first handling device comprising a first mobile chassis SMCH1, guided along the length of the support chassis by an internal rail Ri, attached to the first support CHal, and a first lifting means for a first mobile cradle, adjacent to the first support CHal, - a second handling device comprising a second mobile chassis SMCH2, guided along the length of the support chassis by an internal rail Ri attached to the second support CHa2 and a second lifting means for a second mobile cradle, adjacent to the second support CHa2.

[0078] The first handling device and the second handling device leave a free clearance between two, which can be advantageous during maintenance operations by leaving space for intervention for maintenance.

[0079] The first mobile chassis SMCH1 (or respectively the second mobile chassis SMCH2) may include a geared motor for the motorized movement of the chassis along the first support Chai (or respectively the second support Cha2). A motorized pinion at the output of the geared motor may mesh with a rack extending along the length of the first support CH1 (or respectively along the second support). The lifting means (in particular the first lifting means or the second lifting means) may include a cylinder, in particular an electric one.

[0080] A control unit ensures synchronization of operation and longitudinal displacements of the first mobile chassis SMCH1 and the second mobile chassis SMCH2.

[0081] The present disclosure is further related to a rolling mill installation comprising a rolling mill and a support system as detailed in this disclosure.

[0082] Said rolling mill has a rolling mill stand and a set of cylinders, internal to the stand, including two working cylinders 12, support cylinders or sets of support rollers A, B, C, D, E, F, G, H, or even intermediate cylinders in particular first intermediate cylinders 13 and second intermediate cylinders 14,15.

[0083] The rolling mill can typically be a 20-roll rolling mill, comprising: - an upper group Gs comprising an upper working cylinder 12, two first intermediate cylinders 13, three second intermediate cylinders 14, 15 (two of the second intermediate cylinders 15 supported respectively by two contact generators on the first two intermediate cylinders 13, and the third, interposed, supported on the first two intermediate cylinders 13 by two contact generators) and four cylinders (or sets of support rollers) A, B, C, D, - a lower group Gi comprising a lower working cylinder 12, two first intermediate cylinders 13, three second intermediate cylinders 14, 15 (two of the second intermediate cylinders 15 supported respectively by two contact generators on the first two intermediate cylinders 13, and the third, intercalated, supported on the first two intermediate cylinders 13 by two contact generators) and four cylinders (or set of support rollers) H, G, F, E.

[0084] The rolling mill stand has an access opening, optionally closed by a door system. The metal strip Bm extends longitudinally along a horizontal X direction and transversely along a horizontal Y direction, the Y direction being parallel to the axes of the rolling mill cylinders.

[0085] The installation includes a robotic system 1 suitable for ensuring the operations of changing the rolling mill cylinders, by extracting the worn cylinders from the rolling mill cage and / or inserting new or ground cylinders into the rolling mill cage.

[0086] The robotic system 1 includes a robot Ro comprising a trolley comprising a chassis 2 equipped with wheels cooperating with rails Ral arranged on the ground, extending in the Y direction, at the right of the access opening of the rolling mill cage, said chassis being configured to move in the Y direction along the Ral rails, and a gripping system configured to control the locking and unlocking of the gripping of a cylinder tip, or the gripping of a tip of a gripping system of a rolling mill cylinder.

[0087] The Cha support chassis of the support system is fixed to the ground in a position anchoring at a distance from the rolling mill in the Y direction, transverse and lateral to the Ral rails, freeing up a maintenance aisle AL extending in the X direction parallel to the metal strip, along the rolling mill access opening, the support frame Cha including the first support Chai, the second support Cha2 and the free clearance oriented lengthwise along the transverse direction Y, laterally to the Ral rails.

[0088] The robotic system 1 is configured to ensure the extraction of a typically worn cylinder, for example a work cylinder 12, by grasping the end fitting attached to the cylinder, or by grasping the cylinder with the gripping system locked by the gripping system, with the cylinder being placed laterally on the Ral rails onto one of the support positions of the fixed cradles of the support frame Cha. Conversely, the robotic system can grasp a new (or ground) cylinder resting on one of the pairs of fixed cradles of the frame and insert it into the rolling mill stand.

[0089] With regard to the work rolls 12, which require a higher replacement frequency than the other rolls, in particular the first intermediate rolls 13 or the second intermediate rolls 14 15, or support rolls A to H, the robotic system makes it possible to deposit or retrieve the work rolls 12, from the area of ​​the support frame closest to the rolling mill, namely a proximal section Sprox of the support frame, opposite a distal section Sdist of the support frame, the furthest away, even when the frequency of passage of the guided vehicles is low, and systematically, in particular thanks to the handling system which makes it possible to ensure a trajectory of the mobile cradle; passing in the intermediate clearance according to the actions / a / to / g / .For example, once a worn work cylinder is placed on the proximal section, the handling system then allows the work cylinder to be moved from the proximal section to the distal section, where the automated guided vehicle can remove it. Conversely, once ground or new work cylinders are placed on the distal section, the handling system then allows the new or ground cylinders to be moved from the distal section to the distal section of the support frame.

[0090] The travel distances of the robotic system along the Ral rails during cylinder replacement operations are advantageously limited. This effectively reduces the cylinder replacement cycle time compared to the prior art presented in the introduction, disclosed by WO 2022 / 229327A1 in cases of undercapacity of automated guided vehicles.

[0091] In general, the fixed cradles Bc attached to the support chassis may include: - first pairs of individual cradles Bel for the support of cylinders of length L1 and diameter Dl, the first cradle and the second cradle spaced apart from each other, following the transverse direction to the chassis, according to a first spacing El - second pairs of individual cradles Bc2 for the support of cylinders of length L2 greater than Ll, arranged on the support chassis above the level of the first pairs of cradles Bel.

[0092] The first and second cradles of the second pairs of individual cradles Bc2 are each spaced according to a second spacing E2 greater than the first spacing El.

[0093] The handling system is configured to move a cylinder of length L1 from said one support position of a first pair of cradles Bel and to said other support position of another of the first pairs of individual cradles Bel, passing the cylinder through the free openings according to the actions / c / and ld, and according to a displacement in / d / in said free clearance, under the individual cradles of the first pairs Bel.

[0094] The handling system is further configured to move a cylinder of length L2 from said support position of one of the second pairs of individual cradles Bc2 to said other support position of another of the second pairs of fixed cradles Bc2, and according to a displacement of the cylinder above the cradles of the second pairs Bc2

[0095] The fixed cradles of the first couples Bel can be used for the support of working cylinder 12, of length Ll, and of diameter Dl, while the second couples Bc2 are used for the support of the first intermediate cylinders 13 of length L2.

[0096] In general, this disclosure still relates to equipment comprising: - a support system as described in this disclosure - an automated guided vehicle (AGV) configured to move on a horizontal surface such as a floor and including a load lifting system, - at least one removable Rac rack, smaller than the width of the free clearance between the first Chai chassis and the second Cha2 chassis, having transverse housings for supporting cylinders, the cylinders protruding on either side of the rack.

[0097] In particular, said rolling mill according to this disclosure may feature such equipment.

[0098] Said at least one removable rack is configured to be moved by the AGV and moved up or down by the vehicle's lifting system.

[0099] The automated guided vehicle (AGV) is configured to load cylinders onto a first section of length SL1 of the support chassis Cha by: / Al / Movement of the automated guided vehicle (AGV) carrying at least one rack (Rac) supporting cylinders in transverse housings, extending beyond said at least one rack on either side, to a high position of the lifting system and said at least one rack, greater than the height of the fixed cradles (Bc) / B 1 / At least partial insertion of the AGV (Automated Guided Vehicle) by moving the vehicle into the free clearance on the first section of length SL1 of the support chassis. / Cl / Lowering of said at least rack Rac supporting the cylinders into a lowered position until there is free clearance between the first support Chai and the second support Cha2, at least until the cylinders are transferred from said at least rack Rac to the support chassis Cha, each cylinder resting on the first cradle and the second cradle of a pair of fixed cradles Bc / Dl / Evacuation of the AGV and the rack unloaded from the cylinders in the lower position of the lifting system and of said at least one rack Rac.

[0100] During the actions / Al / to / Dl / , said self-guided trolley can transfer work cylinders 12, from the rack to the first pairs of fixed cradles Bel, on the first length section SL1 of the support frame Cha, and in particular as understandable from [Fig.6].

[0101] Pairs of guide plates TG, each associated with a first pair of cradles Bel, are inclined and converge downwards towards each other. These guide plates are configured to engage respectively with the two longitudinal ends of the working cylinder 12, during the descent of the cylinder in / Cl / .

[0102] The two guide plates TG ensure centering of the working cylinder 12 with respect to the first cradle and the second cradle, in particular the first pairs of cradles Bel, and along the axis of the cylinder. Such axial centering of the cylinder ensures correct axial positioning of the working cylinder and allows the handling system to lower the working cylinder, engaged with the movable cradles, through the free openings Ov, below the level of the fixed cradles in the free clearance, by lowering the movable cradle(s) Bcm and according to the action / c / of the handling system.

[0103] During the actions / Al / to / Dl / , said self-guided trolley can transfer the first intermediate cylinders 13, from the rack to the second pairs of fixed cradles Bc2, on the first section of length SL1 of the support chassis Cha, and in particular as understandable from [Fig.9].

[0104] A guide plate, inclined towards the inside of the support frame, can be arranged on one side of the support frame, diametrically opposite to the side of the frame of the robotic system. This plate is configured to engage the ends of the first intermediate cylinders 13, during the descent of the cylinders 13 in / Cl / .

[0105] The automated guided vehicle (AGV) can also be configured to unload cylinders resting on a first length section of the chassis by: / A2 / Movement of the automated guided vehicle (AGV) carrying at least one empty Rac rack, to a lowered position of the lifting system and said at least one Rac rack / B2 / At least partial insertion of the vehicle into the clearance on the first length section of the chassis, in a low position of the lifting system and the rack in the clearance, / C2 / Mount said at least one Rac rack into a raised position until the cylinders are transferred from the fixed cradle pairs onto the transverse housings of said at least one Rac rack / D2 / Evacuation of the vehicle and said at least rack Rac loaded with cylinders in the high position.

[0106] During actions / A2 / to / D2 / , said self-guided trolley can transfer work cylinders 12, from the first pairs of fixed cradles Bel, on the first length section SL1 of the support chassis Cha, to audit the rack locations and in particular as understandable from [Fig.6].

[0107] During actions / A2 / to / D2 / , said self-guided trolley can transfer from the first intermediate cylinders 13, from the second pairs of fixed cradles Bc2, on the first length section SL1 of the support chassis Cha, to the locations of the racks and in particular as understandable from [Fig.9].

[0108] Generally, each of the fixed cradles Bc can be a single piece, for example, a single unit, comprising a concave portion intended to form a seat for receiving a cylinder, in particular a seat for a working cylinder in the case of the first pairs of cradles Bel. The concave portion can, for example, be a semi-cylindrical section Sc, configured to fit the cylindrical surface of the supported cylinder, and in particular, on the second lengthwise section of the support frame SL12 or SL22

[0109] The concave part may also have a V-shaped section referenced Sv in [Fig.9B] having a first surface and a second surface, inclined relative to each other, and in particular on the first section of length SL1 of the support chassis Cha.

[0110] The first surface is intended to be in contact with the cylinder supported by a first line of contact, and the second surface is intended to be in contact with the cylinder supported by a second line of contact.

[0111] In general, it is also noted that the fixed cradles of the first section of length SL1, in particular having a concave part of V-shaped section, can each have a length, along the longitudinal direction of the chassis, greater than the length of the fixed cradles in particular of hemicylindrical sections, on the second section of length SL12 or SL22, of the support chassis.

[0112] In particular, the length of the fixed cradles Bc on the first length section of the support chassis Cha, on which the transfers of the cylinders take place during the descent of the rack in / Cl / can be strictly greater than the diameter of the supported cylinder, preferably greater than or equal to 1.5 times the diameter of the cylinder, or even greater than or equal to 2 times the diameter of the cylinder.

[0113] Having fixed cradles, each of a length that is excessive compared to the diameter of the cylinders, ensures that the cylinders are taken up by the fixed cradles, even in the event of misalignment between the storage locations of the rack and the support axes of the fixed cradles.

[0114] In the event of such misalignment, between a cylinder and a support axis of the fixed cradles, the cylinder comes into contact by a first line of contact with one of the two inclined surfaces, during the descent of the rack in / Cl / before being recentered by gravity and until the cylinder is stabilized by contact with the other of the two inclined surfaces.

[0115] It is further noted that the fixed cradles on the second section of length SL12 or SL22 can advantageously be shorter than the length of the cradles on the first section of length SL1.

[0116] Generally, and in particular due to the difference in length of the cradles between the first section of length SL1 and the second section of length SL12 (or SL22), the Cha support frame may comprise: - said first section of length SL1 of the chassis at one end for which the pairs of successive fixed cradles Bc are spaced along the longitudinal direction of the chassis by a first center distance EA1 and according to a center distance corresponding to the spacing of the transverse housings of the rack - at least a second section of length SL12, SL22 of the chassis for which the pairs of fixed cradles Bc, successive are spaced along the longitudinal direction of the chassis by a second center distance EA21, EA22, less than the first center distance.

[0117] The handling device is configured to transfer a cylinder supported on one of the pairs of cradles Bc of the first section of length SL1 to one of the pairs of cradles of said at least a second section of length SL12, SL22, and conversely transfer a cylinder supported on one of the pairs of cradles of said at least a second section of length SL12, SL22 to one of the fixed pairs of cradles of the first section SL1.

[0118] According to one embodiment, in particular illustrated in [Fig.8]: - the first pairs of fixed cradles Bel intended for supporting the working cylinders 12 are spaced, successively, by a center distance EA12 on the second section of length SL 12, which is less than the center distance EA1 between the first fixed cradles on the first section of length SL1, - the second pairs of fixed cradles Bc2 intended for the support of the first intermediate cylinders 12 are spaced, successively, by a center distance EA22 on the second section of length SL22, which is less than the center distance EA1 between the second fixed cradles on the first section of length SL1.

[0119] Generally, the second cradle pairs Bc2 are arranged on the chassis at a higher level than the first cradle pairs Bel

[0120] It is further noted that the second pairs of cradles Bc2 arranged on the second length section SL22 of the support chassis (namely a length section SL22 specific to the second pairs of cradles Bc2 for the support of the first intermediate cylinders 13) can be intercalated between, on the one hand, the first length section SL1 of the support chassis, carrying the fixed cradles used for rack-support chassis transfers, and on the other hand, the first pairs of cradles Bel on the second length section SL12, specific to the first pairs of cradles for the support of the working cylinders 12.

[0121] Generally, the robotic system 1 and its grasping system are configured to deposit the cylinders on the second length section SL12 or SL22 of the support chassis Cha.

[0122] In particular, the robotic system 1 is configured to, during the operations of extracting the worn cylinders, place a worn working cylinder, extracted from the rolling mill stand, onto one of the first pairs of cradles Bel on the second length section SL12 of the support frame.

[0123] Generally, it is noted that the first support CH1 and second support CH2 can be anchored to the ground except for the first section of length SL1, for which the first support CH1 and the second support CH2 extend cantilevered towards the distal end of the support chassis. When the lifting system of the automated guided vehicle is partially inserted into the clearance, two base feet PB of the vehicle can be configured to fit respectively under the cantilevered portions of the first support CH1 and the second support CH2, and as can be seen in the figures, in particular in [Fig. 6]

[0124] The handling system is then configured to move the worn work cylinder, supported on the first pair of cradles Bel, from the second section of length SL12, to one of the first pairs of cradles on the first section SL1, via the intermediate clearance, according to the actions / a / to / g / implemented by the handling system. The automated guided vehicle can then remove the work cylinders from the first section of length SL1 by implementing the actions / A2 / to / D2 / .

[0125] Thus, and more generally, the present disclosure is still related to a method for evacuating worn cylinders implemented by a support system according to the present disclosure, wherein one or more worn work rolls 12 resting on the support frame Cha, the worn roll or each worn roll supported on a pair of fixed cradles on the proximal section Sprox of length of the support frame, near a rolling mill stand L, opposite the distal section Sdist of length of the support frame, and wherein the handling system is piloted to ensure movement of the worn work roll or each worn roll 12 from the support position on the proximal section Sprox to another support position of a pair of fixed cradles on the distal section Sdist of the support frame in particular by implementing actions / a / to / g / and wherein the worn roll or rolls are evacuated from the distal section Sdist of the support frame Cha in particular by an automated guided vehicle VGA.

[0126] The robotic system 1 can further be configured to, during the extraction operations of the first worn intermediate rolls, deposit a first worn intermediate roll, extracted from the rolling mill stand onto one of the second pairs of cradles Bc2 on the second length section SL22 of the support frame /

[0127] The handling system is then configured to move the first worn intermediate cylinder supported on the pair of second cradles Bc2, from the second section of length SL22, to one of the second pairs of cradles Bc2, on the first section SLL. The automatic guidance vehicle can then evacuate the first intermediate cylinders on the first section of length SL1, by implementing actions / A2 / to / D2 / .

[0128] Also and generally, the present disclosure is further related to a method of evacuating spent cylinders in which one or more first intermediate worn cylinders 13 of length L2, resting on the support frame Cha, the or each worn cylinder resting on one of the second pairs of fixed cradles Bc2 on a proximal section Sprox of length of the support frame, near a rolling mill stand L opposite a distal section Sdist of length of the support frame, the handling system is piloted to ensure a movement of the or each worn cylinder from the support position on the proximal section to another support position of a pair of fixed cradles on the distal section Sdist of the support frame and in which the first intermediate worn cylinder(s) are evacuated from the distal section Sdist of the support frame Cha, in particular by an automated guided vehicle (AGV).

[0129] During the insertion of new or reground cylinders, the new or reground cylinder(s) may be fed by the AGV (Automated Guided Vehicle). on the first section of length SL1 of the support chassis, by the implementation of actions / A / l to / Dl / by the AGV automated guided vehicle.

[0130] In the case of work rolls of length L1, they are transferred to the first pairs of cradles Bel, on the first section SL1, during the descent of the rack according to / Cl / . The handling system then moves the work roll, new or ground, from its support position to a first pair of cradles Bel on the second section of length SL12 of the support frame, by implementing actions / a / to / g / in particular. The gripping system of the robotic system then picks up the work roll for insertion into the rolling mill stand.

[0131] Thus, in general, the present disclosure is still related to a method of feeding new or ground cylinders implemented by a support system according to the present disclosure in which a distal section Sdist of length of the support frame, opposite a proximal section Sprox of length of the support frame, near a rolling mill stand, is fed with one or more new or ground work cylinders 12 arranged on pairs of fixed cradles Bc on the distal section Sdist in particular by an automatic AGV vehicle and in which the handling system is piloted to ensure a movement of the one or each new or ground cylinder from the support position on the distal section Sdist to another support position of a pair of fixed cradles on the proximal section Sprox of the support frame Cha.

[0132] In the case of the first intermediate rolls of length L2, they are transferred to the second pair of cradles Bc2, on the first section SL1, during the descent of the rack according to / Cl / . The handling system then ensures the movement of the work roll, new or ground, from its support position, to a second pair of cradles Bc2 on the second section of length SL22 of the support frame. The gripping system of the robotic system then allows the first intermediate roll 13 to be picked up for insertion into the rolling mill stand.

[0133] Also, the present disclosure further relates to a method of feeding new or ground rolls implemented by a support system according to the present disclosure, in which a distal section Sdist of the length of the support frame, opposite a proximal section Sprox of the length of the support frame, near a rolling mill stand, is fed with one or more new or ground first intermediate rolls 13 arranged on the second pairs of cradles Bc2 fixed on the distal section, in particular by an automated guided vehicle (AGV), and in which the handling system is controlled to ensure movement of the new or ground first intermediate roll or rolls from the support position. on the distal section Sdist to another support position of a second pair of fixed cradles on the proximal section Sprox.

[0134] According to one embodiment, a removable intermediate support SI can be configured to be moved by the automated guided vehicle (AGV), with a width smaller than the clearance. This intermediate support SI is configured to be placed on the ground, in particular at the first longitudinal section SL1, and to support at least one rack. Said rack Rac, supported by the intermediate support SI, can support components such as the second intermediate rolls 14, 15 ([Fig. 11]), the support roller assemblies ([Fig. 12]), or the spray bars 16 ([Fig. 13]) of the rolling mill.

[0135] These different components can, like the working rolls and the first intermediate rolls, be grasped by the robotic system for insertion into the rolling mill cage during maintenance operations.

[0136] The intermediate support SI can be a welded structure comprising uprights, in particular four uprights and cross members.

[0137] The automatically guided vehicle is configured to load cylinders above the first length section of the chassis by: / A3 / Movement of the automated guided vehicle (AGV) carrying said intermediate support SI / B 3 / At least partial insertion of the vehicle and said intermediate support SI into the free clearance on the first length section of the support chassis Cha, / C3 / Lowering of said intermediate support and placement of said intermediate support on the ground in the clear space, / D3 / Evacuation of the automated guided vehicle unloaded from said intermediate support, / E3 / Movement of one or more vehicles carrying at least one Rac rack supporting rolling mill components, such as cylinders or ramps, into an elevated position, / F3 / Lowering the rack supporting the components and placing the rack onto the intermediate support.

[0138] A DC centering key can be anchored to the ground, configured to obtain centering of said intermediate support SI between the first support CH1 and the second support CH2.

[0139] The keying device may include protruding studs, in particular four studs, configured to lock into the uprights of the intermediate support. List of reference signs

[0140] L. Rolling Mill, - Bm. Metal band, - 1. Robotic system, - 2 Chassis - Ro. Robot, - Rail along the Y direction - AL. Maintenance aisle (between the rolling mill cage and the rack support frame, oriented in a direction parallel to the strip to be rolled), - Rac. Rack, - Cha. Support chassis, - Chai, Cha2. Respectively first and second support, - Bc. Pair of fixed cradles, - Bel. First pairs of fixed cradles spaced at a distance El, (in particular for supporting the working cylinders 12 of the rolling mill), - Bc2. Second pairs of fixed cradles spaced at a distance E2 (in particular for supporting the first intermediate cylinders 13) - SMCH Mobile chassis (handling system) - SMCH1, SMCH2. First and second mobile chassis (handling system) - Ri. Guide rail for the first and second mobile chassis, - Bcm. Mobile cradles, - SML. Lifting means mounted on the mobile chassis (first and second), configured for lifting and lowering the mobile cradles relative to the mobile chassis. - Ov. Opening (between two successive fixed cradles), - Ps. Passage for the cylinder of length L1 formed by two openings in the first and second supports, - SL1. First section of the support chassis, intended to be loaded or unloaded as components by the motor-guided vehicle. - EA1. Center distance (of the fixed cradles along the length of the first length section), - SL21. Second length section of the support frame (of the first pairs of Bel cradles for supporting the working cylinders), - EA21. Center distance (of the fixed cradles of the first pairs on the second length section) - SL22. Second length section of the support chassis (of the second pairs of Bc2 cradles for supporting the first intermediate cylinders), - EA22. Center distance (of the fixed cradles of the second pair on the second length section) - SL Intermediate support,

[0141] 20-roller rolling mill arrangement known as 20 Hi ([Fig. 10]), - Gi, Gs. Respectively upper group and lower group, - 12. Working cylinders, - 13. First intermediate cylinders, - 14,15. Second intermediate cylinders (14 lateral, and 15 central), - 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, - 16. Sprinkler ramps.

Claims

1. Demands Support system for storing rolling mill cylinders comprising: - a support chassis (Cha) configured to support cylinders distributed along the length of the support chassis in different positions depending on the length of the chassis, the support chassis comprising a first support (Chai), and a second support (Cha2), respectively fixed to the ground in a parallel manner, the first support (Chai) and the second support (Cha2) leaving a free clearance between them, - pairs of individual cradles (Bc), fixed, each comprising a first cradle and a second cradle spaced according to a spacing, secured respectively to the first support (Chai) and to the second support (Cha2), the pairs of cradles (Bc), distributed and spaced along the length of the chassis according to different support positions, the pairs of cradles configured respectively for the support of cylinders transversely to the support chassis, according to the different support positions, each cylinder resting on the first cradle secured to the first support and on the second cradle secured to the second support transversely to the chassis, - a handling system comprising — at least one mobile chassis (SMCH) equipped with means of movement configured to move in the free clearance between the first support (Chai) and the second support (Cha2), according to the length of the support chassis (Cha), — one or more mobile cradles (Bcm), and lifting means (SML) mounted on said at least one mobile frame (SMCH) configured to lift the mobile cradle(s) (Bcm) by engaging with a cylinder supported at the ends of the cylinder on the first and second fixed cradles to release the cylinder from the fixed cradles of the fixed cradle pair, or configured to place a cylinder displaced by the mobile cradle(s) onto the first and second cradles of one of the fixed cradle pairs, and wherein the handling system is configured to release and lift a cylinder onto one of the support positions of the pairs

2. of fixed cradles, by lifting the mobile cradle(s) (Bcm) by the lifting means (SML), move it by moving the mobile chassis (SMCH) and place it on another of the support positions of the fixed cradles, offset according to the length of the support chassis (Cha), by lowering the lifting means (SML). Support system according to claim 1, wherein the individual fixed cradle pairs (Bc) comprise in part or in whole pairs of cradles (Bc), each pair comprising, for each pair, the two cradles spaced at a distance El less than a dimension L1 of the cylinder to be supported, the cradle pairs (Bc) spaced along the longitudinal direction of the chassis, at a distance greater than a diameter DI of the cylinder to be supported, and the fixed cradles (Bc) projecting inwards from the intermediate clearance, leaving free openings (Ov) between two successive cradle pairs, the openings providing a passage (Ps) along the direction transverse to the chassis,which is of a dimension greater than the dimension L1 of the cylinder and a dimension along the longitudinal direction of the chassis greater than the diameter DI of the cylinder and in which the handling system is configured to: / a / release a cylinder on one of the support positions of the pairs of fixed cradles (Bc) and lift it by raising the mobile cradle(s) (Bcm), / b / offset the cylinder engaged with the mobile cradles, at the free openings (Ov) between two successive pairs of cradles by moving the mobile chassis, / c / lower the engaged cylinder through the free openings, below the level of the fixed cradles by lowering the mobile cradle(s) (Bcm), / d / move the cylinder in contact along the length of the support chassis (Cha) by passing through the free clearance, below the fixed cradle pairs or even below cylinders supported by the fixed cradles, and up to two other free openings (Ov), by moving the mobile chassis (SMCH) to mount the cylinder in engagement through the free openings (Ov) by raising the movable cradle(s) (Bm), / f / shift the cylinder engaged with the mobile cradles to the position of the pair of fixed cradles of the other support position by moving the mobile chassis (SMCH), / g / lower the cylinder engaged with the mobile cradles and place it on the first cradle and the second cradle of the other support position.

3. System according to claim 2, wherein the fixed support comprises: - first pairs of individual cradles (Bel) for supporting cylinders of length L1 and diameter Dl, the first cradle and the second cradle spaced apart from each other, in the direction transverse to the frame, by a first spacing El, and wherein the handling system is configured to move a cylinder from said support position of a first pair of cradles and to said other support position of another of the first pairs of individual cradles (Bel), by passing the cylinder through the free openings according to the actions / c / and ld, and by a displacement in / d / in said intermediate clearance under the individual cradles (Bel), - second pairs of individual cradles (Bc2) for supporting cylinders of length L2 greater than Ll, arranged on the support frame above the level of the first pairs of cradles (Bel),and in the first and second cradles of the second pairs of individual cradles (Bc2) are spaced each according to a second spacing E2 greater than the spacing El, and for which the handling system is configured to move a cylinder from said support position of one of the second pairs of individual cradles (Bc2) to said other support position of another of the second pairs of fixed cradles (Bc2), and according to a displacement of the cylinder above the cradles of the second pairs (Bc2).

4. Support system according to any one of claims 1 to 3, wherein said at least to the mobile chassis (SMCH) comprises: - a first handling device comprising first mobile chassis (SMCH1) guided along the length of the support chassis by an internal rail (Ri) integral with the first support (Chai) and a first lifting means for a first mobile cradle, adjacent to the first support (Chai),

5. - a second handling device comprising a second mobile chassis (SMCH2) guided along the length of the support chassis by an internal rail (Ri) attached to the second support (Cha2) and a second lifting means for a second mobile cradle, adjacent to the second support (Cha2). Equipment includes: - a support system according to any one of claims 1 to 4, - an automated guided vehicle (AGV) configured to move on a horizontal surface such as a floor and comprising a load lifting system, - at least one removable rack (Rac), smaller than the width of the free clearance (DL) between the first chassis (Chai) and the second chassis (Cha2), having transverse slots for supporting cylinders, the cylinders protruding on either side of the rack, said at least one rack configured to be moved by the automated guided vehicle (AGV) and moved up or down by the vehicle's lifting system, and in which the automated guided vehicle (AGV) is configured to load cylinders onto a first length section (SL1) of the support chassis (Cha) by: / Al / Movement of the automated guided vehicle (AGV) carrying said at least one rack (Rac) supporting cylinders in transverse housings, extending beyond said at least one rack, to a high position of the lifting system and said at least one rack, greater than the height of the fixed cradles (Bc) / B 1 / At least partial insertion of the automated guided vehicle (AGV) by moving the vehicle, into the free clearance on the first length section (SL1) of the chassis, / Cl / Descent of said at least one rack (Rac) supporting the cylinders into a low position until the free clearance between the first support (Chai) and the second support (Cha2), at least until the transfer of the cylinders from said at least one rack (Rack) to the support chassis (Cha), each cylinder resting on the first cradle and the second cradle of a pair of fixed cradles (Bc), / Dl / Evacuation of the automated guided vehicle (AGV) and the rack unloaded from the cylinders in the lowered position of the lifting system and said at least one rack (Rac) and / or, in which the automated guided vehicle (AGV) is configured to unload cylinders resting on a first length section of the chassis by: / A2 / Moving the automated guided vehicle (AGV) carrying at least one empty rack (Rac), into a low position of the lifting system and of said at least one rack (Rac) / B2 / Inserting at least partially of the vehicle into the free clearance on the first length section of the chassis, into a low position of the lifting system and of the rack in the free clearance, / C2 / Raising said at least one rack (Rac) into a high position until the transfer of the cylinders from the fixed cradle pairs onto the transverse housings of said at least one rack (Rac) / D2 / Evacuating the vehicle and of said at least one rack (Rac) loaded with the cylinders in the high position.

6. Equipment according to claim 5, wherein the support frame comprises: - said first length section (SL1) of the frame at one end for which the pairs of fixed cradles (B), successive are spaced along the length direction of the frame by a first center distance (EA1) and by a center distance corresponding to the spacing of the transverse housings of the rack - at least a second length section (SL12, SL22) of the frame for which the pairs of fixed cradles (Bc), successive are spaced along the length direction of the frame by a second center distance (EA21, EA22), less than the first center distance, and wherein the handling device is configured to transfer a cylinder supported on one of the pairs of cradles (Bc) of the first length section (SL1) to one of the pairs of cradles of said at least a second length section (SL12, SL22).

7. Equipment according to claim 5 or 6, comprising an intermediate support (SI), removable, configured to be moved by the automated guided vehicle (AGV), having a width dimension less than the free clearance

8.

9. and in which the automated guided vehicle is configured to load cylinders above the first length section of the chassis by: / A3 / Movement of the automated guided vehicle (AGV) carrying said intermediate support (SI) / B3 / At least partial insertion of the vehicle and said intermediate support (SI) into the free clearance on the first length-length section of the support chassis (Cha), / C3 / Lowering of said intermediate support and placement of said intermediate support on the ground in the clear space, / D3 / Evacuation of the vehicle unloaded from said intermediate support, / E3 / Movement of one or more vehicles carrying at least one rack (Rac) supporting rolling mill components, such as cylinders or ramps, into an elevated position, / F3 / Lowering the rack supporting the components and placing the rack onto the intermediate support. Equipment according to claim 7 comprising a centering deflector (DC), anchored to the ground, configured to obtain centering of said intermediate support (SI) between the first support (CH1) and the second support (CH2). A metal strip rolling installation comprising a rolling mill (L), and a system according to any one of claims 1 to 4 or equipment according to any one of claims 5 to 8, said rolling mill having a rolling stand and a set of rollers, internal to the stand, including two work rollers (12), support rollers or support rollers (A, B, C, D, E, F, G, H), and even intermediate rollers, in particular first intermediate rollers (13) and second intermediate rollers (14, 15), the rolling stand having an access opening, optionally closed by a door system, the metal strip (Bm) extending longitudinally along a horizontal X direction and transversely along a horizontal Y direction, the Y direction being parallel to the axes of the rolling mill rollers, said installation comprising a robotic system (1) suitable for performing the rolling mill roller change operations,by extracting worn cylinders from the rolling mill stand and / or inserting new or ground cylinders into the rolling mill stand, said robotic system comprising a robot (Ro) comprising:, - a trolley comprising a chassis equipped with wheels cooperating with rails (Ral) arranged on the ground, extending in the Y direction, at the right of the access opening of the rolling mill stand, said chassis being configured to move in the Y direction along the rails (Ral), and a gripping system configured to control the locking and unlocking of the grip of a tip attached to a cylinder, or the gripping of a tip of a gripping system of a cylinder of the rolling mill, and in which said support chassis (Cha) is fixed to the ground in an anchoring position at a distance from the rolling mill in the Y direction transverse and laterally to the rails (Ral), freeing a maintenance aisle (AL) in the X direction, along the access opening of the rolling mill, the support chassis (Cha) including the first support (Chai), the second support (Cha2) and the free clearance oriented lengthwise in the transverse direction (Y);and in which the robotic system (1) is configured to ensure the extraction of a cylinder, by grasping the end piece attached to the cylinder, or by grasping the cylinder by the gripping system locked by the gripping system, with the cylinder being placed laterally to the rails (Ral), on one of the pairs of fixed cradles (Bc) of a first of the support positions of the support chassis (Cha), and in which the handling system is configured to ensure the movement of the cylinder from the first support position, to a second support position.

10. A method for removing worn cylinders implemented by a system according to any one of claims 1 to 4, equipment according to any one of claims 5 to 8, or an installation according to claim 9, one or more worn work cylinders (12) resting on the support frame (Cha), the worn cylinder or each worn cylinder supported by a pair of cradles fixed on a proximal section (Sprox) of the length of the support frame, near a rolling mill stand (L), opposite a distal section (Sdist) of the length of the support frame, the handling system is driven to ensure movement of the worn work cylinder or each worn work cylinder (12) from the support position on the proximal section (Sprox) to another support position of a pair of cradles fixed on the distal section (Sdist) of the support frame, in particular by implementing actions / a / to / g / when the system is according to claim 2 and into which the worn cylinder(s) are evacuated from the distal section (Sdist) of the support chassis (Cha), in particular by an automatically guided vehicle (AGV).

11. A method for feeding new or ground cylinders implemented by a support system according to any one of claims 1 to 4, of equipment according to any one of claims 5 to 8, or of an installation according to claim 9, in which a distal section (Sdist) of length of the support frame, opposite a proximal section (Sprox) of length of the support frame, close to a rolling mill stand, is fedwith one or more new or ground working cylinders (12) arranged on pairs of fixed cradles (Bc) on the distal section (Sdist), in particular by an automatic vehicle (VGA), and wherein the handling system is piloted to ensure movement of the new or ground cylinder(s) from the support position on the distal section (Sdist) to another support position of a pair of fixed cradles on the proximal section (Sprox) of the support frame (Cha), in particular by implementing actions / a / to / g / when the system is according to claim 2.

12. Evacuation method according to claim 10 or feeding method according to claim 11 implementing a system according to claim 3, wherein the working cylinders of length L1 are supported on the first pairs of cradles (Bel).

13. A method for removing spent cylinders implemented by a system according to claim 3, equipment according to any one of claims 5 to 8 comprising a system according to claim 3, or an installation according to claim 9 comprising a system according to claim 3, one or more first intermediate worn cylinders (13) of length L2, resting on the support frame (Cha), the worn cylinder or each worn cylinder resting on one of the second pairs of fixed cradles (Bc2) on a proximal section (Sprox) of length of the support frame, near a rolling mill stand (L), opposite a distal section (Sdist) of length of the support frame, and wherein the handling system is controlled to ensure movement of the worn cylinder or each worn cylinder from the position of support on the proximal section up to another support position of a pair of fixed cradles on the distal section (Sdist) of the support chassis and in which the first worn intermediate cylinder(s) are evacuated from the distal section (Sdist) of the support chassis (Cha), in particular by an automatic guidance vehicle (AGV).

14. Method of feeding new or ground cylinders implemented by a support system according to claim 3, of equipment according to any one of claims 5 to 8 comprising a system according to claim 3, or of an installation according to claim 9 comprising a system according to claim 3 in which a distal section (Sdist) of length of the support frame, opposite a proximal section (Sprox) of length of the support frame, close to a rolling mill stand, is fed with one or more first intermediate cylinders (13) new or ground on arranged on the second pairs of cradles fixed on the distal section, in particular by an automatic vehicle (VGA),and in which the handling system is controlled to ensure the movement of one or each of the first new or rectified intermediate cylinders from the support position on the distal section (Sdist) to another support position of a second pair of fixed cradles on the proximal section (Sprox).

15. A method for feeding the components of a 20-roll rolling mill, implemented by equipment according to claim 7 or an installation according to claim 9 comprising equipment according to claim 7, wherein the equipment is fed with rolling mill components, in particular intermediate second rolls (14, 15), support rollers or support cylinders (A, B, C, D, E, F, G, H) or spray rails, by implementing the following steps: / A3 / Movement of the automatically guided vehicle carrying said intermediate support (SI) / B3 / At least partial insertion of the vehicle and said intermediate support (SI) into the clearance on the first length section of the chassis, / C3 / Lowering said intermediate support (SI) and placing said intermediate support (SI) on the ground in the clearance, D3 / Evacuation of the automated guided vehicle (AGV) unloaded from said intermediate support, / E3 / Movement of one or more vehicles carrying a rack supporting rolling mill components, such as cylinders, support rollers or ramps (16), into a raised position, / F3 / Lowering the rack supporting the components until the rack is placed on the intermediate support.

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