Rack system, rolling plant including such a system and method implemented by such a system

Abstract

Support system for the storage of rolls of a rolling mill comprising: • - a support frame comprising a first support (Cha1), and a second support (Cha2), respectively fastened to the ground in parallel, • - pairs of unmovable, individual cradles (Bc), each pair comprising a first cradle and a second cradle spaced apart by a spacing, rigidly connected to the first support (Cha1) and to the second support (Cha2) respectively, in order to support rolls transversally to the support frame, at the different support positions, • - a handling system configured to release and lift a roll on one of the support positions of the pairs of unmovable cradles, by lifting the one or more movable cradles using lifting means, displacing a movable frame (SMCH) and depositing the roll on another of the support positions of the unmovable cradles, which is shifted along the length of the support frame, by the descent of the lifting means.

Description

Rack system, rolling plant including such a system and method implemented by such a system

[0001] The present disclosure relates to a roll support system, as well as to a rolling plant comprising such a support system.

[0002] The present disclosure also relates to a method for evacuating worn rolls, implemented by a support system according to the present disclosure.

[0003] The present disclosure also relates to a method for feeding new or re-turned rolls, implemented by a support system according to the present disclosure.

[0004] More particularly, the field of the invention relates to equipment used to perform maintenance operations on a 20-high type rolling mill. For example, a 20-high rolling mill is known from the prior documents US 5 193 377 and US 5 471 859. In such a rolling mill, the rolls (and sets of backup rollers) are distributed into a lower group GIand an upper group GS, and according to a symmetric configuration with respect to a running plane of the metal strip to be rolled. For example,of the document US 5 193 377 illustrates the upper group with a work roll, two first intermediate rolls, three second intermediate rolls, and four sets of backup rollers.

[0005] As rolling operations are carried out, it is necessary to renew the surface condition of the rolls of the rolling mill, this operation being performed by opening the access door of the roll stand and removing the rolls from the roll stand. Afterwards, these rolls are re-turned, before being inserted back into the roll stand.

[0006] Typically, each set of backup rollers comprises a support shaft along which rollers are distributed formed typically by bearings. To this end, the inner race of each bearing is mounted on the support shaft, the outer race of the bearing being intended to run over one, and possibly two contiguous rolls belonging to the second intermediate rolls. All of the backup rollers also comprise a saddle whose arcuate body extends longitudinally over the length of the support shaft, and whose convex face is intended to bear on a concave seat of a mounting portion of the roll stand. This saddle also has extensions, projecting from the concave face of the body, through which the support shaft passes, the extensions being distributed over the length of the shaft and being in particular disposed between the rollers. Eccentric rings are also provided between the support shaft and these extensions, the shaft having a pinion intended to mesh in the housing of the rolling mill with a corresponding pinion or a rack. This pinion (or this rack) thus allows the support shaft to be driven such that it rotates, and thus allows the position of the support shaft and of the rollers carried thereby to be moved away from or towards the arcuate body of the saddle, thanks to the eccentric rings. Of course, these sets of backup rollers also require maintenance, which is performed by removing this member from the roll stand, along the axis of said support shaft.

[0007] The operations of extraction (or setup by insertion) of the internal members, (rolls or sets of backup rollers) are usually performed thanks to a piece of handling equipment secured to the end of the member to be removed (namely to the end of the roll to be removed or of the support shaft of the set of backup rollers to be removed), provided with a counterweight. The counterweight is intended to balance the member to be grasped when handled by the hoist of a bridge crane of the workshop, and in order to keep it substantially horizontal, and while the hook of the hoist grasps a lifting eye positioned on the equipment between the counterweight and the grasped member. During the extraction of the member (or conversely during its setup), the grasped member is rigidly secured to the counterweight of the equipment, which might swing at the lower end of the rope of the hoist.

[0008] During the extraction manoeuvres, the operators are necessarily present proximate to the grasped member, in order to guide the extraction (or setup) operations which are thus particularly dangerous because of the possible swinging movements of the heavy elements hanging from the robe of the bridge crane.Prior art

[0009] Nonetheless, robotic systems are known from the prior art, in particular that one disclosed by the document WO 2022 / 223927 A1 of the present Applicant, illustrated in Figures 1 and 2.

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

[0011] Said plant comprises a robotic system 1 suited to ensure the operations of replacing rolls of the rolling mill, by extraction of the worn rolls from the roll stand and / or by insertion of new (or re-turned) rolls into the roll stand, said robotic system having a robot Ro comprising:- a carriage comprising a frame 2 provided with wheels cooperating with rails Ra1 disposed on the ground, extending along the direction Y, in line with the access opening of the roll stand, said frame being configured to move along the direction Y along the rails Ra1, and- a grasping system, configured to control locking and unlocking of grasping of an endpiece Eb secured to a roll, or grasping of an endpiece of a gripping system of a roll of the rolling mill.

[0012] The rolling plant also comprises a rack system comprising a support frame Cha, supporting removable racks Rac.

[0013] The support frame is fastened to the ground at an anchor position at a distance from the rolling mill according to the transverse direction Y and laterally to the rails Ra1, the position of the support frame clearing a maintenance aisle AL along the direction X, along the access opening of the rolling mill.

[0014] The support frame Cha comprises a first support Cha1, and a second support Cha2 on which each of the racks Rac rests and the first support and the second support being oriented lengthwise along the transverse direction Y.

[0015] The robotic system 1 is configured to ensure the extraction of a worn roll, by grasping the endpiece secured to the roll, or else by grasping the roll by the locked gripping system by the grasping system, with deposition of the roll, laterally to the rails Ra1, on the first rack bearing on the support frame Cha. Conversely, the robotic system can grasp a new work roll, disposed beforehand on the rack, and in order to insert it into the roll stand.

[0016] In particular, the rack full with worn rolls can be evacuated by automated guided vehicles, by accessing the free clearance from the distal end of the rack, the farthest from the roll stand.

[0017] According to the observations of the Applicant, such a rolling plant comprising in particular such a robotic system and such a rack system is satisfactory, but still imposes a considerable activity of the automated guided vehicles to feed or extract the racks on the support frame.

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

[0019] In case of lack of capacity of the automated guided vehicles, the removal of the racks is done, because of a lack of time, only at the level of the distal section of the rack, the farthest from the roll stand, and not at the level of the proximal section, the closest to the roll stand. Only the racks arranged on the distal section can be extracted / fed which results in increasing the distance covered by the robot from the roll stand to deposit or recover a roll on the rack, and therefore increasing the maintenance cycle time, with a considerable increase in the duration of suspension of the rolling operations of the rolling plant.

[0020] Patent document EP 4.414.095 A1 addresses this problem by disclosing a rack system for the storage of rolls of a rolling mill comprising: a support frame configured to support several racks, the racks being distributed over the length of the support frame, at different positions along the length of the rack.

[0021] The frame comprises a first support and a second support, respectively fastened to the ground in parallel, the first support and the second support leaving a free clearance therebetween, which free clearance is arranged below the level of the racks bearing on the support frame.

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

[0023] The first rack supports a plurality of work rolls, and is configured to pass from a storage position for which said first rack rests bearing simultaneously on the first support and on the second support up to a transport position for which the first rack is configured to be stowed in the free clearance below the level of the second rack resting on said support frame (at the intermediate position).

[0024] A motor-driven handling system is configured to move in said free clearance between the first support and the second support, said handling system comprising: a frame provided with drive means configured to circulate between the first support and the second support, along the length of the support frame, and lifting means configured to ensure the support of at least the first rack in said transport position.

[0025] Such a handling system is configured to ensure, starting from said storage position of the first rack simultaneously bearing on the first support and on the second support / a / a passage of the first rack into said transport position of the first rack, enabling stowage thereof in the free clearance / b / a descent of the first rack in the free clearance between the first support and the second support, in a lowered position below the level of the second rack resting on the support frame at said intermediate position, and / c / a joint movement of the handling system and of said first rack supported by the lifting means in the lowered position of the first rack, through a movement of the handling system along the length of the frame so as to move the first rack below the second rack resting on the support frame at said intermediate position starting from a first side of the second rack and up to an opposite second side.

[0026] Advantageously compared to the aforementioned prior art and as illustrated in Figures 1 and 2 of the present application, the rack system according to EP 4.414.095 A1 allows:- during evacuation operations, and in comparison with the prior art illustrated, for the evacuation of the first rack on a proximal section of the support frame, close to the rolling mill, as far as a distal section of the support rack, at a distance from the rolling mill, where the automated guided vehicle operates, without having to first remove the second rack, which is supported at the intermediate position,- during feeding operations, and in comparison with the prior art illustrated, for the feeding of the first rack as far as the proximal section of the support frame, close to the rolling mill, from the distal section of the support frame where the automated guided vehicle operates, without having to first remove the second rack supported at the intermediate position.

[0027] According to the observations of the Applicant, although such a rack structure according to EP 4.414.095 A1 comprising the frame, the racks and the intermediate handling system thereof provides notable progress over the prior art in terms of capacity, it involves the use of specific racks, which are intended for the supports of the work rolls, comprising functional surfaces configured not only to be supported by bearing simultaneously on the first support and on the second support in the storage position, but also so as to allow for the possibility of being shifted and lowered between the two supports, when shifted.

[0028] However, in some cases, the roll support racks must be able to adapt to the various stations of the rolling site, and for example to be compatible with other equipment such as roll turning stations, which the racks of the rack structure according to EP 4.414.095 A does not necessarily allow.

[0029] The present disclosure improves this situation.Summary

[0030] The present disclosure relates to a rack system for the storage of rolls of a rolling mill comprising:- a support frame configured to support rolls distributed over the length of the support frame at different positions along the length of the frame, the support frame comprising a first support, and a second support, respectively fastened to the ground in parallel, the first support and the second support leaving a free clearance therebetween,- pairs of unmovable, individual cradles, each pair comprising a first cradle and a second cradle spaced apart by a spacing, rigidly connected to the first support and to the second support respectively, the pairs of cradles being distributed and spaced apart along the length of the frame at different support positions, the pairs of cradles being configured respectively to support rolls transversally to the support frame, at the different support positions, each roll bearing on the first cradle rigidly connected to the first support and on the second cradle rigidly connected to the second support transversally to the frame,- a handling system comprising:-- at least one movable frame provided with displacement means configured to travel in the free clearance between the first support and the second support, along the length of the support frame,-- one or more movable cradles, and lifting means on board said at least one movable frame, configured to lift the one or more movable cradles by engaging with a roll bearing at the ends of the roll on the first unmovable cradle and the second unmovable cradle so as to release the roll from the unmovable cradles of the pair of unmovable cradles, or configured to deposit a roll displaced by the one or more movable cradles and deposit it on the first cradle and second cradle of one of the pairs of unmovable cradles,and wherein the handling system is configured to release and lift a roll on one of the support positions of the pairs of unmovable cradles, by lifting the one or more movable cradles using the lifting means, displacing it by displacing the movable frame and depositing it on another of the support positions of the unmovable cradles, which is shifted along the length of the support frame, by the descent of the lifting means.

[0031] According to optional features, considered separately or in combination:

[0032] According to one embodiment, the pairs of unmovable individual cradles comprise, in part or in full, pairs of cradles which comprise, for each pair, the two cradles spaced apart by a spacing that is less than a dimension of the roll to be supported, the pairs of cradles being spaced apart in the lengthwise direction of the frame, by a spacing that is greater than a diameter of the roll to be supported, and the unmovable cradles projecting inwards relative to the intermediate clearance, leaving therebetween free openings between two successive pairs of cradles, the openings providing a passageway, in the transverse direction of the frame, whose dimension exceeds that of the roll, and whose dimension along the length of the frame exceeds the diameter of the rolland wherein the handling system is configured to: / a / release a roll on one of the support positions of the pairs of unmovable cradles and lift it by raising the one or more movable cradles, / b / shift the roll engaged with the movable cradles, in line with the free openings between two successive pairs of cradles by displacing the movable frame, / c / lowering the engaged roll through the free openings, beneath the level of the unmovable cradles by lowering the one or more movable cradles, / d / displacing the engaged roll along the length of the support frame by passing it into the free clearance, beneath the pairs of unmovable cradles, or even beneath rolls bearing on the unmovable cradles, as far as two other free openings, by displacing the movable cradle, / e / raising the engaged roll through the free openings by lifting the one or more movable cradles, / f / shifting the roll engaged with the movable cradles into line with the pair of unmovable cradles of the other support position by displacing the movable frame, / g / lowering the roll engaged with the movable cradles and depositing it on the first cradle and on the second cradle of the other support position.

[0033] In particular, the unmovable support can comprise:- first pairs of individual cradles for supporting rolls of a length and diameter, the first cradle and the second cradle being spaced apart in the direction transverse to the frame, by a first spacing,and for which the handling system is configured to displace a roll from said one support position of a first pair of cradles as far as said other support position of another of the first pairs of individual cradles, by passing the roll through the free openings according to actions / c / and / e / , and via a displacement, in / d / , in said intermediate clearance beneath the individual cradles,- second pairs of individual cradles for supporting rolls of lengths greater than, arranged on the support frame above the first pairs of cradles, and wherein the first and second cradles of the second pairs of individual cradles are each spaced apart by a second spacing that is greater than the spacing,and for which the handling system is configured to move a roll from said one support position of one of the second pairs of individual cradles to said other support position of another of the second pairs of unmovable cradles, by moving the roll above the cradles of the second pairs.

[0034] According to one embodiment, said at least one movable frame can comprise:- a first handling device comprising a first movable frame guided along the length of the support frame by an internal rail rigidly connected to the first support and a first lifting means for a first movable cradle, adjacent to the first support,- a second handling device comprising a second movable frame guided along the length of the support frame by an internal rail rigidly connected to the second support and a second lifting means for a second movable cradle, adjacent to the second support.

[0035] According to a second aspect, the present disclosure relates to a piece of equipment comprising:- a support system according to the present disclosure,- an automated guided vehicle configured to move on a horizontal surface such as a ground and comprising a system for lifting a load,- at least one removable rack, whose dimension is smaller than the width of the free clearance between the first frame and the second frame, which rack includes transverse recesses for supporting rolls, the rolls projecting on either side of the rack, said at least one rack being configured to be moved by the automated guided vehicle and moved up or down by the vehicle's lifting system,and wherein the automated guided vehicle is configured to load rolls onto a first length section of the support frame by: / A1 / Moving the automated guided vehicle carrying said at least one rack supporting rolls within transverse recesses, projecting on either side of said at least one rack, into a raised position of the lifting system and of said at least one rack, which is greater than the height of the unmovable cradles, / B1 / At least partially inserting the automated guided vehicle by moving the vehicle in a free clearance on the first length section of the frame, / C1 / Lowering said at least one rack supporting the rolls into a lowered position as far as the free clearance between the first support and the second support, at least until obtaining the transfer of the rolls from said at least one rack to the support frame, each roll bearing on the first cradle and the second cradle of a pair of unmovable cradles, / D1 / Evacuating the automated guided vehicle and the rack from which the rolls have been unloaded, when the lifting system and said at least one rack are in the lowered position,and / orwherein the automated guided vehicle is configured to unload rolls bearing on a first length section of the frame by: / A2 / Moving the automated guided vehicle carrying at least one empty rack, when the lifting system and said at least one rack are in a lowered position, / B2 / At least partially inserting the vehicle into the free clearance on the first length section of the frame, when the lifting system and the rack are in a lowered position in the free clearance, / C2 / Raising said at least one rack into a raised position until obtaining the transfer of the rolls from the pairs of unmovable cradles onto the transverse recesses of said at least one rack, / D2 / Evacuating the vehicle and said at least one rack loaded with rolls in the raised position.

[0036] According to one embodiment of said piece of equipment, the support frame comprises:- said first length section of the frame located at one end, for which the successive pairs of unmovable cradles are spaced apart lengthwise along the frame by a first centre-to-centre distance and according to a centre-to-centre distance corresponding to the spacing of the transverse recesses of the rack,- at least one second length section of the frame for which the successive pairs of unmovable cradles are spaced apart lengthwise along the frame by a second centre-to-centre distance which is shorter than the first centre-to-centre distance,and wherein the handling device is configured to transfer a roll bearing on one of the pairs of cradles of the first length section to one of the pairs of cradles of said at least one second length section.

[0037] According to one embodiment, the piece of equipment comprises an intermediate, removable support configured to be moved by the automated guided vehicle, the width dimension whereof is smaller than the free clearance,and wherein the automated guided vehicle is configured to load rolls above the first length section of the frame by: / A3 / Moving the automated guided vehicle carrying said intermediate support, / B3 / At least partially inserting the vehicle and said intermediate support into the free clearance on the first length section of the support frame, / C3 / Lowering said intermediate support and depositing said intermediate support on the ground in the free clearance, / D3 / Evacuating the vehicle from which said intermediate support has been unloaded, / E3 / Moving one or the vehicle carrying at least one rack supporting rolling mill components, such as rolls or headers, into a raised position, / F3 / Lowering the rack supporting the components and depositing the rack on the intermediate support.

[0038] According to one embodiment, the piece of equipment comprises a centring pin, anchored to the ground and configured to centre said intermediate support between the first support and the second support.

[0039] According to a third aspect, the present disclosure relates to a plant for rolling a metal strip comprising a rolling mill, and a system according to the present disclosure, or a piece of equipment according to the present disclosure, said rolling mill having a roll stand and a set of rolls, internal to the roll stand, including two work rolls, backup rolls or backup rollers, and possibly intermediate rolls in particular first intermediate rolls and second intermediate rolls, the roll stand having an access opening, possibly closed by a door system, the metal strip extending longitudinally along a horizontal direction X, and transversely in a horizontal direction Y, the direction Y being parallel to the axes of the rolls of the rolling mill,said plant comprising a robotic system suited to ensure the operations of replacing rolls of the rolling mill, by extraction of the worn rolls from the roll stand and / or by insertion of new or re-turned rolls into the roll stand, said robotic system having a robot comprising:- a carriage comprising a frame provided with wheels cooperating with rails disposed on the ground, extending along the direction Y, in line with the access opening of the roll stand, said frame being configured to move along the direction Y along the rails, and a grasping system, configured to control locking and unlocking of grasping of an endpiece secured to a roll, or grasping of an endpiece of a gripping system of a roll of the rolling mill,and wherein said support frame is fastened to the ground at an anchor position at a distance from the rolling mill in the transverse direction Y and laterally to the rails, clearing a maintenance aisle extending in the direction X, along the access opening of the rolling mill, the support frame including the first support, the second support and the free clearance being oriented lengthwise in the transverse direction Y;and wherein the robotic system is configured to extract a roll by grasping the endpiece rigidly connected to the roll, or by grasping the roll using the gripping system locked by the grasping system, and depositing the roll, laterally to the rails, on one of the pairs of unmovable cradles of a first of the support positions of the support frame, and wherein the handling system is configured to move the roll from the first support position to a second support position.

[0040] According to a fourth aspect, the present disclosure relates to a method for evacuating worn rolls implemented by a system according to the present disclosure, of a piece of equipment according to the present disclosure, or of a plant according to the present disclosure, with one or more worn work rolls resting on the support frame, the or each worn roll bearing on a pair of unmovable cradles over a proximal length section of the support frame, close to a roll stand, opposite a distal length section of the support frame,the handling system is controlled to move the or each worn work roll from the support position on the proximal section into another support position of a pair of unmovable cradles on the distal section of the support frame, in particular by implementing actions / a / to / g / ,and wherein the one or more worn rolls are evacuated from the distal section of the support frame, in particular by an automated guided vehicle.

[0041] According to a fifth aspect, the present disclosure relates to a method for feeding new or re-turned rolls implemented by a support system according to the present disclosure, of a piece of equipment according to the present disclosure, or of a plant according to the present disclosure, wherein a distal length section of the support frame, opposite a proximal length section of the support frame, close to a roll stand, is fed with one or more new or re-turned work rolls arranged on pairs of unmovable cradles on the distal section, in particular by an automated vehicle,and wherein the handling system is controlled to move the or each new or re-turned roll from the support position on the distal section into another support position of a pair of unmovable cradles on the proximal section of the support frame, in particular by implementing actions / a / to / g / .

[0042] According to one embodiment of the evacuation method according to the fourth aspect, or of the feeding method according to the fifth aspect, the work rolls of length L1 bear on the first pairs of cradles.

[0043] According to a sixth aspect, the present disclosure relates to a method for evacuating worn rolls implemented by a system comprising the first pairs and the second pairs of cradles, of a piece of equipment according to the present disclosure comprising such a system, or of a plant according to the present disclosure comprising such a system, with one or more worn first intermediate rolls of length resting on the support frame, the or each worn roll bearing on one of the second pairs of unmovable cradles over a proximal length section of the support frame, close to a roll stand, opposite a distal length section of the support frame,and wherein the handling system is controlled to move the or each worn roll from the support position on the proximal section into another support position of a pair of unmovable cradles on the distal section of the support frame,and wherein the one or more worn first intermediate rolls are evacuated from the distal section of the support frame, in particular by an automated guided vehicle.

[0044] According to a seventh aspect, the present disclosure relates to a method for feeding new or re-turned rolls implemented by a support system comprising the first pairs and the second pairs of cradles, of a piece of equipment according to the present disclosure comprising such a system, or of a plant according to the present disclosure comprising such a system, wherein a distal length section of the support frame, opposite a proximal length section of the support frame, close to a roll stand, is fed with one or more new or re-turned intermediate rolls arranged on the second pairs of unmovable cradles on the distal section, in particular by an automated vehicle,and wherein the handling system is controlled to move the or each first new or re-turned intermediate roll from the support position on the distal section into another support position of a second pair of unmovable cradles on the proximal section.

[0045] According to an eighth aspect, the present disclosure relates to a method for feeding components of a 20-high rolling mill implemented by a piece of equipment according to the present disclosure comprising an intermediate support, or of a plant according to the present disclosure comprising such a piece of equipment, wherein the piece of equipment is fed with components of the rolling mill, in particular second intermediate rolls, backup rollers or backup rolls, or spray headers, by implementing the following steps: / A3 / Moving the automated guided vehicle carrying said intermediate support, / B3 / At least partially inserting the vehicle and said intermediate support into the free clearance on the first length section of the frame, / C3 / Lowering said intermediate support and depositing said intermediate support on the ground in the free clearance, / D3 / Evacuating the automated guided vehicle from which said intermediate support has been unloaded, / E3 / Moving one or the vehicle carrying a rack supporting rolling mill components, such as rolls, backup rollers or headers, into a raised position, / F3 / Lowering the rack supporting the components until the rack is deposited on the intermediate support.Brief description of the drawings

[0046] Other features, details and advantages will appear upon reading the detailed description hereinafter, and on analysis of the appended drawings, wherein:Fig. 1

[0047] is a view of a rolling plant according to the prior art comprising:- a rolling mill comprising rolls, including two work rolls for rolling a metal strip running in the direction X and in the axis of a maintenance hatch of the roll stand,- a robotic system running on rails in a direction Y suitable for replacing the rolls of the rolling mill,- a rack system comprising a support frame, disposed at a distance from the rolling mill while leaving a maintenance aisle clear, between the rack system and the roll stand, the maintenance aisle oriented along the direction X, 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 support parallel to one another, over which a plurality of racks are arranged, successively disposed along the length of the support frame, each simultaneously bearing on the first and second supports,and wherein the robotic system is configured to extract a worn roll from the roll stand and deposit it laterally on one of the racks, and to grasp a new (or re-turned) roll disposed beforehand on a rack and insert it as a replacement in the roll stand.Fig. 2

[0048] is a view according to, for which the racks comprising, on or proximate to a proximal section of the support frame close to the roll stand, two racks supporting work rolls, and on or proximate to a distal section of the support frame, opposite the proximal section of the support frame, two racks with a larger dimension supporting first intermediate rolls and second intermediate rolls, the two supports, the first support and the second support, leaving therebetween a free clearance for an automated guided vehicle circulating in the workshop, the automated guided vehicle configured to evacuate the racks supporting work rolls from the support frame, or on the contrary feed the frame with racks supporting new rolls.Fig. 3

[0049] is a view of a rolling plant comprising:- a 20-high rolling mill, the rolling mill being configured to roll a metal strip extending lengthwise in a direction X and widthwise in a direction Y, including a roll stand,- a robotic system configured for performing operations of changing rolls of the rolling mill, by extracting worn rolls from the roll stand and / or inserting new or re-turned rolls into the roll stand, said robotic system comprising a robot comprising a carriage configured to move along a rail, arranged in line with an access hatch of the rolling mill and comprising a grasping system configured to grip an internal component of the rolling mill, such as a roll or a spray header,- a support system for storage according to the present disclosure comprising a support frame arranged at a distance from the roll stand, leaving a maintenance aisle between the roll stand and the support frame,and wherein which the robot is configured to extract the components from the roll stand, with a longitudinal orientation of the component along the direction Y, and to deposit them, after pivoting the component, with a longitudinal orientation of the component in the direction X on the support frame directly bearing on unmovable cradles of the support frame as regards work rolls, or intermediate rolls,- an automated guided vehicle configured to unload or load the components at a distal section of the support frame opposite a proximal section of the support frame that is closer to the roll stand.

[0050] shows several views of the automated guided vehicle configured to move autonomously on the ground thanks to rolling members, and comprising a system for lifting a load, including:- a first view, in the top left (A), in which the vehicle carries, on a lifting fork, a rack supporting work rolls in transverse recesses of a rack,- a second view, in the top middle (B), in which the vehicle carries, on a lifting fork, a rack supporting first intermediate rolls in transverse recesses of a rack,- a third view, in the top right (C), in which the vehicle carries, on a lifting fork, an intermediate support intended to de deposited between the first support and the second support of the support frame,- a first view, in the bottom left (D), in which the vehicle carries, on a lifting fork, a rack supporting second intermediate rolls,- a second view, in the bottom middle (E), in which the vehicle carries, on a lifting fork, a rack supporting sets of backup rollers,- a third view, in the top right (F), in which the vehicle carries, on a lifting fork, a rack supporting spray headers of the rolling mill.Fig. 5

[0051] is a detail view of the support frame inwhich extends lengthwise, parallel to the rails of the robotic system, in the direction Y, the support frame comprising a first support and a second support, which each extend lengthwise in the direction Y, and are spaced apart from each other in the direction X, leaving an intermediate clearance therebetween, the support frame comprising pairs of unmovable cradles, distributed along the length of the first support and of the second support which is configured for supporting rolls, in multiple support positions along the length of the support frame, each pair of unmovable cradles comprising a first unmovable cradle on the first support and a second unmovable cradle on the second support, configured for supporting a roll respectively at two of its ends, at least the pairs of unmovable cradles for supporting the work rolls being formed by parts projecting towards the inside of the free clearance, two successive pairs of cradles being spaced apart and forming openings forming a passageway intended to be traversed by a work roll.Fig.6

[0052] is a view subsequent to that ofwherein an automated guided vehicle is inserted between the first support and the second support of the support frame, and lowers a rack supporting work rolls of length L1, into a lowered position in which the work rolls have been transferred from transverse recesses of the rack to unmovable cradles at the distal section of the roll stand over a first length section of the stand,illustrating a handling system arranged in the free clearance, between the first support and the second support, the handling system comprising a movable frame, in particular:- a first movable frame configured to move in a motorised manner along the length of the first support via a (first) rail, and a first lifting system on board the first movable frame, configured to raise and lower a first movable cradle,- a second movable frame configured to move in a motorised manner along the length of the second support via a (second) rail, and a second lifting system on board the second movable frame, configured to raise and lower a second movable cradle.Fig. 7

[0053] is a view offurther comprising work rolls bearing on the support frame, on a second length section of the support frame,illustrating the first length section of the support frame, at which the automated guided vehicle can load work rolls onto pairs of unmovable cradles distributed successively according to a first centre-to-centre distance, and a second length section comprising pairs of unmovable cradles separated by a second centre-to-centre distance, which is shorter than the first centre-to-centre distance.FIG. 8

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

[0055] is a view according toillustrating the trajectory of a work roll, typically of a new or re-turned work roll, moved by the handling system from a first support position on a pair of unmovable cradles on the first length section of the support frame, into a second support position on a pair of unmovable cradles on the second length section of the support frame, at which the grasping system of the robotic system can grasp the new or re-turned roll for insertion into the roll stand, the trajectory passing into the intermediate clearance below the other work rolls supported by the support frame.Fig. 8B

[0056] is a view according toillustrating the trajectory of a work roll, typically of a worn work roll, moved by the handling system from a support position on a pair of unmovable cradles on the second length section, at which the grasping system of the robotic system can deposit the worn roll, into a support position on a pair of unmovable rolls on the first length section of the support frame in view of the evacuation thereof by the automated guided vehicle.Fig. 9

[0057] is a view subsequent to that of, wherein an automated guided vehicle is inserted between the first support and the second support of the support frame, and lowers a rack supporting first intermediate rolls, of length L2, into a lowered position in which the rolls have been transferred from transverse recesses of the rack to second pairs of unmovable cradles at the distal section of the roll stand over the first length section of the stand, the second pairs of cradles for supporting the first intermediate rolls being arranged on the support frame, above the first pairs of unmovable cradles for supporting the work rolls and with a spacing between the first unmovable cradle and the second upper unmovable cradle of the second pairs of cradles for supporting 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 supporting the work rolls, of length L1, which is less than L2.Fig. 9A

[0058] is a view offurther comprising first intermediate rolls bearing on the support frame, on a second length section of the support frame associated with the second pairs of cradles.Fig. 9B

[0059] is a view of a trajectory illustrating the movement of a typically new or re-turned first intermediate roll, by the handling system, from its support position on the first section of the support frame as far as a pair of cradles on a second length section of the support frame, where the robotic system can grasp the first intermediate roll.Fig. 9C

[0060] is a view of a trajectory illustrating the movement of a typically worn first intermediate roll, by the handling system, from its support position on the second section of the support frame as far as a pair of cradles on a first length section of the support frame.Fig. 10

[0061] is a view subsequent to that ofwherein an automated guided vehicle is inserted between the first support and the second support of the support frame and deposits an intermediate support on the ground, in the free clearance between the first support and the second support in view of supporting a rack.Fig. 11

[0062] is a view subsequent towherein an automated guided vehicle is inserted between the first support and the second support of the support frame and deposits a rack carrying second intermediate rolls onto the intermediate support bearing on the ground, at the first length section of the support frame.Fig. 12

[0063] is a view subsequent towherein an automated guided vehicle is inserted between the first support and the second support of the support frame and deposits a rack carrying sets of backup rollers onto the intermediate support bearing on the ground, at the first length section of the support frame.Fig. 13

[0064] is a view subsequent towherein an automated guided vehicle is inserted between the first support and the second support of the support frame and deposits a rack carrying spray headers onto the intermediate support bearing on the ground, at the first length section of the support frame.Fig. 14

[0065] diagrammatically illustrates a 20-high rolling mill.Description of the embodiments

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

[0067] The support frame Cha comprises a first support Cha1 and a second support Cha2, respectively fastened to the ground in parallel, oriented in the lengthwise direction of the support frame Ch, the first support Cha1 and the second support Cha2 leaving a free clearance therebetween.

[0068] The support frame Cha comprises pairs of individual unmovable cradles Bc, each comprising a first cradle and a second cradle, spaced apart by a spacing, and rigidly connected to the first support Cha1 and to the second support Cha2 respectively.

[0069] The pairs of cradles Bc are distributed and spaced along the length of the frame in different support positions, said pairs of cradles being configured respectively to support rolls transversely to the support frame, in the various support positions.

[0070] Each roll bears on the first cradle rigidly connected to the first support and on the second cradle rigidly connected to the second support transversely to the frame.

[0071] The handling system comprises:- at least one movable frame SMCH provided with displacement means configured to travel in the free clearance between the first support Cha1 and the second support Cha2, along the length of the support frame Cha,- one or more movable cradles Bcm, and lifting means SML on board said at least one movable frame SMCH, configured to lift the one or more movable cradles Bcm by engaging with a roll bearing at the ends of the roll on the first unmovable cradle and the second unmovable cradle so as to release the roll from the unmovable cradles of the pair, or configured to deposit a roll displaced by the one or more movable cradles and deposit it on the first cradle and second cradle of another of the pairs of unmovable cradles.

[0072] According to the present disclosure, the handling system is configured to release and lift a roll on one of the support positions of the pairs of unmovable cradles, by lifting the one or more movable cradles Bcm using the lifting means SML, displacing it by displacing the movable frame SMS and depositing it on another of the support positions of the unmovable cradles, which is shifted along the length of the support frame Cha, by the descent of the lifting means SML.

[0073] The pairs of unmovable individual cradles Bc can comprise, in part or in full, pairs of cradles Bc which comprise, for each pair, the two cradles spaced apart by a spacing E1 that is less than a dimension L1 of the roll to be supported, the pairs of cradles BC being spaced apart in the lengthwise direction of the frame, by a spacing that is greater than a diameter D1 of the roll to be supported, and the unmovable cradles Bc projecting inwards relative to the intermediate clearance, leaving therebetween free openings Ov between two successive pairs of cradles, and as illustrated by way of example in.

[0074] The openings opposite provide a passageway Ps, in the transverse direction of the frame, whose dimension exceeds the dimension L1 of the roll, and whose dimension along the length of the frame exceeds the diameter D1 of the roll, the passageway being thus dimensioned so that it can be traversed by the roll of length L1 and diameter D1.

[0075] The handling system is thus configured to: / a / release a roll on one of the support positions of the pairs of unmovable cradles Bc and lift it by raising the one or more movable cradles Bcm, / b / shift the roll engaged with the movable cradles, in line with the free openings Ov of a first passageway between two successive pairs of cradles by displacing the movable frame, / c / lowering the engaged roll through the free openings Ov, beneath the level of the unmovable cradles by lowering the one or more movable cradles Bcm, / d / displacing the engaged roll along the length of the support frame Cha by passing it into the free clearance, beneath the pairs of unmovable cradles Bcm, or even beneath rolls bearing on the unmovable cradles, as far as two other free openings Ov of a second passageway, by displacing the movable frame SMCH, / e / raising the engaged roll through the free openings Ov of the second passageway by lifting the one or more movable cradles Bm, / f / shifting the roll engaged with the movable cradles into line with the pair of unmovable cradles of the other support position by displacing the movable frame SMCH, / g / lowering the roll engaged with the movable cradles and depositing it on the first cradle and on the second cradle of the other support position.

[0076] Figures 8B and 8C illustrate two trajectories of the roll moved by the handling system, in opposite directions of movement, each trajectory of the roll from a first support position of a pair of unmovable cradles into a second position of another pair of unmovable cradles advantageously passing below the rolls bearing on the unmovable cradles, in intermediate positions between the first support position and the second support position.

[0077] The handling system can comprise:- a first handling device comprising a first movable frame SMCH1 guided along the length of the support frame by an internal rail Ri rigidly connected to the first support CHa1 and a first lifting means for a first movable cradle, adjacent to the first support CHa1,- a second handling device comprising a second movable frame SMCH2 guided along the length of the support frame by an internal rail Ri rigidly connected to the second support CHa2 and a second lifting means for a second movable cradle, adjacent to the second support CHa2.

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

[0079] The first movable frame SMCH1 (or respectively the second movable frame SMCH2) can comprise a geared motor for the motorised displacement of the frame along the first support Cha1 (or respectively along the second support Cha2). A motorised pinion at the output of the geared motor can mesh with a rack extending along the length of the first support CH1 (or along the second support respectively). The lifting means (in particular first lifting means or second lifting means) can comprise an actuator, in particular an electric actuator.

[0080] A control unit synchronises the operation and longitudinal movements of the first movable frame SMCH1 and of the second movable frame SMCH2.

[0081] The present disclosure further relates to a rolling plant comprising a rolling mill and a support system according to the present disclosure.

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

[0083] Typically, the rolling mill may be a 20-high rolling mill, comprising:- an upper group GScomprising an upper work roll 12, two first intermediate rolls 13, three second intermediate rolls 14, 15 (two of the second intermediate rolls 15 respectively bearing through two contact generatrices on the two first intermediate rolls 13, and the third one, interposed therebetween, bearing on the two first intermediate rolls 13 through two contact generatrices) and four rolls (or sets of backup rollers) A, B, C, D,- an upper group GIcomprising a lower work roll 12, two first intermediate rolls 13, three second intermediate rolls 14, 15 (two of the second intermediate rolls 15 respectively bearing through two contact generatrices on the two first intermediate rolls 13, and the third one, interposed therebetween, bearing on the two first intermediate rolls 13 through two contact generatrices) and four rolls (or sets of backup rollers) H, G, F, E.

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

[0085] The plant comprises a robotic system 1 suited to ensure the operations of replacing rolls of the rolling mill, by extraction of the worn rolls from the roll stand and / or insertion of new or re-turned rolls into the roll stand.

[0086] The robotic system 1 comprises a robot Ro comprising a carriage comprising a frame 2 provided with wheels cooperating with rails Ra1 disposed on the ground, extending along the direction Y, in line with the access opening of the roll stand, said frame being configured to move along the direction Y along the rails Ra1, and a grasping system configured to control locking and unlocking of grasping of an roll endpiece, or else grasping of an endpiece of a gripping system of a roll of the rolling mill.

[0087] The support frame Cha of the support system is fastened to the ground at an anchor position at a distance from the rolling mill according to the transverse direction Y and laterally to the rails Ra1, clearing a maintenance aisle AL extending along the direction X parallel to the metal strip, along the access opening of the rolling mill, the support frame Cha including the first support Cha1, the second support Cha2 and the free clearance oriented lengthwise along the transverse direction Y, laterally to the rails Ra1.

[0088] The robotic system 1 is configured to ensure the extraction of a roll, typically worn, for example a work roll 12, by grasping the endpiece secured to the roll, or else by grasping the roll by the locked gripping system by the grasping system, with the deposition of the roll, laterally to the rails Ra1 on one of the support positions of the unmovable cradles of the support frame Cha. Conversely, the robotic system may allow grasping a new (or re-turned) roll bearing on one of the pairs of unmovable cradles of the frame and inserting it into the roll stand.

[0089] As regards the work rolls 12, which require a higher frequency of replacement than the other rolls, in particular the first intermediate rolls 13 or the second intermediate rolls 14, 15, or backup rolls A to H, the robotic system allows depositing or recovering the work rolls 12 from the area of the support frame the closest to the rolling mill, i.e. a proximal section Sprox of the support frame, opposite a distal section Sdist of the support frame, which is located the furthest away, even when the frequency of passage of the guided vehicles is low, and this occurs systematically, in particular thanks to the handling system which allows a trajectory of the movable cradle to be guaranteed to pass within the intermediate clearance according to actions / a / to / g / . For example, once a worn work roll has been deposited on the proximal section, the handling system then allows the work roll to be moved from the proximal section to the distal section, where it can be evacuated by the automated guided vehicle. Conversely, once re-turned or new work rolls have been deposited on the distal section, the handling system then allows the new or re-turned rolls to be moved from the distal section to the distal section of the support frame.

[0090] Advantageously, the movement strokes of the robotic system along the rails Ra1 during the roll replacement operations are limited. Thus, it is possible to reduce the roll replacement cycle time in comparison with the prior art introduced in the introduction, and disclosed by WO 2022 / 229327A1 in case of under-capacity of the automated guided vehicles.

[0091] Generally speaking, the unmovable cradles Bc rigidly connected to the support frame can comprise:- first pairs of individual cradles Bc1 for supporting rolls of length L1 and diameter D1, the first cradle and the second cradle being spaced apart in the direction transverse to the frame, by a first spacing E1,- second pairs of individual cradles Bc2 for supporting rolls of length L2 greater than L1, arranged on the support frame above the first pairs of cradles Bc1.

[0092] The first and second cradles of the second pairs of individual cradles Bc2 are each spaced apart by a second spacing E2 that is greater than the first spacing E1.

[0093] The handling system is configured to displace a roll of length L1 from said one support position of a first pair of cradles Bc1 as far as said other support position of another of the first pairs of individual cradles Bc1, by passing the roll through the free openings according to actions / c / and / e / , and via a displacement, in / d / , in said free clearance, beneath the individual cradles of the first pairs Bc1.

[0094] The handling system is further configured to move a roll of length L2 from said one support position of one of the second pairs of individual cradles Bc2 to said other support position of another of the second pairs of unmovable cradles Bc2, by moving the roll above the cradles of the second pairs Bc2.

[0095] The unmovable cradles of the first pairs Bc1 can be used to support the work roll 12, of length L1, and diameter D1, whereas the second pairs Bc2 are used to support the first intermediate rolls 13 of length L2.

[0096] Typically speaking, the present disclosure further relates to a piece of equipment comprising:- a support system according to the present disclosure,- an automated guided vehicle AGV configured to move on a horizontal surface such as a ground and comprising a system for lifting a load,- at least one removable rack Rac, whose dimension is smaller than the width of the free clearance between the first frame Cha1 and the second frame Cha2, which rack includes transverse recesses for supporting rolls, the rolls projecting on either side of the rack.

[0097] In particular, said rolling plant according to the present disclosure can have such a piece of equipment.

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

[0099] The automated guided vehicle AGV is configured to load rolls onto a first length section SL1 of the support frame Cha by: / A1 / Moving the automated guided vehicle AGV carrying at least one rack Rac supporting rolls within transverse recesses, projecting on either side of said at least one rack, into a raised position of the lifting system and of said at least one rack, which is greater than the height of the unmovable cradles Bc, / B1 / At least partially inserting the automated guided vehicle AGV by moving the vehicle in a free clearance on the first length section SL1 of the support frame, / C1 / Lowering said at least one rack Rac supporting the rolls into a lowered position as far as the free clearance between the first support Cha1 and the second support Cha2, at least until obtaining the transfer of the rolls from said at least one rack Rac to the support frame Cha, each roll bearing on the first cradle and the second cradle of a pair of unmovable cradles Bc, / D1 / Evacuating the automated guided vehicle AGV and the rack from which the rolls have been unloaded, when the lifting system and said at least one rack Rac are in the lowered position.

[0100] During actions / A1 / to / D1 / , said automated guided carriage can transfer work rolls 12, from the rack to the first pairs of unmovable cradles Bc1, on the first length section SL1 of the support frame Cha, and in particular as understood from.

[0101] Pairs of guide plates TG, each associated with a first pair of cradles Bc1, are inclined and converge downwards relative to each other. These guide plates are configured to engage respectively with the two longitudinal ends of the work roll 12 when the roll is lowered in / C1 / .

[0102] The two guide plates TG ensure that the work roll 12 is centred relative to the first cradle and to the second cradle, in particular the first pair of cradles Bc1, and along the axis of the roll. Such axial centring of the roll ensures correct axial positioning of the work roll and allows the handling system to lower the work roll engaged with the movable cradles, through the free openings Ov, below the unmovable cradles in the free clearance, by lowering the one or more movable cradles Bcm and according to action / c / of the handling system.

[0103] During actions / A1 / to / D1 / , said automated guided carriage can transfer first intermediate rolls 13, from the rack to the second pairs of unmovable cradles Bc2, on the first length section SL1 of the support frame Cha, and in particular as understood from.

[0104] A guide plate, inclined towards the inside of the support frame, can be arranged on a single side of the support frame, diametrically opposite the side of the frame of the robotic system. This guide plate is configured to engage with the ends of the first intermediate rolls 13 when the rolls 13 are lowered in / C1 / .

[0105] The automated guided vehicle AGV can be further configured to unload rolls bearing on a first length section of the frame by: / A2 / Moving the automated guided vehicle AGV carrying at least one empty rack Rac, when the lifting system and said at least one rack Rac are in a lowered position, / B2 / At least partially inserting the vehicle into the free clearance on the first length section of the frame, when the lifting system and the rack are in a lowered position in the free clearance, / C2 / Raising said at least one rack Rac into a raised position until obtaining the transfer of the rolls from the pairs of unmovable cradles onto the transverse recesses of said at least one rack Rac, / D2 / Evacuating the vehicle and said at least one rack Rac loaded with rolls in the raised position.

[0106] During actions / A2 / to / D2 / , said automated guided carriage can transfer work rolls 12, from the first pairs of unmovable cradles Bc1, on the first length section SL1 of the support frame Cha, to the locations in the rack, and in particular as understood from.

[0107] During actions / A2 / to / D2 / , said automated guided carriage can transfer first intermediate rolls 13, from the second pairs of unmovable cradles Bc2, on the first length section SL1 of the support frame Cha, to the locations in the racks, and in particular as understood from.

[0108] Typically speaking, each of the unmovable cradles Bc can be a part, for example made in one piece, comprising a concave portion intended to form a seat for receiving a roll, in particular a seat for a work roll in the case of the first pairs of cradles Bc1. The concave portion can, for example, be a semi-cylindrical section Sc, configured to match the cylindrical surface of the supported roll, and in particular, on the second length section of the support frame SL12 or SL22.

[0109] The concave portion can also have a V-shaped cross-section given the reference Sv in, with a first surface and a second surface, inclined to each other, and in particular on the first length section SL1 of the support frame Cha.

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

[0111] Typically speaking, it should also be noted that the unmovable cradles of the first length section SL1, in particular having a concave portion with a V-shaped cross-section, can each have a length, in the longitudinal direction of the frame, greater than the length of the unmovable cradles, in particular with semi-cylindrical cross-sections, on the second length section SL12 or SL22, of the support frame.

[0112] In particular, the length of the unmovable cradles Bc on the first length section of the support frame Cha, on which the rolls are transferred when the rack is lowered in / C1 / , can be strictly greater than the diameter of the supported roll, preferably greater than or equal to 1.5 times the diameter of the roll, or even greater than or equal to 2 times the diameter of the roll.

[0113] Having unmovable cradles, each longer than the diameter of the rolls, ensures that the rolls are picked up by the unmovable cradles, even if the rack storage locations are out of alignment with the unmovable cradle support axes.

[0114] In the event of such a misalignment between a roll and an unmovable cradle support axis, the roll comes into contact with one of the two inclined surfaces via a first line of contact when the rack descends in / C1 / before being re-centred by gravity and until the roll is stabilised by contact with the other of the two inclined surfaces.

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

[0116] Typically speaking, and in particular because of the difference in length of the cradles between the first length section SL1 and the second length section SL12 (or SL22), the support frame Cha can comprise:- said first length section SL1 of the frame located at one end, for which the successive pairs of unmovable cradles Bc are spaced apart lengthwise along the frame by a first centre-to-centre distance EA1 and according to a centre-to-centre distance corresponding to the spacing of the transverse recesses of the rack,- at least one second length section SL12, SL22 of the frame for which the successive pairs of unmovable cradles Bc are spaced apart lengthwise along the frame by a second centre-to-centre distance EA21, EA22 which is shorter than the first centre-to-centre distance.

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

[0118] According to one embodiment, which is in particular illustrated in:- the first pairs of unmovable cradles Bc1 intended to support the work rolls 12 are spaced apart, in succession, by a centre-to-centre distance EA12 on the second length section SL12, which distance is less than the centre-to-centre distance EA1 between the first unmovable cradles on the first length section SL1,- the second pairs of unmovable cradles Bc2 intended to support the first intermediate rolls 12 are spaced apart, in succession, by a centre-to-centre distance EA22 on the second length section SL22, which distance is less than the centre-to-centre distance EA1 between the second unmovable cradles on the first length section SL1.

[0119] Typically speaking, the second pairs of cradles Bc2 are arranged on the frame at a higher level than the first pairs of cradles Bc1.

[0120] It should also be noted that the second pairs of cradles Bc2 arranged on the second length section SL22 of the support frame (i.e. a length section SL22 specific to the second pairs of cradles Bc2 for supporting the first intermediate rolls 13) can be inserted between, on the one hand, the first length section SL1 of the support frame, carrying the unmovable cradles used for rack-support frame transfers, and on the other hand, the first pairs of cradles Bc1 on the second length section SL12, specific to the first pairs of cradles for supporting the work rolls 12.

[0121] Typically speaking, the robotic system 1 and its grasping system are configured to deposit the rolls on the second length section SL12 or SL22 of the support frame Cha.

[0122] In particular, the robotic system 1 is configured so that, during worn roll extraction operations, a worn work roll extracted from the roll stand is deposited on one of the first pairs of cradles Bc1 on the second length section SL12 of the support frame.

[0123] Typically speaking, it should be noted that the first support CH1 and the second support CH2 can be anchored to the ground with the exception of the first length section SL1 where the first support CH1 and the second support CH2 overhang towards the distal end of the support frame. When the lifting system of the automated guided vehicle is partially inserted into the free clearance, two base legs PB of the vehicle can be configured to be inserted respectively under the overhanging portions of the first support CH1 and of the second support CH2, and as visible in the figures, in particular in.

[0124] The handling system is then configured to displace the worn work roll bearing on the first pair of cradles Bc1, from the second length section SL12, to one of the first pairs of cradles, on the first section SL1, by passing through the intermediate clearance and according to actions / a / to / g / implemented by the handing system. The automated guided vehicle can then evacuate the work rolls on the first length section SL1 by implementing actions / A2 / to / D2 / .

[0125] Thus, and typically speaking, the present disclosure further relates to a method for evacuating worn rolls implemented by a support system according to the present disclosure, wherein one or more worn work rolls 12 rest on the support frame Cha, the or each worn roll bearing on a pair of unmovable cradles over the proximal length section Sprox of the support frame, close to a roll stand of a roller L, opposite the distal length section Sdist of the support frame,and wherein the handling system is controlled to move the or each worn work roll 12 from the support position on the proximal section Sprox into another support position of a pair of unmovable cradles on the distal section Sdist of the support frame, in particular by implementing actions / a / to / g / ,and wherein the one or more worn 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 be further configured so that, during worn first intermediate roll extraction operations, a worn first intermediate roll extracted from the roll stand is deposited on 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 displace the worn first intermediate roll bearing on the second pair of cradles Bc2, from the second length section SL22, to one of the second pairs of cradles Bc2, on the first section SL1. The automated guided vehicle can then evacuate the first intermediate rolls on the first length section SL1 by implementing actions / A2 / to / D2 / .

[0128] Thus, and typically speaking, the present disclosure further relates to a method for evacuating worn rolls, wherein one or more worn first intermediate rolls 13 of length L2 rest on the support frame Cha, the or each worn roll bearing on one of the second pairs of unmovable cradles Bc2 over a proximal length section Sprox of the support frame, close to a roll stand of a roller L, opposite a distal length section Sdist of the support frame,the handling system is controlled to move the or each worn roll from the support position on the proximal section into another support position of a pair of unmovable cradles on the distal section Sdist of the support frame,and wherein the one or more worn first intermediate rolls are evacuated from the distal section Sdist of the support frame Cha, in particular by an automated guided vehicle AGV.

[0129] During insertion operations for new or re-turned rolls, the one or more new or re-turned rolls can be fed by the automated guided vehicle AGV on the first length section SL1 of the support frame, by implementing actions / A1 / to / D1 / using the AGV.

[0130] Work rolls of length L1 are transferred onto the first pairs of cradles Bc1, on the first section SL1, when the rack is lowered in / C1 / . The handling system then moves the new or re-turned work roll from its support position to a first pair of cradles Bc1 on the second length section SL12 of the support frame, in particular by implementing actions / a / to / g / . The grasping system of the robotic system can then grasp the work roll in order to insert it into the roll stand.

[0131] Thus, typically speaking, the present disclosure further relates to a method for feeding new or re-turned rolls implemented by a support system according to the present disclosure, wherein a distal length section Sdist of the support frame, opposite a proximal length section Sprox of the support frame, close to a roll stand, is fed with one or more new or re-turned work rolls 12 arranged on pairs of unmovable cradles Bc on the distal section Sdist, in particular by an automated vehicle AGV,and wherein the handling system is controlled to move the or each new or re-turned roll from the support position on the distal section Sdist into another support position of a pair of unmovable cradles on the proximal section Sprox of the support frame Cha.

[0132] First intermediate rolls of length L2 are transferred onto the second pairs of cradles Bc2, on the first section SL1, when the rack is lowered in / C1 / . The handling system then moves the new or re-turned work roll from its support position to a second pair of cradles Bc2 on the second length section SL22 of the support frame. The grasping system of the robotic system can then grasp the first intermediate roll 13in order to insert it into the roll stand.

[0133] Thus, the present disclosure further relates to a method for feeding new or re-turned rolls implemented by a support system according to the present disclosure, wherein a distal length section Sdist of the support frame, opposite a proximal length section Sprox of the support frame, close to a roll stand, is fed with one or more new or re-turned first intermediate rolls 13 arranged on the second pairs of unmovable cradles Bc2 on the distal section, in particular by an automated vehicle AGV,and wherein the handling system is controlled to move the or each first new or re-turned intermediate roll from the support position on the distal section Sdist into another support position of a second pair of unmovable cradles on the proximal section Sprox.

[0134] According to one embodiment, the intermediate, removable support SI can be configured to be moved by the automated guided vehicle AGV, the width dimension whereof is smaller than the free clearance. This intermediate support SI is configured to be deposited on the ground, in particular at the first length section SL1, with a view to supporting at least one rack by the intermediate support SI. Said rack Rac supported by the intermediate support SI can be used to support components such as the second intermediate rolls 14, 15 (), the sets of backup rollers (), or spray headers 16 () of the rolling mill.

[0135] Like the work rolls and the first intermediate rolls, these various components can be grasped by the robotic system for insertion into the rolling stand during maintenance operations.

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

[0137] The automated guided vehicle is configured to load rolls above the first length section of the frame by: / A3 / Moving the automated guided vehicle AGV carrying said intermediate support SI, / B3 / At least partially inserting the vehicle and said intermediate support SI into the free clearance on the first length section of the support frame Cha, / C3 / Lowering said intermediate support and depositing said intermediate support on the ground in the free clearance, / D3 / Evacuating the automated guided vehicle from which said intermediate support has been unloaded, / E3 / Moving one or the vehicle carrying at least one rack Rac supporting rolling mill components, such as rolls or headers, into a raised position, / F3 / Lowering the rack supporting the components and depositing the rack on the intermediate support.

[0138] A centring pin DC can be anchored to the ground and configured to centre said intermediate support SI between the first support CH1 and the second support CH2.

[0139] The centring pin can comprise protruding studs, in particular four studs, configured to lock into the uprights of the intermediate support.List of the reference signs

[0140] L. Rolling mill,- Bm. Metal strip,- 1. Robotic system,- 2. Frame- Ro. Robot,- Ra1. Rail in direction Y,- AL. Maintenance aisle (between the roll stand of the rolling mill and the support frame of the rack, oriented in a direction parallel to the strip to be rolled),- Rac. Rack,- Cha. Support frame,- Cha1, Cha2. First and second support respectively,- Bc. Pair of unmovable cradles,- Bc1. First pairs of unmovable cradles spaced apart by a spacing E1 (in particular for supporting the work rolls 12 of the rolling mill),- Bc2. Second pairs of unmovable cradles spaced apart by a spacing E2 (in particular for supporting the first intermediate rolls 13),- SMCH. Movable frame (handling system)- SMCH1, SMCH2. First and second movable frame (handling system),- Ri. Guide rail for guiding the first and second movable frames,- Bcm. Movable cradles,- SML. Lifting means carried by the movable frame (first and second frames), configured to raise and lower the movable cradles relative to the movable frames,- Ov. Opening (between two successive, unmovable cradles),- ¨Ps. Passageway for the roll of length L1 formed by two openings in the first and second supports,- SL1. First length section of the support frame, intended to be loaded or unloaded with components by the motor guided vehicle,- EA1. Centre-to-centre distance (of the unmovable cradles over the length of the first length section),- SL21. Second length section of the support frame (of the first pairs of cradles Bc1 for supporting the work rolls),- EA21. Centre-to-centre distance (of the unmovable cradles of the first pairs over the second length section)- SL22. Second length section of the support frame (of the second pairs of cradles Bc2 for supporting the first intermediate rolls),- EA22. Centre-to-centre distance (of the unmovable cradles of the second pairs over the second length section),- SI. Intermediate support,

[0141] 20-high roller mill arrangement referred to as 20 Hi (),- Gi, Gs. Upper group and lower group respectively,- 12. Work rolls,- 13. First intermediate rolls,- 14, 15. Second intermediate rolls (14 lateral, and 15 central),- A, B, C, D. The four backup rolls or sets of backup rollers of the upper group respectively,- E, F, G, H. The four backup rolls or sets of backup rollers of the lower group respectively,- 16. Spray headers.

Claims

1.Support system for the storage of rolls of a rolling mill comprising:- a support frame (Cha) configured to support rolls distributed over the length of the support frame at different positions along the length of the frame, the support frame comprising a first support (Cha1), and a second support (Cha2), respectively fastened to the ground in parallel, the first support (Cha1) and the second support (Cha2) leaving a free clearance therebetween,- pairs of unmovable, individual cradles (Bc), each pair comprising a first cradle and a second cradle spaced apart by a spacing, rigidly connected to the first support (Cha1) and to the second support (Cha2) respectively, the pairs of cradles (Bc) being distributed and spaced apart along the length of the frame at different support positions, the pairs of cradles being configured respectively to support rolls transversally to the support frame, at the different support positions, each roll bearing on the first cradle rigidly connected to the first support and on the second cradle rigidly connected to the second support transversally to the frame,- a handling system comprising:-- at least one movable frame (SMCH) provided with displacement means configured to travel in the free clearance between the first support (Cha1) and the second support (Cha2), along the length of the support frame (Cha),-- one or more movable cradles (Bcm), and lifting means (SML) on board said at least one movable frame (SMCH), configured to lift the one or more movable cradles (Bcm) by engaging with a roll bearing at the ends of the roll on the first unmovable cradle and the second unmovable cradle so as to release the roll from the unmovable cradles of the pair of unmovable cradles, or configured to deposit a roll displaced by the one or more movable cradles and deposit it on the first cradle and second cradle of one of the pairs of unmovable cradles,and wherein the handling system is configured to release and lift a roll on one of the support positions of the pairs of unmovable cradles, by lifting the one or more movable cradles (Bcm) using the lifting means (SML), displacing it by displacing the movable frame (SMCH) and depositing it on another of the support positions of the unmovable cradles, which is shifted along the length of the support frame (Cha), by the descent of the lifting means (SML).2.Support system according to claim 1, wherein the pairs of unmovable individual cradles (Bc) comprise, in part or in full, pairs of cradles (Bc) which comprise, for each pair, the two cradles spaced apart by a spacing E1 that is less than a dimension L1 of the roll to be supported, the pairs of cradles (Bc) being spaced apart in the lengthwise direction of the frame, by a spacing that is greater than a diameter D1 of the roll to be supported, and the unmovable cradles (Bc) projecting inwards relative to the intermediate clearance, leaving therebetween free openings (Ov) between two successive pairs of cradles, the openings providing a passageway (Ps), in the transverse direction of the frame, whose dimension exceeds the dimension L1 of the roll, and whose dimension along the length of the frame exceeds the diameter D1 of the rolland wherein the handling system is configured to: / a / release a roll on one of the support positions of the pairs of unmovable cradles (Bc) and lift it by raising the one or more movable cradles (Bcm), / b / shift the roll engaged with the movable cradles, in line with the free openings (Ov) between two successive pairs of cradles by displacing the movable frame, / c / lowering the engaged roll through the free openings, beneath the level of the unmovable cradles by lowering the one or more movable cradles (Bcm), / d / displacing the engaged roll along the length of the support frame (Cha) by passing it into the free clearance, beneath the pairs of unmovable cradles, or even beneath rolls bearing on the unmovable cradles, as far as two other free openings (Ov), by displacing the movable frame (SMCH) / e / raising the engaged roll through the free openings (Ov) by lifting the one or more movable cradles (Bm), / f / shifting the roll engaged with the movable cradles into line with the pair of unmovable cradles of the other support position by displacing the movable frame (SMCH), / g / lowering the roll engaged with the movable cradles and depositing it on the first cradle and on the second cradle of the other support position.3.System according to claim 2, wherein the unmovable support comprises:- first pairs of individual cradles (Bc1) for supporting rolls of length L1 and diameter D1, the first cradle and the second cradle being spaced apart in the direction transverse to the frame, by a first spacing E1,and for which the handling system is configured to displace a roll from said one support position of a first pair of cradles as far as said other support position of another of the first pairs of individual cradles (Bc1), by passing the roll through the free openings according to actions / c / and / e / , and via a displacement, in / d / , in said intermediate clearance beneath the individual cradles (Bc1),- second pairs of individual cradles (Bc2) for supporting rolls of length L2 greater than L1, arranged on the support frame above the first pairs of cradles (Bc1), and wherein the first and second cradles of the second pairs of individual cradles (Bc2) are each spaced apart by a second spacing E2 that is greater than the spacing E1,and for which the handling system is configured to move a roll from said one support position of one of the second pairs of individual cradles (Bc2) to said other support position of another of the second pairs of unmovable cradles (Bc2), by moving the roll above the cradles of the second pairs (Bc2).4.Support system according to one of claims 1 to 3, wherein said at least one movable frame (SMCH) comprises:- a first handling device comprising a first movable frame (SMCH1) guided along the length of the support frame by an internal rail (Ri) rigidly connected to the first support (Cha1) and a first lifting means for a first movable cradle, adjacent to the first support (Cha1),- a second handling device comprising a second movable frame (SMCH2) guided along the length of the support frame by an internal rail (Ri) rigidly connected to the second support (Cha2) and a second lifting means for a second movable cradle adjacent to the second support (Cha2).5.Piece of equipment comprising:- a support system according to one of claims 1 to 4,- an automated guided vehicle (AGV) configured to move on a horizontal surface such as a ground and comprising a system for lifting a load,- at least one removable rack (Rac), whose dimension is smaller than the width of the free clearance (DL) between the first frame (Cha1) and the second frame (Cha2), which rack includes transverse recesses for supporting rolls, the rolls projecting on either side of the rack, said at least one rack being configured to be moved by the automated guided vehicle (AGV) and moved up or down by the vehicle's lifting system,and wherein the automated guided vehicle (AGV) is configured to load rolls onto a first length section (SL1) of the support frame (Cha) by: / A1 / Moving the automated guided vehicle (AGV) carrying said at least one rack (Rac) supporting rolls within transverse recesses, projecting on either side of said at least one rack, into a raised position of the lifting system and of said at least one rack, which is greater than the height of the unmovable cradles (Bc), / B1 / At least partially inserting the automated guided vehicle (AGV) by moving the vehicle in a free clearance on the first length section (SL1) of the frame, / C1 / Lowering said at least one rack (Rac) supporting the rolls into a lowered position as far as the free clearance between the first support (Cha1) and the second support (Cha2), at least until obtaining the transfer of the rolls from said at least one rack (Rack) to the support frame (Cha), each roll bearing on the first cradle and the second cradle of a pair of unmovable cradles (Bc), / D1 / Evacuating the automated guided vehicle (AGV) and the rack from which the rolls have been unloaded, when the lifting system and said at least one rack (Rac) are in the lowered position,and / orwherein the automated guided vehicle (AGV) is configured to unload rolls bearing on a first length section of the frame by: / A2 / Moving the automated guided vehicle (AGV) carrying at least one empty rack (Rac), when the lifting system and said at least one rack (Rac) are in a lowered position, / B2 / At least partially inserting the vehicle into the free clearance on the first length section of the frame, when the lifting system and the rack are in a lowered position in the free clearance, / C2 / Raising said at least one rack (Rac) into a raised position until obtaining the transfer of the rolls from the pairs of unmovable cradles onto the transverse recesses of said at least one rack (Rac), / D2 / Evacuating the vehicle and said at least one rack (Rac) loaded with rolls in the raised position.6.Piece of equipment according to claim 5, wherein the support frame comprises:- said first length section (SL1) of the frame located at one end, for which the successive pairs of unmovable cradles (B) are spaced apart lengthwise along the frame by a first centre-to-centre distance (EA1) and according to a centre-to-centre distance corresponding to the spacing of the transverse recesses of the rack,- at least one second length section (SL12, SL22) of the frame for which the successive pairs of unmovable cradles (Bc) are spaced apart lengthwise along the frame by a second centre-to-centre distance (EA21, EA22) which is shorter than the first centre-to-centre distance,and wherein the handling device is configured to transfer a roll bearing 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 one second length section (SL12, SL22).7.Piece of equipment according to claim 5 or 6, comprising an intermediate, removable support (SI) configured to be moved by the automated guided vehicle (AGV), the width dimension whereof is smaller than the free clearance,and wherein the automated guided vehicle is configured to load rolls above the first length section of the frame by: / A3 / Moving the automated guided vehicle (AGV) carrying said intermediate support (SI), / B3 / At least partially inserting the vehicle and said intermediate support (SI) into the free clearance on the first length section of the support frame (Cha), / C3 / Lowering said intermediate support and depositing said intermediate support on the ground in the free clearance, / D3 / Evacuating the vehicle from which said intermediate support has been unloaded, / E3 / Moving one or the vehicle carrying at least one rack (Rac) supporting rolling mill components, such as rolls or headers, into a raised position, / F3 / Lowering the rack supporting the components and depositing the rack on the intermediate support.8.Piece of equipment according to claim 7, comprising a centring pin (DC), anchored to the ground and configured to centre said intermediate support (SI) between the first support (CH1) and the second support (CH2).9.Plant for rolling a metal strip comprising a rolling mill (L), and a system according to one of claims 1 to 4, or a piece of equipment according to one of claims 5 to 8, said rolling mill having a roll stand and a set of rolls, internal to the roll stand, including two work rolls (12), backup rolls or backup rollers (A, B, C, D, E, F, G, H), and possibly intermediate rolls in particular first intermediate rolls (13) and second intermediate rolls (14, 15), the roll stand having an access opening, possibly closed by a door system, the metal strip (Bm) extending longitudinally along a horizontal direction X, and transversely in a horizontal direction Y, the direction Y being parallel to the axes of the rolls of the rolling mill,said plant comprising a robotic system (1) suited to ensure the operations of replacing rolls of the rolling mill, by extraction of the worn rolls from the roll stand and / or by insertion of new or re-turned rolls into the roll stand, said robotic system having a robot (Ro) comprising:- a carriage comprising a frame provided with wheels cooperating with rails (Ra1) disposed on the ground, extending along the direction Y, in line with the access opening of the roll stand, said frame being configured to move along the direction Y along the rails (Ra1), and a grasping system, configured to control locking and unlocking of grasping of an endpiece secured to a roll, or grasping of an endpiece of a gripping system of a roll of the rolling mill,and wherein said support frame (Cha) is fastened to the ground at an anchor position at a distance from the rolling mill in the transverse direction Y and laterally to the rails (Ra1), clearing a maintenance aisle (AL) extending in the direction X, along the access opening of the rolling mill, the support frame (Cha) including the first support (Cha1), the second support (Cha2) and the free clearance being oriented lengthwise in the transverse direction (Y);and wherein the robotic system (1) is configured to extract a roll by grasping the endpiece rigidly connected to the roll, or by grasping the roll using the gripping system locked by the grasping system, and depositing the roll, laterally to the rails (Ra1), on one of the pairs of unmovable cradles (Bc) of a first of the support positions of the support frame (Cha), and wherein the handling system is configured to move the roll from the first support position to a second support position.10.Method for evacuating worn rolls implemented by a system according to one of claims 1 to 4, of a piece of equipment according to one of claims 5 to 8, or of a plant according to claim 9, wherein one or more worn work rolls (12) rests on the support frame (Cha), the or each worn roll bearing on a pair of unmovable cradles over a proximal length section (Sprox) of the support frame, close to a roll stand of a roller (L), opposite a distal length section (Sdist) of the support frame,the handling system being controlled to move the or each worn work roll (12) from the support position on the proximal section (Sprox) into another support position of a pair of unmovable cradles on the distal section (Sdist) of the support frame, in particular by implementing actions / a / to / g / when the system is in accordance with claim 2and wherein the one or more worn rolls are evacuated from the distal section (Sdist) of the support frame (Cha), in particular by an automated guided vehicle (VGA).11.Method for feeding new or re-turned rolls implemented by a support system according to one of claims 1 to 4, of a piece of equipment according to one of claims 5 to 8, or of a plant according to claim 9, wherein a distal length section (Sdist) of the support frame, opposite a proximal length section (Sprox) of the support frame, close to a roll stand, is fed with one or more new or re-turned work rolls (12) arranged on pairs of unmovable cradles (Bc) on the distal section (Sdist), in particular by an automated vehicle (VGA),and wherein the handling system is controlled to move the or each new or re-turned roll from the support position on the distal section (Sdist) into another support position of a pair of unmovable cradles on the proximal section (Sprox) of the support frame (Cha), in particular by implementing actions / a / to / g / when the system is in accordance with 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 work rolls of length L1 bear on the first pairs of cradles (BC1).13.Method for evacuating worn rolls implemented by a system according to claim 3, of a piece of equipment according to one of claims 5 to 8 comprising a system according to claim 3, or of a plant according to claim 9 comprising a system according to claim 3, wherein one or more worn first intermediate rolls (13) of length L2 rests on the support frame (Cha), the or each worn roll bearing on one of the second pairs of unmovable cradles (Bc2) over a proximal length section (Sprox) of the support frame, close to a roll stand of a roller (L), opposite a distal length section (Sdist) of the support frame,and wherein the handling system is controlled to move the or each worn roll from the support position on the proximal section into another support position of a pair of unmovable cradles on the distal section (Sdist) of the support frame,and wherein the one or more worn first intermediate rolls are evacuated from the distal section (Sdist) of the support frame (Cha), in particular by an automated guided vehicle (VGA).14.Method for feeding new or re-turned rolls implemented by a support system according to claim 3, of a piece of equipment according to one of claims 5 to 8 comprising a system according to claim 3, or of a plant according to claim 9 comprising a system according to claim 3, wherein a distal length section (Sdist) of the support frame, opposite a proximal length section (Sprox) of the support frame, close to a roll stand, is fed with one or more new or re-turned first intermediate rolls (13) arranged on the second pairs of unmovable cradles on the distal section, in particular by an automated vehicle (VGA), and wherein the handling system is controlled to move the or each new or re-turned first intermediate roll from the support position on the distal section (Sdist) into another support position of a second pair of unmovable cradles on the proximal section (Sprox).15.Method for feeding components of a 20-high rolling mill implemented by a piece of equipment according to claim 7, or a plant according to claim 9 comprising a piece of equipment according to claim 7, wherein the piece of equipment is fed with components of the rolling mill, in particular second intermediate rolls (14, 15), backup rollers or backup rolls (A, B, C, D, E, F, G, H), or spray headers, by implementing the following steps: / A3 / Moving the automated guided vehicle carrying said intermediate support (SI), / B3 / At least partially inserting the vehicle and said intermediate support (SI) into the free clearance on the first length section of the frame, / C3 / Lowering said intermediate support (SI) and depositing said intermediate support (SI) on the ground in the free clearance, / D3 / Evacuating the automated guided vehicle (AGV) from which said intermediate support has been unloaded, / E3 / Moving one or the vehicle carrying a rack supporting rolling mill components, such as rolls, backup rollers or headers (16), into a raised position, / F3 / Lowering the rack supporting the components until the rack is deposited on the intermediate support.

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