CN221158063U - Metal strip rolling mill device - Google Patents

Abstract

The utility model relates to a metal strip rolling mill arrangement comprising a rolling mill (L) having a roll stand and a set of rolls in the stand, said arrangement comprising a robot system (1) adapted to perform a rolling mill roll change operation, and wherein the arrangement comprises a gripping tool change library (MAG) comprising in a storage area: -a first gripping tool configured for inserting and extracting the work rolls, -a second gripping tool configured for inserting and extracting the first intermediate rolls, -a third gripping tool configured for inserting and extracting the second intermediate rolls, and-a fourth gripping tool configured for inserting and extracting the roll stack.

Description

Metal strip rolling mill device

The present disclosure relates to a rolling mill arrangement comprising a 20-roll mill, a robotic system configured for taking out rolls from a roll stand and rolling mill or inserting rolls into a stand, and a gripper tool change library comprising a set of gripper tools dedicated to the nature of gripper assemblies in the roll stand, in particular four gripper tools for gripping a working roll, a first intermediate roll, a second intermediate roll and a set of support rolls of the 20-roll mill, respectively.

The robotic system is configured to selectively automatically couple with a particular tool according to an assembly (roll or backup roll set) to be grasped in the roll stand, the assembly consisting of at least one work roll, a first intermediate roll, a second intermediate roll, and a backup roll set, or further comprising at least one ground boom.

Technical Field

The field of the utility model relates more particularly to equipment for performing maintenance operations on a 20-roll mill (also known as a "20-roll mill"). For example 20 roll mills known from the prior art US 5193377 and US 5471859. In such rolling mills, the rolls (and the set of support rolls) are divided into a lower set and an upper set and are arranged symmetrically to the conveying plane of the metal strip to be rolled. For example, fig. 4 of document US 5193377 illustrates an upper group with a work roll, two first intermediate rolls, three second intermediate rolls and four groups of support rolls.

In performing rolling operations, it is necessary to update the surface conditions of the mill rolls by opening the access door of the roll stand and removing the rolls from the roll stand. These rolls are then rectified before being inserted back into the roll stand.

Typically, each set of support rolls includes a support shaft along which the rolls are distributed, typically formed by bearings. For this purpose, the inner race of each bearing is mounted on a support shaft, the outer race of the bearing being intended to run on one roll, and possibly also two adjacent rolls, belonging to the second intermediate roll. All support rollers also comprise a saddle, the arcuate body of which extends longitudinally over the length of the support shaft and the convexity of which is intended to bear on a recess of the mounting part of the frame. The saddle also has an extension protruding from the concave face of the body through which the support shaft passes, the extension being distributed over the length of the shaft and being arranged in particular between the rolls. An eccentric ring is also provided between the support shaft and the extensions, the shaft having pinions for engagement with corresponding pinions or racks in the stands of the rolling mill. Thus, the pinion (or the rack) allows the support shaft to be driven in order to rotate it and thus, thanks to the action of the eccentric ring, allows the position of the support shaft and the rolls carried thereby to be moved away from or towards the arcuate body of the saddle. Of course, these backup roll sets also require maintenance, which is performed by removing the component from the roll stand along the axis of the backup shaft.

The extraction (or insertion setting) of the internal components (rolls or set of support rolls) is generally carried out by means of a piece of handling equipment fixed to the end of the component to be removed (i.e. to the end of the roll to be removed or to the end of the support shaft of the set of support rolls to be removed), equipped with counterweights. The counterweight is used to balance the member to be grasped while being carried by the crane of the shop bridge crane and to keep it substantially horizontal, while the hook of the crane grasps a lifting eye on the equipment positioned between the counterweight and the grasped member. During the removal of the component (or vice versa during its setting), the gripped component is rigidly fixed to the counterweight of the apparatus, which counterweight may oscillate at the lower end of the crane rope.

Background

During the extraction operation, the operator must approach the gripped component in order to guide the extraction (or setting) operation, which becomes particularly dangerous due to the possible swinging of the heavy element suspended on the rope of the bridge crane.

The operation of placing each set of support rollers in the roll stand is still particularly tedious, since it is necessary to orient the following when inserting the set of support rollers:

The saddle is in an angular position allowing the saddle to be inserted into the stand in its installed position, i.e. with the saddle angularly aligned with the base of the roll stand: for example, for the upper set of roll sets, this operation requires fixing the saddle upward, tilting it downward against gravity,

A support shaft, mainly a pinion attached to its end, in order to position the teeth of the pinion precisely between the teeth of the drive pinion (or drive rack) of the rolling mill located at the bottom of the stand.

However, in document JP1976454C in the name of Nippon Steel, a loading/unloading system based on the use of a standard (5-axis) robotic arm is known. In this prior art, the robotic arm is mounted on a carriage that moves along a guide rail parallel to the plane of conveyance of the strip, allowing the articulated arm to move through the various stands of the rolling mill. The ends of the arms are provided with a gripping system which allows the work rolls to be grasped and then locked at their ends.

According to the applicant's findings, the use of standard mechanical arms to handle the rolls of a rolling mill has two main drawbacks, namely:

-use of oversized robotic arms: it is necessary to use a heavy robotic arm, equipped with a large number of motors at the joints of the arm, to withstand the torque required to fix the member to be grasped at its end, i.e. the set of rolls and/or support rolls (due to their heavy weight and long length),

Large operating footprints during loading/unloading operations: the gripper modules (rolls or backup roll sets) carried by the ends of the robot arms sweep during rotation until the area of the storage area is very large and cannot be considered until there is sufficient room in the shop.

However, from the inventor's document WO2022223927, a robotic system is known which comprises a robot which limits the operating space required during the loading/unloading operation and allows to place the removed rolls on racks at a distance from the roll stand. As described in this prior art, the robotic system is configured to replace the roll sets or backup roll sets of a 20-roll mill, i.e., the following components of the upper and lower sets are removed and inserted from the roll stands:

a lower and an upper working roller,

The first intermediate roll is then fed to the first intermediate roll,

-A second intermediate roll, and

-A set of support rolls.

In the figures, and in particular in fig. 3 of document WO2022223927, it can be seen that the work rolls are gripped by a robotic gripping system locked with a gripping tool, which is described in detail in the application published under FR3108047 on the 3 rd and 10 th year 2020 (national registration number 20 02 381), which tool can be inserted by a robot into the roll stand for removal or insertion into the roll stand.

On the other hand, for other rolls/roll sets, in particular the second intermediate roll, or back-up roll set, the roll grasping requires a pre-installation of an adapter, usually by screwing, typically manually operated by an operator in the form of a tailpiece, as shown in fig. 5 of document FR 3108047.

Disclosure of utility model

The present utility model aims to improve this situation.

A rolling mill arrangement for a metal strip is proposed, comprising a rolling mill having a roll stand and a set of rolls in the stand, the set of rolls having:

-an upper group comprising:

-a work roll, an upper portion,

Two first intermediate rolls, upper,

Three second intermediate rolls, upper,

Four sets of support rollers, upper,

-A lower set comprising:

-a work roll, a lower portion,

Two first intermediate rolls, the lower,

Three second intermediate rolls, lower,

Four sets of support rollers, the lower part,

The apparatus comprising a robotic system adapted to perform an operation of changing rolls of the rolling mill by removing worn rolls from the roll stand and/or inserting new or corrected rolls into the roll stand, the apparatus further comprising a robot provided with a gripping system configured to control locking of a plurality of gripping tools,

And wherein the apparatus comprises a gripping tool change library comprising in a storage area:

a first gripping tool configured for inserting and extracting the work rolls,

A second gripping tool configured for inserting and extracting the first intermediate roll,

-A third gripping tool configured for inserting and extracting the second intermediate roll, and

A fourth gripping tool configured for inserting and extracting a set of support rollers,

And wherein the grasping system comprises a quick-connect system comprising a motorized first mechanical connection member configured to move from a connected position configured to mechanically lock the second mechanical connection member to an uncoupled position allowing release of the second mechanical connection member,

And wherein each of the first, second, third and fourth gripping tools is provided with said second mechanical coupling part, the gripping tools being configured to be selectively coupled to said first mechanical coupling part of the gripping system when the gripping tools are stored in said storage area of said gripping tool change magazine.

The features outlined in the following paragraphs may optionally be implemented independently of each other or in combination with each other.

According to one embodiment, the robotic system has at least one controllable pneumatic power source, the quick coupling system comprises, in addition to a first mechanical coupling part, a first pneumatic coupling part configured to be moved from a coupled position to lock a second pneumatic coupling part, and wherein all or some of the first, second, third and fourth gripping tools are provided with the second mechanical coupling part and at least one pneumatic actuator configured to be actuated by the at least one pneumatic power source.

According to one embodiment, the roll stand has an access opening, 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 roll axis of the rolling mill,

And wherein the robot comprises a carriage comprising a first frame provided with wheels cooperating with a guide rail arranged on the ground, extending in direction Y at the entrance opening of the roll stand, said first frame being configured to be moved in direction Y along the guide rail under the influence of first motor means driving the wheels,

And wherein the clamping tool changing magazine is arranged laterally to the guide rail in a fixed position in the rolling mill arrangement.

According to one embodiment, the device comprises a loading/unloading rack removably positioned on a support frame, the support frame being anchored to the ground in direction Y and laterally to the guide rail at an anchoring position at a distance from the rolling mill, the rack placed on the support frame having a recess oriented in direction X, and wherein the robotic system is configured to place the rolls on the loading/unloading rack, the rack being placed on the support frame,

And wherein the clamping tool changing magazine is arranged in the direction Y between the roll stand and the support frame, close to the support frame with respect to the roll stand, and wherein the support frame and the clamping tool changing magazine are arranged with respect to the roll stand, which are configured to clean the maintenance channel in the direction X along the entry opening of the rolling mill.

According to one embodiment, the robot comprises, in addition to a first frame displaceable along a guide rail:

a second frame and a first sliding system connecting the second frame and the first frame, configured to displace the second frame in direction X relative to the first frame by the action of a second motor means,

A third frame and a second sliding system connecting the third frame and the second frame, configured to displace the third frame in a vertical direction Z with respect to the second frame by the action of a third motor means,

-A fourth frame, and a rotation guiding means connecting the fourth frame and the third frame about a vertical rotation axis, configured to drive rotation of the fourth frame relative to the third frame by action of a fourth motor means, and wherein said gripping system comprising a first mechanical coupling part is mounted in the fourth frame, and

Wherein the robotic system is configured to ensure removal of the rolls by gripping the end pieces integral with the rolls, or by gripping the rolls and/or the set of support rolls with a gripping tool locked by the gripping system, and to place the rolls sideways to the guide rail after pivoting the rolls by rotation of the fourth frame relative to the third frame about the vertical rotation axis.

According to one embodiment, the gripping tools comprising the first gripping tool, the second gripping tool, the third gripping tool and the fourth gripping tool are stored in a storage area of the replacement magazine, the gripping tools being oriented in a direction X parallel to the direction X and perpendicular to the guide rail, the gripping tools exposing their second mechanical coupling parts or their second pneumatic coupling parts to the guide rail, and wherein the robotic system is configured to ensure coupling of one of the tools stored in the replacement magazine by:

Pivoting the fourth frame about said vertical rotation axis to align the first mechanical coupling part mounted on the fourth frame with the second coupling part of one of the tools stored in the change magazine sideways to the guide rail, or possibly simultaneously align the first pneumatic coupling part mounted on the fourth frame with the second pneumatic coupling part of the gripping tool,

Moving the second frame relative to the first frame so as to physically engage the first mechanical coupling part of the gripping system and the second mechanical coupling part aligned with each other, or simultaneously engage the first pneumatic coupling part and the second pneumatic coupling part,

-Moving from the uncoupled position of the first mechanical component to said locked position configured to mechanically lock the second mechanical coupling component, or also preferably simultaneously moving from the uncoupled position of the first pneumatic coupling component to said locked position configured to pneumatically lock the second mechanical coupling component.

According to one embodiment, the gripping system comprises a motor configured to pivot the first coupling member about the rotation axis or coincide with the rotation axis of the rolls and/or the set of support rolls gripped by the gripping tool.

According to one embodiment, the first coupling part comprises a plurality of locking/unlocking activatable coupling parts, which are angularly distributed about the axis of rotation.

According to one embodiment, the first pneumatic coupling member is centered on the rotation axis, the first coupling member being configured to pivot about the rotation axis.

According to one embodiment, the gripping tool change magazine comprises a substantially vertical structure comprising a plurality of stacked storage compartments configured to receive a first gripping tool, a second gripping tool, a third gripping tool and a fourth gripping tool, respectively, in the storage compartments in a stacked manner.

According to a second aspect, the present disclosure also relates to a method for replacing a roll/backup roll set for use in a rolling mill device according to the present disclosure, the method comprising the steps of:

Selecting a gripping tool from the first gripping tool, the second gripping tool, the third gripping tool and the fourth gripping tool, the gripping tools being stored in a gripping tool changing store,

B/engaging the first mechanical coupling part with the second mechanical coupling part of the selected gripping tool via the robotic system and moving the first coupling part upwards to the coupling position, or also engaging the first pneumatic coupling part with the second pneumatic coupling part via the robotic system and moving the first pneumatic coupling part upwards to the coupling position,

C/an assembly of a rolling mill coupled to a gripping system via a robotic system and gripping a corresponding selected gripping tool, said assembly comprising or consisting of a work roll for a first gripping tool, a first intermediate roll for a second gripping tool, a second intermediate roll for a third gripping tool and a set of support rolls for a fourth gripping tool,

The assembly is removed via a robotic system connected to the selected gripping tool.

According to one embodiment, in step/C/the gripping of the component by the selected gripping tool is performed without prior installation of an adapter on the component.

Drawings

Other features, details and advantages will appear upon reading the following detailed description and analyzing the drawings, in which:

FIG. 1

Fig. 1 is a view of a robotic system comprising a carriage with a gripping system comprising, on the one hand, a first mechanical coupling part comprising a plurality of coupling parts distributed around a motorized rotation axis of the gripping system, said first coupling part being configured to move from a coupled position (ensuring locking of a second mechanical coupling part of the gripping tool) to an uncoupled position (allowing release of the gripping tool), and, on the other hand, a first pneumatic coupling part centered on the rotation axis, configured to move from a coupled position (ensuring locking of a second pneumatic coupling part of the gripping tool) to an uncoupled position.

FIG. 1a

Fig. 1a is a cross-sectional view of a robotic system detailing possible kinematics of the robotic system robot.

FIG. 2

Fig. 2 is a schematic view of various specific gripping tools, namely from top to bottom, a first gripping tool configured to grip a work roll, a second gripping tool configured to grip a first intermediate roll, a third gripping tool configured to grip a second intermediate roll, and finally a fourth gripping tool configured to grip a set of backup rolls.

FIG. 3

Fig. 3 is a view of a possible configuration of a rolling mill arrangement comprising a 20-roll mill comprising a stand receiving a set of rolls/sets of backup rolls, the stand comprising two work rolls, the 20-roll mill being configured to roll a metal strip conveyed in a longitudinal direction X, the rolling mill arrangement further comprising a robot system comprising a robot comprising a carriage configured to move along a guide rail oriented in a transverse direction Y in an extension of an entrance window of the stand, the arrangement further comprising:

a loading/unloading rack removably positioned on a support frame anchored to the ground in a transversal direction Y and laterally to an anchoring position of a guide rail at a distance from the rolling mill, on which guide rail the robot moves, the rack placed on the support frame having a recess oriented in direction X, and wherein the robot system is configured to place the rolls on the loading/unloading rack placed on the support frame,

A clamping tool changing magazine in the form of a vertical structure comprising a plurality of superimposed compartments which receive four gripping tools respectively, the clamping tool changing magazine being arranged in the transverse direction Y between the roll stand and the support frame and in the vicinity of the support frame relative to the roll stand,

And wherein the support frame and the clamping tool changing magazine are arranged and configured to clear a maintenance channel in the longitudinal direction X, said channel extending along the entry opening of the rolling mill.

FIG. 4

Fig. 4 schematically shows the arrangement of the upper and lower groups of the 20-high rolling mill.

Detailed Description

The utility model relates to a rolling mill arrangement for metal strips, comprising a rolling mill L having a roll stand and a set of rolls in the stand, the set of rolls having:

-an upper group G _S comprising:

A work roll 12, an upper portion,

Two first intermediate rolls 13, upper,

Three second intermediate rolls 14, 15, upper,

Four sets of support rollers A, B, C, D, upper,

-A lower group G _I comprising:

A work roll 12, a lower portion,

Two first intermediate rolls 13, a lower part,

Three second intermediate rolls 14, 15, lower,

Four sets of support rollers H, G, F, E, lower portion.

This configuration of the 20-high rolling mill, i.e. comprising said work rolls 12, first intermediate rolls 13, second intermediate rolls 14, 15 and back-up roll sets a to E, is shown in fig. 4.

Such a rolling mill can roll a metal strip BM conveyed in a longitudinal direction X, which extends transversely in a transverse direction Y.

The 20-roll mill may be a single-stand mill or may include two moving parts, a mill commonly referred to by those skilled in the art as a "split shell". Such a "split shell" rolling mill comprises two parts movable relative to each other, forming an upper frame part, respectively, configured to transmit clamping forces to the four sets of support rolls A, B, C, D of the upper set G _S, and an upper frame part, configured to transmit clamping forces to the four sets of support rolls E, F, G, H of the lower set G _I. Such rolling mills then comprise a hydraulic clamping mechanism configured to move the stand system from an open stand position (upper and lower stand members spaced apart from each other) to a clamped position (upper and lower stand members joined together) suitable for the rolling operation of the metal strip.

Typically, in particular for stand mills of the one-piece stand or "split shell" type, each set of support rolls a to E comprises, in a manner known per se, a support shaft along which the rolls, typically formed by bearings, are distributed. For this purpose, the inner ring of each bearing is mounted on a support shaft, the outer ring of the bearing being intended to roll on one or even two adjacent rolls belonging to the roll of the second intermediate roll.

The set of support rolls also comprises saddles, the arcuate bodies of which extend longitudinally along the length of the support shaft, and the crowns of which serve to support the pockets of the mounting portions of the frame, i.e. for example the mounting portions of the upper frame members for the sets of support rolls a to D and the mounting portions of the lower frame members for the sets of support rolls E to H. The saddle also has an extension protruding from the concave face of the body through which the support shaft passes, the extension being distributed over the length of the shaft and being arranged in particular between the rolls. An eccentric ring is also provided between the support shaft and the extensions, the shaft having a pinion for meshing with a corresponding pinion or rack in the housing of the rolling mill. Thus, the pinion (or the rack) allows the support shaft to be driven in order to rotate it and thus, thanks to the action of the eccentric ring, allows the position of the support shaft and the rolls carried thereby to be moved away from or towards the arcuate body of the saddle.

The stand also comprises an access opening (or maintenance window) located in front of the first side of the rolling mill, generally opposite to the second side of the rolling mill, which comprises motorized means for driving the rolls in rotation. The door system is configured to close the access window during a rolling operation and to open the access window to allow maintenance operations, in particular operations for replacing the rolls of the rolling mill (including the set of support rolls).

During the rolling operation, friction can cause wear to the rolls/backup roll sets, which, depending on their nature, require more or less frequent maintenance.

Thus, the maintenance frequency of the work rolls is greater than the replacement frequency of the first intermediate rolls, which in turn is greater than the replacement frequency of the second intermediate rolls and backup roll sets.

By removing the roll (or set of backup rolls) on the longitudinal axis of the element, the roll or set of backup rolls can be removed from the frame. The removed rolls are replaced by either corrective rolls or new rolls inserted into the roll stand.

To this end, the device comprises a robotic system 1 adapted to perform operations of changing mill rolls by taking worn rolls out of the roll stand and/or inserting new or corrected rolls into the roll stand, said robotic system comprising a robot Ro equipped with a gripping system 6 configured to control the locking of a plurality of gripping tools.

The robot Ro may comprise a carriage comprising a first frame 2 provided with wheels 20 cooperating with a rail Ra1 arranged on the ground, extending in a transverse direction Y at the entry opening of the roll stand, said first frame 2 being configured to be moved in direction Y along the rail Ra1 under the influence of a first motor means M1 driving the wheels 20.

The robot may include:

A second frame 3 and a first sliding system G1 connecting the second frame 3 and the first frame 2, configured to displace the second frame 3 in the direction X relative to the first frame 2 by the action of the second motor means M2,

A third frame 4 and a second sliding system G2 connecting the third frame 4 and the second frame 3, configured to displace the third frame 4 in the vertical direction Z relative to the second frame 3 by the action of the third motor means M3.

Movement of the first frame 2 along the rail Ra1, along the transverse direction Y, movement of the second frame 3 relative to the second frame in the longitudinal direction X, and movement of the third frame 4 relative to the second frame in the Z direction, allows translational movement of the gripper system in all three directions in space.

The robot may further comprise a fourth frame 5, and rotation guiding means connecting the fourth frame and the third frame about a vertical rotation axis Av, the rotation guiding means being configured to drive rotation of the fourth frame 5 relative to the third frame 4 by the action of the fourth motor means M4. Such robot kinematics for removing or inserting rolls are known from the document WO2022223927 by the present inventors. The robot may also comprise a horizontal rotation axis as disclosed in WO2022223927, so that the axis of the gripped rolls can be tilted by the action of the fifth motor means M5.

The gripping system 6 is mounted on a fourth frame. Such a robotic system 1 is configured to ensure the removal of the rolls by gripping the end pieces integral with the rolls, or by gripping the rolls and/or a set of support rolls with a gripping tool locked by the gripping system, the rolls (or the set of support rolls) being placed sideways to the guide rail after pivoting the rolls by rotation of the fourth frame relative to the third frame 4 about the vertical rotation axis Av.

According to the present disclosure, the apparatus further includes a clamping tool changing library MAG including in a storage area:

a first gripping tool OT1 configured for inserting and extracting work rolls,

A second gripping tool OT2 configured for inserting and extracting the first intermediate roll,

A third gripping tool OT3 configured for inserting and extracting the second intermediate roll, and

A fourth gripping tool OT4 configured for inserting and extracting a set of support rollers.

According to the present disclosure, the gripping tools including the first gripping tool OT1, the second gripping tool OT2, the third gripping tool OT3 and the fourth gripping tool OT4 are special tools configured to ensure gripping of the work rolls 12, at least one of the first intermediate work rolls 13, at least one of the second intermediate rolls 14, 15 and at least one set of support rolls, and advantageously preferably without the need to mount an adapter on the component to be gripped beforehand, contrary to the prior art described in document WO 2022223927.

In other words:

A first gripping tool OT1, which may be a tool disclosed in the document of application FR2300035, 1/3 of 2023, is configured to grip the work roll 12 for its removal or insertion, preferably without the need to install an adapter on the work roll,

The second gripping tool OT2 is configured to grip the first intermediate roll 13 for its removal or insertion, preferably without the need to mount an adapter on the first intermediate roll 13,

The third gripping tool OT3 is configured to grip the second intermediate rolls 14, 15 for their removal and/or insertion, preferably without the need to mount an adapter on the second intermediate roll 14,

The fourth gripping tool OT3 is configured to grip a set of support rollers A, B, C, D, E, F,

G. H, preferably without the need to mount an adapter on the set of support rollers.

According to the present disclosure, the gripping system 6 comprises a quick coupling system 7 comprising a first mechanical coupling part 71 comprising a seventh motor means M7 configured to move the first mechanical coupling part 71 from a coupled position configured to mechanically lock the second mechanical coupling part 72 to an uncoupled position allowing the release of the second mechanical coupling part.

According to the present disclosure, each of the first, second, third and fourth gripping tools OT1, OT2, OT3, OT4 is provided with said second mechanical coupling part 72, which gripping tool is configured to be selectively coupled to said first mechanical coupling part 71 of the gripping system 6 when the gripping tool is stored in said storage area of said gripping tool change library MAG.

Notably, the gripping system 6 may also comprise a sixth motor means M6 configured to pivot the first coupling member 71 about the rotation axis A6 or coincide with the rotation axis of the rolls and/or the set of support rolls gripped by the gripping tools OT1, OT2, OT3, OT 4.

Such motorized rotation axis A6 makes it possible, for example, to orient the set of support rollers A, B, C, D, E, F, G, H during the insertion of said set of support rollers, by orienting the saddle (and then preventing the saddle from rotating by the fourth gripping means) and generally orienting their pinion in an angular position, so as to allow its insertion into a seat having a shape complementary to the shape of the frame.

Such a rotation axis A6 may further allow to be used as a first gripping tool OT1, which is disclosed by the document of application No. FR2300035, comprising a drum configured to pivot about a central axis of the drum.

According to one embodiment, the robotic system 1 is equipped with at least one controllable pneumatic power source, the quick coupling system comprising, in addition to the first mechanical coupling part 72, a first pneumatic coupling part 71 'configured to be moved from the coupling position to lock the second pneumatic coupling part 72'.

All or some of the first, second, third and fourth gripping tools OT1, OT2, OT3, OT4 are provided with the second mechanical coupling part 72 and at least one pneumatic actuator configured to be actuated by the at least one pneumatic power source.

In general, the coupling of the first pneumatic coupling member 71 'and the second pneumatic coupling member 72' enables control of the at least one pneumatic actuator of the gripping tool, which may typically be an actuator of a motorized gripper, configured to ensure a specific clamping of the component to be clamped (e.g. clamping of the work roll by the first gripping tool OT1, clamping of the first intermediate roll by the second gripping tool OT2, clamping of the second intermediate roll by the third gripping tool OT3 and clamping of the shaft of the set of support rolls by the fourth gripping tool OT 4). The mechanized grippers for the first, second, third and fourth gripping tools OT1, OT2, OT3 and OT4, respectively, are generally different, as they are specifically configured according to the nature of the component to be gripped. For example, when the first gripping tool is the gripping tool disclosed by FR2300034, the pneumatic actuator may be a pneumatic actuator of a mechanized gripper configured to ensure that the work roll is gripped by its ends.

For example, such pneumatic coupling may further enable control of the actuator of the pushing system disclosed by FR 2300034. In this case, and when the gripping tool, such as described by FR2300034, comprises a plurality of pneumatic actuators, these actuators can be controlled independently of each other by a plurality of independently controllable pneumatic power sources.

According to one embodiment shown in fig. 1, the first coupling member 71 may comprise a plurality of coupling members that may be activated to lock/unlock, the activatable coupling members being angularly spaced about the axis of rotation A6. For example, the first coupling member 71 includes four coupling members distributed at 90 ° intervals around the rotation axis A6.

The first pneumatic coupling member 71' may be located at the center of the rotation axis A6, and the first coupling member 71 may be rotatable around the rotation axis A6.

Advantageously, the rolling mill according to the present disclosure allows to implement a method for replacing a roll/backup roll set, comprising the steps of:

Selecting a gripping tool from the first gripping tool OT1, the second gripping tool OT2, the third gripping tool OT3 and the fourth gripping tool OT4, which gripping tool is stored in the gripping tool change library MAG,

B/engaging the first mechanical coupling part 71 with the second mechanical coupling part 72 of the selected gripping tool via the robotic system and moving the first coupling part 71 upwards to the coupling position, or also engaging the first pneumatic coupling part 71' with the second pneumatic coupling part 72' via the robotic system and moving the first pneumatic coupling part 71' upwards to the coupling position,

C/a component of the rolling mill coupled to the gripping system via the robotic system and gripping the corresponding gripping tool, said component comprising (or consisting of) a work roll 12 for the first gripping tool OT1, a first intermediate roll 13 for the second gripping tool OT2, second intermediate rolls 14, 15 for the third gripping tool OT3 and a set of support rolls for the fourth gripping tool OT4,

The assembly is removed via a robotic system connected to the selected gripping tool.

Preferably, in step/C/the gripping of the component by the selected gripping tool is performed without prior installation of an adapter on the component.

Typically, the clamping tool changing magazine MAG is arranged laterally to the rail Ra1, in a fixed position in the device. The gripping tool change library MAG may have a substantially vertical structure comprising a number of storage bays, typically four, configured to receive the first, second, third and fourth gripping tools OT1, OT2, OT3, OT4, respectively, of said storage bays in a stacked manner.

Generally, as shown in fig. 3, the device can comprise a loading/unloading rack Ra removably positioned on a support frame Cha anchored to the ground in a transversal direction Y and laterally to the guide rail Ra1 at an anchoring position at a distance from the rolling mill.

The rack Rac placed on the support frame Cha may have a recess oriented in the direction X. The robotic system is configured to place the rolls on a loading/unloading rack Ra, which rack Ra is placed on a support frame Cha, typically after pivoting the gripping system about the vertical rotation axis Av, and as disclosed in WO2022223927 itself.

According to one embodiment, the clamping tool changing magazine MAG is arranged between the roll stand and the support frame Cha in the transverse direction Y, preferably close to the support frame Cha with respect to the roll stand.

As shown in fig. 2, the support frame Cha and the clamping tool changing magazine MAG are spatially arranged relative to the roll stand, which is configured to clear the maintenance channel AL in direction X along the entry opening (or maintenance window) of the roll stand.

According to one embodiment, gripping tools including a first gripping tool OT1, a second gripping tool OT2, a third gripping tool OT3 and a fourth gripping tool OT4, which are oriented in a direction parallel to the direction X and perpendicular to the guide rail Ra1, are stored in a storage area of the replacement magazine. The different gripping tools expose their second mechanical coupling part 72 or second pneumatic coupling part 72' to the rail Ra1.

According to the kinematics of the robot described above, the robot system may be configured to ensure the coupling of one of the tools stored in the replacement library by:

Pivoting the fourth frame 5 about said vertical rotation axis Av so that the first mechanical coupling part 71 mounted on the fourth frame 5 is aligned with the second coupling part 72 sideways to one of the tools stored in the gripper tool changing magazine, or when the robot is equipped with said at least one pneumatic power source, simultaneously the first pneumatic coupling part 71 'mounted on the fourth frame is aligned with the second pneumatic coupling part 72' of the gripping tool,

Moving said second frame 3 with respect to the first frame 1 so as to physically engage the first mechanical coupling part 71 of the gripping system and the second mechanical coupling part 72 aligned with each other, or even simultaneously engage the first pneumatic coupling part 71 'and the second pneumatic coupling part 72',

From the uncoupled position of the first mechanical member 71 to said locked position configured to mechanically lock the second mechanical coupling member 72, or also preferably simultaneously from the uncoupled position of the first pneumatic coupling member 71 'to said locked position configured to pneumatically lock the second mechanical coupling member 72'.

According to one embodiment, at least one of the four gripping tools, for example, the second gripping tool OT2 configured to grip the first intermediate roll and/or the third gripping tool OT3 configured to grip the second intermediate roll, may be configured to grip another component of the rolling mill, in particular typically a ground boom.

List of reference numerals

-1 System

BM metal strip

-L. Rolling mill

-Ro. robot

Ra1 guide rail (robot)

-L. Rolling mill

-1 Robot system

-Ro. robot

Ra1 guide rail along direction Y

-2. First frame

-20. Wheels

M1. First motor means (movement of carriage in direction Y)

-3. Second frame

G1. First sliding system along direction X (between second frame and first frame)

M2. Second motor means (movement of carriage in direction X)

-4 Third frame

-G2. Second sliding system along direction Z

-M3 third motor means (movement of the third frame in direction Z along the second sliding system)

-5 Fourth frame

An av. Vertical rotation axis (between the fifth and fourth frames), called first rotation axis

-M4. fourth motor means (the fourth frame pivoting relative to the third frame about a vertical rotation axis)

-6 Gripping system

-M6 sixth motor means (pivoting the gripped rolls about their axes or parallel axes by means of a gripping system)

71,72. First and second mechanical coupling parts, respectively

71',72'. First and second pneumatic coupling parts, respectively

G _I,G_S upper and lower groups, respectively

-12 Working roll

-13. First intermediate roll

-14,15. Second intermediate rolls

A, B, C, D are four support rollers or groups of support rollers of the upper group, respectively

E, F, G, H are respectively four support rollers or groups of support rollers of the lower group

-Cha. support frame

Removable rack

-AL. maintenance channels (of the shop) in the longitudinal direction.

Claims (10)

1. Metal strip rolling mill arrangement comprising a rolling mill (L) having a roll stand and a set of rolls within the stand, the set of rolls having:

-an upper group (G _S) comprising:

-a work roll (12), upper part,

-Two first intermediate rolls (13), upper part,

-Three second intermediate rolls (14, 15), upper,

Four sets of support rollers (A, B, C, D), upper part,

-A lower group (G _I) comprising:

-a work roll (12), lower part,

-Two first intermediate rolls (13), lower,

-Three second intermediate rolls (14, 15), lower,

Four sets of support rollers (H, G, F, E), lower,

The device comprising a robotic system (1) adapted to perform operations of changing rolls of the rolling mill by taking worn rolls out of the roll stand and/or inserting new or corrected rolls into the roll stand, the device further comprising a robot provided with a gripping system (6) configured to control the locking of a plurality of gripping tools,

Characterized in that the apparatus comprises a clamping tool changing library (MAG) comprising in a storage area:

a first gripping tool (OT 1) configured for inserting and extracting work rolls,

A second gripping tool (OT 2) configured for inserting and extracting the first intermediate roll,

-A third gripping tool (OT 3) configured for inserting and extracting the second intermediate roll, and

A fourth gripping tool (OT 4) configured for inserting and removing a set of support rollers,

And wherein the gripping system (6) comprises a quick coupling system (7) comprising a first mechanical coupling part (71), the first mechanical coupling part (71) comprising a seventh motor means (M7) configured to move the first mechanical coupling part (71) from a coupled position configured to mechanically lock a second mechanical coupling part (72) to an uncoupled position allowing release of the second mechanical coupling part,

And wherein each of the first (OT 1), second (OT 2), third (OT 3) and fourth (OT 4) gripping tools is provided with the second mechanical coupling part (72), the gripping tools being configured to be selectively coupled to the first mechanical coupling part (71) of the gripping system (6) when the gripping tools are stored in the storage area of the gripping tool change library (MAG).

2. Rolling mill arrangement according to claim 1, wherein the robotic system (1) is equipped with at least one controllable pneumatic power source, the quick coupling system comprising, in addition to the first mechanical coupling part (71), a first pneumatic coupling part (71 ') configured to be moved from a coupled position to lock a second pneumatic coupling part (72'), and wherein all or some of the first (OT 1), second (OT 2), third (OT 3) and fourth (OT 4) gripping tools are provided with the second mechanical coupling part (72) and at least one pneumatic actuator configured to be actuated by the at least one pneumatic power source.

3. Rolling mill arrangement according to claim 2, characterized in that the roll stand has an access opening, which may be 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 roll axis of the rolling mill,

And wherein the robot (Ro) comprises a carriage comprising a first frame (2) provided with wheels (20) cooperating with a rail (Ra 1) arranged on the ground, extending in a direction Y at the entry opening of the roll stand, the first frame (2) being configured to be moved in the direction Y along the rail (Ra 1) under the influence of first motor means (M1) driving the wheels (20),

And wherein the clamping tool changing Magazine (MAG) is arranged laterally to the guide rail (Ra 1) in a fixed position in the rolling mill arrangement.

4. A rolling mill arrangement according to claim 3, characterized in that it comprises a loading/unloading rack (Rac) removably positioned on a support frame (Cha) anchored to the ground in a transversal direction Y and laterally to the guide rail (Ra 1) at an anchoring position at a distance from the rolling mill, the rack (Ra) placed on the support frame (Cha) having a housing oriented in direction X, and in that the robotic system is configured to place the rolls on the loading/unloading rack (Ra) on which the rack (Ra) is placed,

And wherein the clamping tool changing Magazine (MAG) is arranged in a direction Y between the roll stand and the support frame, close to the support frame (Cha) with respect to the roll stand, and wherein the support frame and the clamping tool changing magazine are arranged with respect to the roll stand, configured to clear a maintenance channel (AL) in a direction X along an entry opening of the rolling mill.

5. Rolling mill arrangement according to claim 3 or 4, characterized in that the robot comprises, in addition to the first frame (2) displaceable along a guide rail (Ra 1):

-a second frame (3) and a first sliding system (G1) connecting the second frame (3) and the first frame (2) configured to displace the second frame (3) in a direction X relative to the first frame (2) by the action of a second motor means (M2),

-A third frame (4) and a second sliding system (G2) connecting the third frame (4) and the second frame (3), configured to displace the third frame (4) in a vertical direction Z relative to the second frame (3) by the action of third motor means (M3),

-A fourth frame (5), and rotation guiding means connecting the fourth frame and the third frame about a vertical rotation axis (Av), configured to drive rotation of the fourth frame (5) relative to the third frame (4) by action of fourth motor means (M4), and wherein the gripping system (6) comprising the first mechanical coupling part is mounted in the fourth frame (5), and

Wherein the robotic system (1) is configured to ensure removal of a roll by gripping an end piece integral with the roll, or by gripping the roll and/or the set of support rolls with a gripping tool locked by the gripping system, the roll being placed sideways to the guide rail after pivoting the roll by rotation of the fourth frame (5) relative to the third frame (4) about the vertical rotation axis (Av).

6. Rolling mill arrangement according to claim 5, characterized in that a gripping tool comprising the first gripping tool (OT 1), the second gripping tool (OT 2), the third gripping tool (OT 3) and the fourth gripping tool (OT 4) is stored in a storage area of the change bank, the gripping tools being oriented in a direction parallel to direction X and perpendicular to the rail (Ra 1), the gripping tools exposing their second mechanical coupling part (72) or their second pneumatic coupling part (72') to the rail (Ra 1), and wherein the robotic system is configured to ensure coupling of one of the tools stored in the change bank by:

Pivoting the fourth frame (5) about the vertical rotation axis (Av) to align a first mechanical coupling part (71) mounted on the fourth frame with a second coupling part of one of the tools stored in the change magazine laterally to the guide rail, while aligning a first pneumatic coupling part (71 ') mounted on the fourth frame with a second pneumatic coupling part (72') of the gripping tool,

Moving the second frame (3) relative to the first frame (2) so as to physically engage a first mechanical coupling part (71) of the gripping system and the second mechanical coupling part (72) aligned with each other, simultaneously engaging the first pneumatic coupling part (71 ') and the second pneumatic coupling part (72'),

-Moving from an uncoupled position of the first mechanical coupling member (71) to a locked position configured to mechanically lock the second mechanical coupling member (72), while moving from an uncoupled position of the first pneumatic coupling member (71') to a locked position configured to pneumatically lock the second mechanical coupling member (72).

7. Rolling mill arrangement according to claim 1 or 6, characterized in that the gripping system (6) comprises a sixth motor arrangement (M6) configured to pivot the first mechanical coupling part (71) about a rotation axis (A6) or coincide with the rotation axis of the rolls and/or a set of support rolls gripped by the gripping tools (OT 1, OT2, OT3, OT 4).

8. Rolling mill arrangement according to claim 7, characterized in that the first mechanical coupling part (71) comprises a plurality of locking/unlocking activatable coupling parts angularly distributed around the rotation axis (A6).

9. Rolling mill arrangement according to claim 8, wherein the robotic system (1) is equipped with at least one controllable pneumatic power source, the quick coupling system comprising, in addition to the first mechanical coupling part (71), a first pneumatic coupling part (71 ') configured to be moved from a coupled position to lock a second pneumatic coupling part (72 '), and wherein all or some of the first (OT 1), second (OT 2), third (OT 3) and fourth (OT 4) gripping tools are provided with the second mechanical coupling part (72) and at least one pneumatic actuator configured to be actuated by the at least one pneumatic power source, and wherein the first pneumatic coupling part (71 ') is centered on a rotation axis (A6) about which the first mechanical coupling part (71) is configured to pivot.

10. Rolling mill arrangement according to claim 1 or 2, characterized in that the gripping tool changing Magazine (MAG) comprises a substantially vertical structure comprising a plurality of stacked storage bays configured to receive the first (OT 1), the second (OT 2), the third (OT 3) and the fourth (OT 4) gripping tools, respectively, in the storage bays in a stacked manner.