CN218775390U - Robotic system for a device for rolling a metal strip and rolling device - Google Patents
Robotic system for a device for rolling a metal strip and rolling device Download PDFInfo
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- CN218775390U CN218775390U CN202220936453.5U CN202220936453U CN218775390U CN 218775390 U CN218775390 U CN 218775390U CN 202220936453 U CN202220936453 U CN 202220936453U CN 218775390 U CN218775390 U CN 218775390U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B31/00—Rolling stand structures; Mounting, adjusting, or interchanging rolls, roll mountings, or stand frames
- B21B31/08—Interchanging rolls, roll mountings, or stand frames, e.g. using C-hooks; Replacing roll chocks on roll shafts
- B21B31/10—Interchanging rolls, roll mountings, or stand frames, e.g. using C-hooks; Replacing roll chocks on roll shafts by horizontally displacing, i.e. horizontal roll changing
- B21B31/103—Manipulators or carriages therefor
Abstract
The present disclosure relates to a robot system (1) and a rolling plant for a plant for rolling metal strips, said plant comprising a rolling mill (L) with roll holders and roll sets inside the holders, the roll holders having an entrance, possibly closed by a door system, said metal strips extending longitudinally in a horizontal direction X, extending transversely in a horizontal direction Y, the direction Y being parallel to the axes of the rolls of the rolling mill, said robot system (1) being adapted to ensure the operation of replacing the rolls of the rolling mill by taking out worn rolls from the roll holders of the rolling mill and placing them on a transversely arranged shelf, and/or inserting new or corrected rolls from the rolls placed in the shelf into the roll holders according to the present disclosure. The rolling facility includes a rolling mill and a robotic system according to the present disclosure.
Description
The present invention relates to a robotic loading and unloading system suitable for replacing the rolls of a rolling mill, and possibly the supporting roll groups of the rolling mill, or the spray ramps, and a rolling plant comprising such a robotic system.
Technical Field
More specifically, the field of the invention relates to an apparatus for performing maintenance operations on a twenty-High (20-High) type rolling mill. For example, twenty-high rolling mills are known from the previous US 5 193 377 and US 5 471 859. In such rolling mills, the rolls (and the groups of supporting rolls) are distributed in a lower group and in an upper group and according to a symmetrical arrangement with respect to the running plane of the metal strip to be rolled. For example, fig. 5 of document US 5 193 377 shows an upper group with a work roll, two first intermediate rolls, three second intermediate rolls and four groups of supporting rollers.
As the rolling campaign progresses, it is necessary to update the surface condition of the rolls of the rolling mill by opening the access doors of the stands of the rolling mill and removing the rolls from the stands of the rolling mill. After that, the rolls are straightened and then inserted again into the stands of the rolling mill.
Each set of supporting rollers generally comprises a supporting shaft, along which the rollers distributed are generally constituted by bearings. For this purpose, the inner ring of each bearing is mounted on a supporting shaft and the outer ring of the bearing is used to roll one, possibly two, adjacent rolls belonging to the second intermediate roll. The support roller set further includes a bracket having an arcuate body extending longitudinally along the length of the support shaft and a convex surface for receiving a concave seat of the mounting portion of the bracket. Each bracket also has an extension projecting from the concave surface of the body, crosswise to the support axis, distributed over the length of the axis, in particular between the rollers. Between the support shaft and these extensions there is also an eccentric ring, on which there is a pinion for meshing with a corresponding pinion or rack in the stand of the rolling mill. The pinion (or rack) therefore allows to drive the rotation of the supporting shaft and therefore, thanks to the eccentric ring, to position the supporting shaft and the roller wheel carried away from or close to the arc-shaped body of the bracket. Of course, these supporting roller sets also require maintenance, which is performed by removing the members from the bracket according to the axis of the supporting shaft.
The operation of extracting (or setting by insertion) the internal member (roll or supporting roll set) is generally carried out by means of a handling device fixed at the end of the member to be removed (i.e. at the end of the supporting shaft of the roll to be removed or of the supporting roll set to be removed), said handling device being equipped with a counterweight. The counterweight is used to balance the structure to be gripped by the crane of the crane bridge of the plant during handling and to keep it substantially horizontal, while the hook of the crane grips the hole in the equipment located between the counterweight and the gripped structure. During the extraction of the component (or conversely, during the setting of the component), the gripped component is rigidly fixed to the counterweight of the apparatus, which can oscillate at the lower end of the rope of the hoisting machine.
Background
During the extraction operation, the operator must be in the vicinity of the gripped member and, in order to guide the extraction (or setting) operation, it is particularly dangerous because the weight suspended from the crane bridle may undergo seesaw movements.
The operation of setting each group of supporting rollers on the stand of the rolling mill is also particularly cumbersome, since during the insertion of the group it is necessary to command:
-inserting the bracket into the mounting position of the stand according to the angular position, i.e. angularly aligning the bracket with the stand base of the rolling mill: this operation requires, for example, the upper set of rollers to hold the bracket up, and to oppose the force of gravity tending to tilt it down,
the support shaft, in particular the pinion fixed at its extremity, in order to correctly place the teeth of the pinion between the teeth of the drive pinion (or drive rack) of the rolling mill located at the bottom of the stand.
Nevertheless, a loading/unloading system based on the use of a standard "5-axis" robot arm is known from document JP1976454C, named Nippon Steel. In this case, the robotized arm is embedded in a carriage moving along the rail, parallel to the running plane of the strip, keeping the movement of the articulated arm in correspondence with the different stands of the rolling mill. The end of the arm is provided with a clamping system which can grab and lock the working roller at the end.
According to the applicant's observations, the use of standard mechanical arms for treating the rolls of a rolling mill has two main drawbacks, namely:
use of oversized robotic arms: it is necessary to use heavy arms, with considerable motors at the hinges of the arms, to resist the torque required to grip the member at the top, i.e. the rollers and/or the set of supporting rollers (because of their heavy weight, length),
there is considerable operating space during the loading/unloading operation: during the rotation of the robot arm, it is important that the gripping member (roller or set of supporting rollers) carried by the end of the robot arm sweep over the surface of the storage area and can only be considered when the space required by the factory is available.
Also known is a robotic system for a plant for rolling a metal strip, comprising a rolling mill with 20 rolls, said rolling mill comprising roll stands and roll stacks inside the stands, comprising two rolls for working the metal strip, eight back-up roll stacks, a first intermediate roll and a second intermediate roll, the roll stands having an entrance, closed by a door system, the metal strip extending longitudinally in a horizontal direction X, transversely in a horizontal direction Y, parallel to the axes of the rolls of the rolling mill.
Such a known robot system is shown in fig. 1 and 2.
According to the prior art robot, a robot system includes: robot Ro, comprising:
a carriage comprising a first frame Ch1 equipped with wheels cooperating with rails Ra1 set on the ground, extending along direction Y, aligned with the entrance of the stand of the rolling mill, said first frame being configured to move along the rails along direction Y under the action of first motor means driving the wheels,
a second frame Ch2 and a first sliding system connecting the second frame and the first frame, the first sliding system being configured to move the second frame in a direction X with respect to the first frame under the action of second motor means,
a third frame Ch3 and a second sliding system connecting the third frame and the second frame, the second sliding system being configured to move the third frame in a vertical direction Z with respect to the second frame under the action of a third motor means.
The gripping system is fixed on the third frame, such a robotic system according to the prior art being configured to ensure the extraction of the rollers by carrying out the following steps:
-aligning the gripping system with the axis of the roll Cy to be gripped by movement of the gripping system in the direction X by the second motor means and in the direction Z by the third motor means,
-gripping the rolls by means of a gripping system by advancing the carriage along the track,
-extracting the rolls from the stands of the rolling mill in direction Y by the recoil of the carriage along the trajectory under the action of the first motor means.
After the extraction of the rolls by the robot along the recoil of the track is finished, the extracted rolls are completely outside the stand of the rolling mill, with their axial direction parallel to the transverse direction Y. The rolls are then in an intermediate position in which they are located between the entrances to the stands of the rolling mill left by the door system on the one hand and the carriages of the robot on the other hand, as shown in figure 2.
In such prior art, the removal of the roll requires additional motor-driven equipment, including a motor-driven removal racking system, at least in the horizontal direction X, so that it can be positioned between the rolling mill and the robot. This rack system can also be moved in a motor-driven manner in the horizontal direction Y.
Thus, the rack system Rac may in turn comprise a carriage having a first frame Ch11 configured to move along a track Ra2 arranged parallel to the track Ra1 of the robot, laterally to the robot by means of a first motor, and a second frame Ch12 for loading/unloading racks of rollers, the second frame Ch12 being configured to move in the direction X with respect to the first frame Ch11 thanks to a sliding system between the second frame Ch12 and the first frame 11 and to the second motor.
As shown in fig. 2, the pallet is moved by the first frame along the trajectory Ra2 in the direction Y and then by the second frame in the direction X, cantilevered on the first frame to ensure that the robot unloads the rollers on the pallet, the movable pallet being positioned in an intermediate position between the rolling mill and the robot, under the action of the third motor means, when the rollers are still oriented in the direction Y.
According to the inventors' observation, the movable rack system is a device that obstructs a maintenance walkway, which extends along the entrance of the different rolling mills, along direction X. The racking system thus allows for the setting of the area between the rolling mill and the robot in order to enable the robot to deposit the extracted mill roll on the racking system, the mill roll still being guided in the transverse direction Y, or to enable the robot to retrieve one of the mill rolls on the racking and then to be guided in the transverse direction Y.
The possible movement of the racking system along the rail Ra2 in the direction Y moves the racking system away from the rolling mill, thereby facilitating the grabbing of the rolls on the racking by the bridge crane.
Such a robot system is generally used to ensure the removal of the rolls of a twenty-high rolling mill, in particular the work roll, the first intermediate roll and the second intermediate roll.
However, according to the applicant's knowledge, such a robotized arm according to this prior art does not allow to replace eight groups of supporting rollers of the rolling mill evacuated or brought about:
according to the procedure with counterweight described previously, bridging is performed directly or continuously by means of a crane, which is particularly dangerous for the operators on the ground;
or by placing a pallet directly on the bridge between the rolling mill and the robotic system, the pallet being intended to receive a specific number of groups of supporting rollers of the rolling mill or to carry a new group of supporting rollers. The robotic system simply pulls the set of support rolls out of the mill, slides them up the movable shelf onto the bridge, or pushes a new set of support rolls on the movable shelf onto the mill.
The procedure of bringing such a movable pallet loaded with sets of supporting rollers into or out of the bridge between the robot system and the rolling mill is also particularly dangerous for the operators on the ground.
SUMMERY OF THE UTILITY MODEL
The present disclosure allows to improve this situation.
According to a first aspect, the present disclosure relates to a robotic system for a plant for rolling a metal strip, said plant comprising a rolling mill having a roll stand and a roll stack inside the stand, the rolls comprising two work rolls, back-up rolls or back-up rolls, and possibly also intermediate rolls, in particular a first intermediate roll and a second intermediate roll, the roll stand having an entrance, possibly closed by a door system, the metal strip extending longitudinally in 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,
and wherein said robot system is adapted to ensure the operation of replacing the rolls of the rolling mill by removing worn rolls from the roll stands and/or inserting new or corrected rolls into the roll stands, the robot system comprising: robot (Ro), comprising:
a carriage having a first frame carrying wheels cooperating with rails provided on the ground, extending in the direction Y, aligned with the entrances of the roll stands, the first frame being configured to move in the direction Y of the rails under the action of the wheels driven by first motor means,
a second frame and a first sliding system connecting the second frame and the first frame, the first sliding system being configured to move the second frame in the direction X with respect to the first frame under the action of second motor means,
-a third frame and a second sliding system connecting the third frame and the second frame, the second sliding system being configured to move the third frame in a vertical direction Z with respect to the second frame under the action of third motor means.
According to the present disclosure, the robot system according to the first aspect includes:
a fourth frame and a rotary guide connecting the fourth frame and the third frame about a vertical rotation axis, the rotary guide being configured for driving the fourth frame in rotation with respect to the third frame under the action of a fourth motor means,
a gripping system embedded on the fourth frame, the gripping system having an actuator configured to control the gripping of the locking and unlocking of the joint fixed on the rolling roll, or of the gripping system of the rolling mill's rolling roll,
and wherein the robotic system is configured to ensure extraction of the roll by grasping a joint fixed on the roll or grasping the roll by a gripping system locked by the grasping system and to place the roll laterally on the track after pivoting the roll by rotation of the fourth frame relative to the third frame about a vertical axis of rotation.
According to optional features of the first aspect, considered alone or in combination:
the gripping system can be hinged to the fourth frame along a second horizontal hinge axis perpendicular to the vertical rotation axis between the fourth frame and the third frame, called first rotation axis and perpendicular to the axis of the rolls gripped by the gripping system, the robotic system comprising motor means, in particular fifth motor means, configured to set the inclination of the gripping system, and thus of the gripped rolls, by rotation of the gripping system about the second rotation axis.
The gripping system may comprise a tubular frame inside which there are locking/unlocking means, by motor means, in particular sixth motor means, the tubular frame being pivotally mounted by bearings about a rotation axis for being parallel to and possibly coinciding with the axis of the gripped roll, and wherein the locking/unlocking means comprise an actuator comprising motor means configured to switch the locking means from a state of locking the joint to a state of unlocking the joint.
According to a second aspect, the present disclosure relates to a rolling plant comprising the above-mentioned robot system and a rolling mill having a roll stand and a roll set inside the stand, the rolls comprising two work rolls, back-up rolls or back-up rolls, and possibly also intermediate rolls, in particular a first intermediate roll and a second intermediate roll, the roll stand having an entrance, possibly closed by a door system, the metal strip Bm extending longitudinally in 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;
and wherein the apparatus comprises a loading/unloading rack movably mounted on a support frame, which is fixed on the ground at an anchoring position at a distance from said rolling mill in a horizontal direction Y and is fixed transversely to said rails, along a direction X along the entry of the rolling mill to clear the maintenance aisle, the rack on the support frame having a housing oriented in the direction X, and wherein, after rotation of the fourth frame relative to the third frame about a vertical rotation axis, the robot system is configured to place the rolling rolls on the loading/unloading rack on the support frame, which are then oriented in the direction X.
According to optional features of the second aspect, considered alone or in combination:
the length of the support frame in direction Y is greater than the dimension of the at least one shelf, direction Y then being perpendicular to the axis of the housing of the at least one shelf, the support frame being configured to support a plurality of shelves distributed at different positions along direction Y over the length of the support frame,
the support frame comprises a first support and a second support, respectively fixed on the ground in parallel along direction Y, and wherein at least one shelf is configured to support the support frame by bearings by resting on the first support and the second support at two opposite edges of the shelf at the same time, and wherein the first support and the second support of the support frame leave a free intermediate gap between them, the shelf being for example a stand without rollers for receiving worn rollers removed by the robotic system and/or a stand comprising new (or corrected) rollers in its housing for gripping by the robotic system and inserting into the stand of the rolling mill when the vehicle places the shelf on the support frame, the free intermediate gap being configured to be crossed by a shelf-handling vehicle, in particular a self-guided vehicle.
According to a second embodiment of the second aspect, the rolling mill is a twenty-high rolling mill, having, with respect to the plane of the metal bar to be rolled:
two work rolls, comprising an upper work roll and a lower work roll,
four first intermediate rolls comprising two upper first intermediate rolls in contact with the upper work roll and two lower first intermediate rolls in contact with the lower work roll,
-six second intermediate rolls comprising three upper second intermediate rolls in contact with two upper first intermediate rolls and three lower second intermediate rolls in contact with two lower first intermediate rolls,
eight sets of supporting rollers, each set being provided with a bracket fixed to the frame, comprising four sets of upper rollers with bearings for the three upper second intermediate rollers and four sets of lower rollers with bearings for the three second intermediate rollers,
and wherein the robot system is configured to replace the roll-sets of the rolling mill, i.e. the two working rolls, the four first intermediate rolls, the six second intermediate rolls and the eight groups of supporting rolls, by placing them on one or more shelves located at anchoring positions of a support frame fixed to the ground.
Also in accordance with an embodiment of this second aspect, the rolling mill has a spray ramp comprising two upper spray ramps and two lower spray ramps, and wherein the robotic system is configured to replace the spray ramps.
According to a third aspect, the present disclosure relates to a roll extraction method implemented in a rolling plant according to the second aspect, wherein the extraction of the roll is performed by gripping a fitting fixed to the roll by a gripping system, or gripping the roll by a gripping system locked by the gripping system, comprising:
a 1/moving the gripping system in the direction X by the action of the second motor means and in the direction Z by the action of the third motor means, so as to align the gripping system and/or the gripping system (6) with the axis of the roll to be gripped,
andb 1/gripping the rolls by a gripping system or a gripping system fixed to the gripping system, after the carriage has advanced along the trajectory in the direction Y, under the action of first motor means,
c 1/withdrawing the rolls from the stand of the rolling mill in the direction Y by recoil of the carriage along the trajectory under the action of the first motor means,
andd 1/turning the extracted rolls by a quarter turn around the vertical axis of rotation by fourth motor means and lowering the rolls by a quarter turn by third motor means to ensure their placement on the loading/unloading shelves placed transversely to the displacement zones of the rails and carriages,
c 1/release the roll in the direction X by the recoil of the gripping system under the action of the second motor means.
According to a fourth aspect, the present disclosure relates to a roll insertion method implemented in the above rolling plant, characterized in that the insertion of the roll is performed by gripping the joint fixed on the roll by a gripping system or gripping the roll by a gripping system locked by the gripping system, comprising:
a 2/by moving the gripping system in direction Y under the action of the first motor means and in direction Z under the action of the third motor means, so as to align the gripping system and/or the gripping system with the axis of the roll to be gripped on the loading/unloading shelf,
andd 2/by moving the gripping system in direction X under the action of the second motor means and in direction Z under the action of the third motor means, so as to align the axes of the rolls in alignment positions on the stand of the rolling mill,
-/f 2/release the roll in the direction Y by the recoil of the robot under the action of the first motor means.
Drawings
Other features, details, and advantages will become apparent upon reading the following detailed description and analyzing the accompanying drawings, in which:
fig. 1 is a schematic view of a rolling plant comprising a rolling mill with 20 rolls, and a robotic system known in the art comprising a carriage movable along a first trajectory, and a pallet with a first frame movable along a second trajectory, parallel to the trajectory of the robot, substantially movable along a transverse direction Y, and vertically movable thanks to a second frame movable in a direction X with respect to the first frame.
Fig. 2 is a schematic view showing the removal of a roll extracted from a rolling mill by the recoil of a ram and its placement on a movable stand between the rolling mill and a robot.
Fig. 3 is a view of a rolling mill according to the present disclosure, the gripping system of the robot being equipped with a gripping system for gripping the work rolls.
Fig. 4 is a view of a rolling mill according to the present disclosure with the gripping system of the robot locking the joint fixed to the second intermediate roll.
Fig. 5 is a sectional view showing the second intermediate roll and its joint.
Fig. 6 is a cross-sectional view showing the robot gripping the second intermediate roll on the stand of the rolling mill according to a vertical plane parallel to the plane YZ.
Fig. 7 is a perspective view of the robot when the gripping system holds a set of support rollers.
Fig. 8 is a view of the robot of fig. 7 according to a partial section.
Fig. 9 is a cross-sectional view of the grasping system according to a vertical plane.
Fig. 10 is a cross-sectional view of the robot showing the actuator groups of the robot.
Fig. 11 is a schematic sectional view of a twenty high rolling mill with rolls distributed into lower and upper groups, each group comprising ten rolls including one work roll, two first intermediate rolls, three second intermediate rolls and four sets of back-up rolls.
Detailed Description
The drawings and the following description contain, for the most part, elements of a particular nature. They may therefore not only help to better understand the present invention, but also, where appropriate, help to define it.
The present disclosure thus relates to a robotic system 1 for a plant for rolling metal bars.
The device for rolling comprises a rolling mill L with a roll stand and a roll stack inside the stand, comprising two working rolls, optionally back-up rolls or back-up rollers a, B, C, D, E, F, G, H, and possibly intermediate rolls, in particular a first intermediate roll 13 and a second intermediate roll 14, 15.
The mill may be a twenty high mill with 20 rolls. As shown in fig. 11, these rolls are distributed in a lower group Gi and an upper group Gs; more precisely, these groups Gi and Gs have a symmetrical arrangement, each group comprising ten rolls, which is a work roll 12, two first intermediate rolls 13, three second intermediate rolls 14, 15 and four back-up rolls, or back-up roll groups outside the arrangement, denoted a, B, C and D for the upper group Gs and E, F, G and H for the lower group Gi.
The roll stand has an entrance, possibly closed by a door system, and the metal strip Bm extends longitudinally in a horizontal direction X and transversely in a horizontal direction Y, the Y direction being parallel to the axis of the rolls of the rolling mill.
The robot system 1 is adapted to ensure the operation of replacing the rolls of the rolling mill by extracting worn rolls from the stands of the rolling mill and/or inserting new (or corrected) rolls into the roll stands. The robot system comprises a robot Ro comprising:
a carriage having a first frame 2, the first frame 2 carrying wheels 20, the wheels 20 cooperating with rails Ra1 provided on the ground, extending along direction Y, aligned with the entrances of the roll stands, the first frame 2 being configured to move along direction Y of rails Ra1 under the action of first motor means M1 driving the wheels 20,
a second frame 3 and a first sliding system G1 connecting the second frame 3 with the first frame 2, the first sliding system G1 being configured to move the second frame 3 with respect to the first frame 2 along the direction X under the action of second motor means M2,
a third frame 4 and a second sliding system G2 connecting the third frame 4 and the second frame 3, the second sliding system G2 being configured to move the third frame 4 in a vertical direction Z with respect to the second frame 3 under the action of third motor means M3.
It is worth noting that the robot system further comprises a fourth frame 5, and rotation guide means connecting the fourth frame and the third frame around a vertical rotation axis Av, configured to drive the fourth frame 5 in rotation with respect to the third frame 4 under the action of fourth motor means M4, and a gripping system 6 embedded on the fourth frame 5.
The gripping system 6 may have an actuator configured to control the gripping of the locking and unlocking of the joints Eb fixed on the rolls. Alternatively, the gripping system is configured to grip a joint of a gripping system of a roll of the rolling mill. For example, the clamping system may be a tool suitable for replacing the working rolls described in patent application FR 2002381 filed by the applicant on 3/10/2020.
According to the present disclosure, the robotic system 1 is configured to ensure the extraction of the rolling rolls by gripping the joints fixed to the rolling rolls, or by gripping the rolling rolls by a gripping system locked by the gripping system, preferably placing the rolling rolls on the shelves Ra laterally with respect to the trajectory Ra1, after pivoting the rolling rolls by rotation of the fourth frame 5 with respect to the third frame 4 about the vertical rotation axis Av generated by the fourth motor means M4. When the nip rollers are placed on the shelf Ra by the robotic system, the nip rollers extend longitudinally in direction X.
Possibly, the gripping system 6 can be hinged to the fourth frame 5 along a second horizontal articulation Ah, perpendicular to the vertical rotation axis Av between the fourth frame 5 and the third frame 4, called first rotation axis and perpendicular to the axis of the rolls gripped by the gripping system. The robot system comprises fifth motor means M5 configured to set the inclination of the gripping system 6, and thus of the gripped roll, by rotation of the gripping system about the second axis of rotation Ah.
This adjustment possibility provided by the second horizontal rotation axis Ah and the fifth motor means M5 makes it possible to adjust the inclination of the gripped roll when removing or inserting the rolling mill stand. The inclination is adjusted in such a way that the gripped roll is parallel to the axes of the other rolls. This adjustment prevents the collision and/or marking of the extracted roll by the robotic system during its extraction or insertion into the mill stand.
Thus, when a roll is removed (or inserted) in the rolling mill, the roll is oriented according to the direction Y maintained by the gripping system 5 at the end of the entrance side of the rolling mill.
The 90 ° rotation of the rolls around the vertical rotation axis Av (called first rotation axis) makes it possible to place the rolls on the pallets Ra arranged transversely on the robotic system, in particular transversely on the rails Ra 1. Thus, a rolling mill according to the present disclosure is not configured as a motorized stand system positioned between a robotic system and a rolling mill, as opposed to the prior art shown in fig. 1 and 2.
The shelf is preferably arranged on a support frame Cha, leaving a maintenance channel AL along the rolling mill entrance, in the direction X, which continues between the support frame Cha and the rolling mill stand.
In particular, the apparatus may comprise at least one loading/unloading rack Ra, more preferably positioned as a simple bearing on a support rack Cha.
Said support frame Cha is preferably fixed to the ground in an anchoring position at a distance from the rolling mill in a horizontal direction Y, along the entry of the rolling mill a maintenance access AL is cleared in direction X. It is further noted that the supporting frame Cha is arranged transversely on a rail Ra1 along which the carriage of the robot system moves.
Advantageously, the robot system is configured to store the gripped roller, once it has been pivoted by 90 ° by the fourth motor M4 with respect to the position of the roller during extraction, in a loading/unloading shelf Ra resting on the support shelf Cha in its anchoring position.
The at least one shelf Ra is configured as a detachable part of a support rack Cha. The pallet is preferably operated by a Vehicle, such as an Automatic Guided Vehicle (AGV), or alternatively by the crane of a crane of a rolling mill.
In particular, the at least one shelf may comprise:
a (first) shelf configured for supporting the work rolls 12,
a (second) shelf configured for supporting the first intermediate roll 13,
a (third) shelf configured for supporting the second intermediate rolls 14, 15,
-a (fourth) shelf configured for supporting the set of bearing rollers a, B, C, D, E, F.
The different racks, in particular the first, second, third and fourth rack, more preferably each have a plurality of housings (or baskets) substantially parallel to each other. The diameter of the housing (or basket) is adapted to the roll (or set of supporting rolls) to be collected.
The diameter of the outer shell (or basket) is completely or partly different between the first, second, third and fourth racks. The casing (or basket) of the at least one shelf Ra is oriented in direction X when it rests on the support Cha.
The supporting frame Cha includes a first supporting member Cha1 and a second supporting member Cha2, which are respectively fixed on the ground in parallel along the direction Y. The at least one shelf Ra is configured to support the support frame Cha by bearings by resting on the first support Cha1 and the second support Cha2 at two opposite edges of the shelf Ra at the same time.
The support rack Cha preferably has a length, in the direction Y, which is greater than the dimension of the at least one shelf. The direction Y extends in a horizontal direction perpendicular to the axis of the housing of the pallet.
The support rack Cha is then advantageously configured to be able to support a plurality of shelves distributed on the frame in different positions along the direction Y. For example, in fig. 3, the first support Cha1 and the second support Cha2 of the support frame Cha simultaneously support three (first) racks that receive the work rolls 12 in the direction Y. Likewise, as in fig. 4, the supporting frame Cha (in particular the first and second supports) respectively support two (first) shelves receiving the working rolls 12, one (second) shelf receiving the first intermediate rolls 13, and one (third) shelf receiving the second intermediate rolls 14, 15.
It is further noted that a free intermediate gap is left between the first support Cha1 and the second support Cha2 of the support frame, through which gap a rack truck, in particular an automatic guided vehicle (abbreviated to "AGV"), can pass when placing a rack on the support frame Cha or, conversely, when removing a rack. Such a handling vehicle positions itself between the first support and the second support during the placing of the rack by lowering the lifting member of the vehicle to place the rack on the support frame Cha. During removal of the pallet, the vehicle positions itself under the handling pallet as a simple bearing on the support frame, then the vehicle is between the first and second supports and lifted using the lifting member.
The rack truck may in particular store (first, second, third or fourth) racks without rollers for receiving worn rollers removed by the robot system, and/or (first, second, third or fourth) racks comprising new (or corrected) rollers in their housings for gripping by the robot system for inserting the roller holders.
Thus, when the rolling mill is a twenty-high rolling mill, with respect to the plane of the metal strip to be rolled there are:
two work rolls 12, comprising an upper work roll and a lower work roll,
four first intermediate rolls 13, comprising two upper first intermediate rolls, in contact with the upper work roll, and two lower first intermediate rolls, in contact with the lower work roll,
six second intermediate rolls 14, 15 comprising three upper second intermediate rolls in contact with two upper first intermediate rolls and three lower second intermediate rolls in contact with two lower first intermediate rolls,
eight sets of supporting rollers, each set being provided with brackets fixed to the frame, comprising four sets of upper rollers a, B, C, D carrying three upper second intermediate rollers, and four sets of lower rollers E, F, G, H carrying three second intermediate rollers,
the robot system can then advantageously be configured to replace the roll stacks of the rolling mill, i.e. the two work rolls 12, the four first intermediate rolls 13, the six second intermediate rolls 14, 15 and the eight groups of supporting rolls a to H, by depositing them on one or more pallets Ra located in the anchoring position of a support frame Cha fixed to the ground.
The rolling mill L may further have a spray ramp comprising two upper spray ramps and two lower spray ramps; the robotic system may then be configured to replace the spray ramp by grabbing a joint at the end of the spray ramp.
According to one embodiment, the gripping system 6 may comprise a tubular frame 60, inside the tubular frame 60 there being locking/unlocking means 7, the tubular frame 60 being pivotally mounted by motor means M6, in particular sixth motor means, about an axis of rotation by bearings 61, 62 for being parallel to, and possibly coinciding with, the axis of the gripped roll.
The locking/unlocking means 7 may further comprise (seventh) motor means M7 configured to switch the locking means from the state of locking the joint Eb to the state of unlocking the joint. For example, locking may be achieved by displacement of jaws of a wedge effect clamping joint.
The sixth motor means M6 make it possible to ensure the adjustment of the orientation of the set of supporting rollers (or spray ramp) about an axis parallel to the direction Y. For example, the set of backup rolls (or spray ramp) cannot be inserted into the roll stand in any orientation.
For example, the set of supporting rollers is rotated relative to the socket by an eccentric, driven by a shaft carrying the receiving pinion. The teeth of this pinion must engage with the teeth of the drive pinion in the roll stand. The set of support rollers is rotatably mounted relative to a bracket which must engage in a specific direction in a receiving area of the roller stand.
The sixth motor means 6 then make it possible to pivotally support the set of rollers by means of a movable support frame (not shown), comprising brackets that can be locked in rotation with the rollers.
The robotic system according to the present disclosure is configured to implement a method of extraction of a roll, wherein the extraction of the roll (and possibly also the supporting roll set or spray ramp) is performed by gripping the joint Eb fixed to the roll by a gripping system 6, or gripping the roll by a gripping system locked by the gripping system, comprising:
a 1/by moving the gripping system in direction X under the action of the second motor means M2 and in direction Z under the action of the third motor means M3, so as to align the gripping system and/or gripping system 6 with the axis of the roll to be gripped,
-/b 1/after the carriage has been advanced in the direction Y along the path Ra1 by the action of the first motor means M1, the roll is gripped by means of a gripping system or gripping system fixed to the gripping system, in particular by the action of the seventh motor means M7, the joint is locked by means of the locking means 7,
c 1/withdrawing the rolls from the roll stands in direction Y by the recoil of the carriage along the trajectory under the action of the first motor means M1,
-/d 1/a quarter turn around the vertical axis of rotation Av, under the action of the fourth motor means M4, and lowering the quarter turn rolls, under the action of the third motor means M3, to ensure placement on the loading/unloading shelves, transversely to the displacement zones of the rails and carriages,
c 1/release of the roll in the direction X by the recoil of the gripping system after the unlocking of the locking/unlocking means 7 by the second motor means M2, in particular by the seventh motor means M7.
The robotic system according to the present disclosure is configured to implement a roll insertion method of a rolling plant according to the present disclosure, wherein the insertion of a roll (and possibly also a supporting roll set or a spray ramp) is performed by gripping a joint fixed on the roll by a gripping system, or gripping the roll by a gripping system locked by the gripping system, comprising:
a 2/by moving the gripping system 6 in the direction Y under the action of the first motor means M1 and moving the gripping system 6 in the direction Z under the action of the third motor means M3, so as to align the gripping system and/or the gripping system 6 with the axis of the roll to be gripped on the loading/unloading shelf Ra,
-/b 2/by means of the second motor means M2, in particular by means of the seventh motor means M7, the rolls are gripped by means of the gripping system or by means of a gripping system fixed to the gripping system after the carriage has been advanced along the track in the direction X, the joint is locked by means of the locking means 7,
andd 2/moving the gripping system in the direction X by the action of the second motor means M2 and in the direction Z by the action of the third motor means M3, aligning the axes of the rolls in the alignment position of the roll holders,
-/e 2/advancing the carriage in the direction Y by the action of the first motor means M1, inserting the roll in the aligned position in the roll holder,
-/f 2/the roll is released by the recoil of the robot in the direction Y under the action of the first motor means M1, in particular under the action of the seventh motor M7 after the locking device 7 has unlocked the joint.
Industrial applications
The solution can be applied in particular to cold rolling plants, in particular rolling plants comprising one or more rolling mills, in particular twenty-high rolling mills.
The robotic system according to the present disclosure makes it possible to replace the work rolls 12, possibly also the first and second intermediate rolls 13, 14, 15, possibly even the bearing roller sets a, B, C, D, E, F, G, H, or also the spray ramps by increasing the safety of the operators.
The arrangement of said at least one shelf on the support frame at a distance in the transverse direction Y from the rail transversely makes it possible to leave free a maintenance channel AL which can extend continuously along the rolling mill when each rolling mill is provided with a robotic system according to the present disclosure.
List of reference numerals
Fig. 1 and 2 (prior art):
bm, metal strips;
cy, rolling;
l, rolling;
ro, robot;
ra1, rail (robot);
ch1, first frame (robot);
ch2, second frame (robot);
ch3, third frame (robot);
rac, shelf system;
ra2, rail (shelf);
ch11, a first framework;
ch12, a second framework;
fig. 2 to 10: the utility model discloses
L, rolling by using a rolling mill;
1. a robotic system;
ro, robot;
ra1, a track along direction Y;
2. a first frame;
20. a wheel;
m1, first motor means (moving the carriage according to direction Y);
3. a second frame;
g1, a first sliding system along direction X (between the second and first frames);
m2, second motor means (moving the carriage according to direction X);
4. a third frame;
g2, a second sliding system along the direction Z;
m3, third motor means (third frame moving along second sliding system in direction Z);
5. a fourth frame;
av, a vertical rotation axis (between the fifth frame and the fourth frame), referred to as a first rotation axis;
m4, a fourth motor means (pivoting of the fourth frame relative to the third frame about a vertical rotation axis);
ah. A horizontal rotation shaft between the grasping system and the fourth frame;
m5, a fifth motor device (the grabbing system rotates around a horizontal rotating shaft, so that the inclination of the roller grabbed by the grabbing system can be adjusted);
6. a grasping system;
60. a tubular frame;
7. a locking/unlocking device;
m6, a sixth motor device (the roller grabbed by the grabbing system rotates around the axis or the parallel axis of the roller);
m7, a seventh motor means (locking/unlocking means);
FIG. 11: arrangement of twenty-high rolling mill
Gi, gs, upper group and lower group respectively;
12. a working roll;
13. a first intermediate roll;
14 15, a second intermediate roller;
a, B, C and D are four supporting rollers or supporting roller groups of the upper group respectively;
e, F, G, H, four back-up rolls or back-up roll groups, respectively, of the next group.
Claims (8)
1. Robotic system for a plant for rolling a metal strip, the plant comprising a rolling mill (L) having a roll stand and a set of rolls inside the stand, the set of rolls comprising two work rolls (12), back-up rolls or back-up rollers (A, B, C, D, E, F, G, H), the roll stand having an entrance, the metal strip (Bm) extending longitudinally in 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,
and wherein the robot system (1) is adapted to ensure the operation of replacing the rolls of the rolling mill by extracting worn rolls from the stands of the rolling mill and/or inserting new or corrected rolls into the stands of the rolling mill, the robot system comprising: a robot (Ro), comprising:
-a carriage having a first frame (2), said first frame (2) being equipped with wheels (20), said wheels (20) cooperating with rails (Ra 1) provided on the ground, extending along a direction Y, aligned with the entrance of the stand of the rolling mill, said first frame (2) being configured to move along the direction Y of said rails (Ra 1) under the action of first motor means (M1) driving said wheels (20),
-a second frame (3) and a first sliding system (G1) connecting the second frame (3) with the first frame (2), the first sliding system (G1) being configured to move the second frame (3) in a direction X with respect to the first frame (2) under the action of second motor means (M2),
-a third frame (4) and a second sliding system (G2) connecting the third frame (4) with the second frame (3), the second sliding system (G2) being configured to move the third frame (4) in a vertical direction Z with respect to the second frame (3) under the action of third motor means (M3),
characterized in that said robot (Ro) comprises:
-a fourth frame (5), and rotation guide means connecting said fourth frame with said third frame about a vertical rotation axis (Av), said rotation guide means being configured for driving said fourth frame (5) in rotation with respect to said third frame (4) under the action of fourth motor means (M4),
-a gripping system (6) embedded on said fourth frame (5), said gripping system (6) having actuators configured to control the gripping of the locking and unlocking of the nipples (Eb) fixed on the rolling rolls, or of the gripping system of the rolling rolls of the rolling mill,
and wherein the robotic system (1) is configured to ensure the extraction of the rolls by gripping the joints fixed on the rolls or by gripping the rolls by a gripping system locked by said gripping system and to place them laterally on said rails after pivoting them by rotation of said fourth frame (5) with respect to said third frame (4) about said vertical rotation axis (Av).
2. Robot system according to claim 1, characterized in that the gripping system (6) is hinged to the fourth frame along a second horizontal articulation (Ah) perpendicular to the vertical rotation axis (Av) between the fourth frame (5) and the third frame (4), called first rotation axis and perpendicular to the axes of the rolls gripped by the gripping system, the robot system comprising motor means configured to set the inclination of the gripping system (6), and thus of the gripped rolls, by rotation of the gripping system around the second rotation axis.
3. Robot system according to claim 1 or 2, characterized in that the gripping system (6) comprises a tubular frame (60), inside the tubular frame (60) there being a locking/unlocking device (7), by means of which motor means the tubular frame (60) is pivotally mounted around a rotation axis by means of bearings (61, 62) for being parallel to the axis of the gripped roll, and wherein the locking/unlocking device (7) comprises an actuator comprising motor means configured to switch the locking device from a state locking the joint to a state unlocking the joint.
4. A rolling plant, comprising:
-a rolling mill having a stand and, inside the stand, a roll set comprising two working rolls (12), back-up rolls or back-up rolls (a, B, C, D, E, F, G, H), the roll stand having an entrance, the metal strip (Bm) extending longitudinally in 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;
characterized in that said rolling mill plant comprises a robot system (1) according to any one of the preceding claims, adapted to ensure the operation of replacing the rolls of a rolling mill,
and wherein the rolling mill plant comprises a loading/unloading shelf (Ra) movably mounted on a supporting frame (Cha) fixed on the ground in the horizontal direction Y at an anchoring position at a distance from the rolling mill and transversally fixed to the rail (Ra 1), along a direction X, along an entry of the rolling mill to clear a maintenance Access (AL), and wherein, after the rotation of the fourth frame (5) with respect to the third frame (4) around the vertical rotation axis (Av), the robotic system is configured to place the rolling rolls on the loading/unloading shelf (Ra) on the supporting frame (Cha), with the rolling rolls then oriented in the direction X.
5. A rolling plant according to claim 4, characterized in that the length of the supporting shelf (Cha) in direction Y is greater than the dimension of at least one shelf (Ra), direction Y then being perpendicular to the axis of the housing of said at least one shelf (Ra), the supporting shelf (Cha) being configured to support a plurality of shelves distributed in different positions in direction Y over the length of the supporting shelf (Cha).
6. A rolling plant according to claim 4 or 5, characterized in that said supporting shelf (Cha) comprises a first support (Cha 1) and a second support (Cha 2), respectively, fixed on the ground in parallel along direction Y, and wherein said at least one shelf (Ra) is configured to support said supporting shelf (Cha) by bearings by resting simultaneously on said first and second supports at two opposite edges of the shelf (Ra), and wherein the first (Cha 1) and second (Cha 2) supports of the shelf leave a free intermediate gap between them, which is a shelf without rollers for receiving worn rollers removed by the robot system and/or a shelf comprising new or corrected rollers in its shell for gripping by the robot system into the stands of the rolling mill when the vehicle places the shelf on the supporting shelf (Cha), the intermediate gap being configured to be passed through by a handling vehicle, in particular a self-guided vehicle.
7. A rolling plant according to claim 4 or 5, characterized in that said rolling mill is a twenty-high rolling mill, having, with respect to the plane of the metal bar to be rolled:
-two work rolls (12) comprising an upper work roll and a lower work roll,
-four first intermediate rolls (13) comprising two upper first intermediate rolls in contact with the upper work roll and two lower first intermediate rolls in contact with the lower work roll,
-six second intermediate rolls (14, 15) comprising three upper second intermediate rolls in contact with two upper first intermediate rolls and three lower second intermediate rolls in contact with two lower first intermediate rolls,
eight sets of supporting rollers, each set being provided with a bracket fixed to the frame, comprising four sets of upper rollers (A, B, C, D) carrying three upper second intermediate rolls, and four sets of lower rollers (E, F, G, H) carrying three second intermediate rolls,
and wherein the robotic system is configured to replace the roll-sets of the rolling mill, i.e. the two work rolls, the four first intermediate rolls, the six second intermediate rolls and the eight groups of back-up rolls, by placing them on one or more pallets (Ra) located in anchoring positions of a supporting frame (Cha) fixed on the ground.
8. A rolling plant according to claim 7, characterized in that the rolling mill (L) has a spray ramp, comprising two upper spray ramps and two lower spray ramps, and wherein the robotic system is configured to replace the spray ramps.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR2104141A FR3122108B1 (en) | 2021-04-21 | 2021-04-21 | Rolling mill robotic system |
| FR2104141 | 2021-04-21 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218775390U true CN218775390U (en) | 2023-03-31 |
Family
ID=76730716
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210420517.0A Pending CN115213232A (en) | 2021-04-21 | 2022-04-21 | Robot system for rolling mill |
| CN202220936453.5U Active CN218775390U (en) | 2021-04-21 | 2022-04-21 | Robotic system for a device for rolling a metal strip and rolling device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210420517.0A Pending CN115213232A (en) | 2021-04-21 | 2022-04-21 | Robot system for rolling mill |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP4326452A1 (en) |
| CN (2) | CN115213232A (en) |
| FR (1) | FR3122108B1 (en) |
| WO (1) | WO2022223927A1 (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH464787A (en) | 1968-02-22 | 1968-10-31 | Landis & Gyr Ag | Container for casting resin |
| JPH07201B2 (en) * | 1986-08-19 | 1995-01-11 | 新日本製鐵株式会社 | Rolling roll replacement method |
| US5193377A (en) | 1991-08-23 | 1993-03-16 | T. Sendzimir, Inc. | Crown adjustment systems on cluster mills |
| US5471859A (en) | 1992-07-20 | 1995-12-05 | T. Sendzimir, Inc. | Cluster mill crown adjustment system |
| CN102601120B (en) * | 2012-03-23 | 2015-07-29 | 高宇笙 | The automatic roll change of milling train and adjusting device and method of operating thereof |
| EP3441327A1 (en) * | 2017-08-09 | 2019-02-13 | Air Vol, S.A. | Overhead travelling stacker crane |
| FR3095140B1 (en) * | 2019-04-16 | 2021-05-14 | Redex | ROLLER CYLINDER HANDLING DEVICE |
-
2021
- 2021-04-21 FR FR2104141A patent/FR3122108B1/en active Active
-
2022
- 2022-04-20 EP EP22722868.1A patent/EP4326452A1/en active Pending
- 2022-04-20 WO PCT/FR2022/050742 patent/WO2022223927A1/en active Application Filing
- 2022-04-21 CN CN202210420517.0A patent/CN115213232A/en active Pending
- 2022-04-21 CN CN202220936453.5U patent/CN218775390U/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022223927A1 (en) | 2022-10-27 |
| FR3122108A1 (en) | 2022-10-28 |
| CN115213232A (en) | 2022-10-21 |
| FR3122108B1 (en) | 2023-06-16 |
| EP4326452A1 (en) | 2024-02-28 |
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