EP4117835B1 - Tool and method for changing the working roll in a rolling mill - Google Patents

Description

The invention relates to a method for changing the working rolls of a rolling mill in the presence of a metal strip intended to be rolled between the two working rolls, including an upper working roll and a lower working roll. suitable for extracting work rolls from the rolling mill stand.

The invention also relates to a method for changing the working rolls of a rolling mill in the presence of a metal strip intended to be rolled between the two working rolls, including an upper working roll and a lower working roll, suitable for the insertion and installation of lower or upper work cylinders, in particular new or ground. A method according to the preamble of claims 1 and 12 is known from the document EP 0 684 089 A2 .

The present disclosure also relates to a work roll change tool configured for the implementation of the method suitable for the extraction of work rolls and/or for the insertion and placement in the stand of the rolling mill of rolls of working, inferior and/or superior, in particular new or rectified. A cart equipped with a fork system comprising two branches, the branches being movable relative to the support of the fork system is known from the document US 2019/337781 A1 .

Technical area

The present invention thus finds an advantageous application for multi-roll rolling mills, such rolling mills typically being “Sendzimir” rolling mills.

Cold rolling makes it possible to obtain the final thickness of a metal strip by successive passages of this strip between cylinders in the presence of high forces simultaneously in pressure and traction.

A “Sendzimir” type rolling mill comprises a plurality of cylinders, or rollers, which are arranged relative to each other to allow the mechanical characteristics of a metal strip to change and obtain a strip thickness which can be less than 3 millimeters .

More particularly, a “Sendzimir” rolling mill is known which can have twenty cylinders; an example of production of such a rolling mill with twenty cylinders is illustrated in the documents US 5,193,377 And US 5,471,859 .

There Figure 12 represents a schematic view of a cross section of a twenty-roll rolling mill. In this figure, the cylinders are divided into a lower group GI and an upper group Gs; more precisely, these groups GI and Gs have a symmetrical structure and each comprise ten cylinders including: a working cylinder 12, two first intermediate cylinders 13, three second intermediate cylinders 14 and 15, and four support cylinders, or rollers support, which are outside the arrangement and which are noted A, B, C and D for the upper group GS and E, F, G, H for the lower group GI.

This nomenclature for the different rolls constituting a twenty-roll rolling mill is common in the field of rolling mills, and is well known to those skilled in the art.

It is recognized in the field of rolling mills that this arrangement of rolls illustrated in Figure 12 allows you to efficiently work a BM metal strip to obtain the desired strip thickness.

Due to the stresses exerted on the working cylinders 12 and when working a metal strip BM, these parts 12 require very regular maintenance: it is therefore desirable to be able to quickly extract and replace the working cylinders 12, and to safe manner for operators.

In a rolling mill with 20 rolls ("20 Hi"), it is still notable to note that the opening of the stand is small, in particular when the rolling mill stand is in one piece, because obtained in this case by the sole eccentric pivoting of the support rollers on the outside (A, B, C, D for the upper group GS and E, F, G, H for the lower group GI). According to the findings of the inventor, there is a significant risk of collisions and friction between the working roll, during its extraction (or insertion) and the components of the surrounding rolling mill such as the first two intermediate rolls 13, or still the BM metal strip present in the cage.

There is a need to be able to change the working cylinders, without marking the metal strip, without altering the surface condition of the working cylinder, or even the first intermediate cylinders, whether during the withdrawal step, but again when installing a new or ground work roll in the rolling mill stand.

The present disclosure thus finds a particular application for changing the working rolls of a cold rolling mill, typically used to carry out bright annealing. In such a rolling mill, the work rolls have a surface condition with very low roughness, called mirror polish.

Prior art

According to the Applicant's knowledge, robotic systems are known from the state of the art, such as a multi-axis arm provided with a gripper configured to ensure the removal of rolls from a rolling mill. These robotic systems make it possible to change the rolls of the rolling mill while limiting the risk of injury for the operators, and in comparison to the change methods with hoist, requiring the physical presence of an operator near the working roll being handled, to carry out the extraction of the cylinder and its replacement with a new or rectified cylinder.

However, and according to the findings of the inventor, none of the known robotic systems makes it possible to safely guarantee extraction (or insertion) of the working rolls, in a 20 Hi rolling mill, avoiding the risk of markings between the roll working, on the one hand, and the metal strip, or even the first intermediate cylinders, on the other hand.

Summary

This disclosure improves the situation.

• une étape d'insertion a) comprenant :
  • -- une insertion de manière robotisée de moyens de séparation mécanique entre ledit cylindre de travail et la bande métallique jusqu'à une position de séparation dans laquelle la bande métallique et ledit cylindre de travail sont séparés physiquement sur la longueur du cylindre de travail, et jusqu'à garantir la suppression du contact entre le cylindre de travail et la bande métallique et/ou
  • -- une insertion de manière robotisée de moyens de séparation mécanique entre le cylindre de travail et les organes de roulement jusqu'à une position de séparation dans laquelle ledit cylindre de travail et les organes de roulement sont séparés physiquement sur la longueur du cylindre de travail, jusqu'à garantir la suppression du contact entre le cylindre de travail et les organes de roulement,
• une étape de retrait b) comprenant :
  • -- une extraction dudit cylindre de travail de manière robotisée, par une saisie d'une extrémité dudit cylindre de travail et déplacement dudit cylindre de travail suivant son axe par rapport à la bande métallique et aux organes de roulement présents dans la cage du laminoir, dans laquelle lesdits moyens de séparation mécanique sont:
  • -- dans ladite position de séparation dans laquelle le cylindre de travail et la bande métallique sont séparés physiquement de sorte à éviter tout frottement entre le cylindre de travail et la bande métallique lors du déplacement, ou/et
  • -- dans ladite position de séparation dans laquelle le cylindre de travail et les organes de roulement sont séparés physiquement et de sorte à éviter tout frottement entre le cylindre de travail et les organes de roulement lors du déplacement.

According to a first aspect, a method is proposed for changing the working rolls of a rolling mill in the presence of a metal strip intended to be rolled between the two working rolls, including a working roll upper and a lower working roll, and in which in a closed position of the rolling mill stand configured for rolling the metal strip, said working rolls each have a contact generator with the metal strip, the contact generators and the axes of the working rolls being in a plane substantially perpendicular to a direction of travel of the metal strip, rolling members such as first intermediate rolls, being in contact along two contact generators between each of the working rolls and the rolling members, the rolling members ensuring the transmission of a rolling force to the lower and upper working rolls in contact with the metal strip, process in which the extraction of the working rolls from the rolling mill stand is ensured after an at least partial opening of the rolling mill stand for which the working rolls are spaced apart from each other relative to the positions of the working rolls in the closed position of the rolling mill stand by the implementation of the steps following, for said upper and/or lower working cylinder:

• an insertion step a) comprising:
  • -- a robotic insertion of mechanical separation means between said working cylinder and the metal strip up to a separation position in which the metal strip and said working cylinder are physically separated along the length of the working cylinder, and until guaranteeing the elimination of contact between the working cylinder and the metal strip and/or
  • -- a robotic insertion of mechanical separation means between the working cylinder and the rolling members up to a separation position in which said working cylinder and the rolling members are physically separated along the length of the working cylinder , until the elimination of contact between the working cylinder and the rolling members is guaranteed,
• a withdrawal step b) comprising:
  • -- extraction of said working roll in a robotic manner, by grasping one end of said working roll and moving said working roll along its axis relative to the metal strip and the rolling members present in the rolling mill stand, in which said mechanical separation means are:
  • -- in said separation position in which the working cylinder and the metal strip are physically separated so as to avoid any friction between the working cylinder and the metal strip during movement, or/and
  • -- in said separation position in which the working cylinder and the rolling members are physically separated and so as to avoid any friction between the working cylinder and the rolling members during movement.

• une étape d'insertion c) comprenant :
  • -- une insertion de manière robotisée de moyens de séparation mécanique entre la bande métallique et le cylindre de travail à insérer garantissant la suppression du contact entre le cylindre de travail et la bande métallique et/ou
  • -- une insertion de manière robotisée de moyens de séparation mécanique entre les organes de roulement et ledit cylindre de travail à insérer garantissant la suppression du contact entre le cylindre de travail et les organes de roulement
• une étape de d'insertion d), conjointe ou successive à l'étape d'insertion c) comprenant une insertion dudit cylindre de travail de manière robotisée, par une poussée d'une extrémité dudit cylindre de travail et déplacement dudit cylindre de travail suivant son axe par rapport à la bande métallique et aux organes de roulement présents dans la cage du laminoir, dans laquelle lesdits moyens de séparation mécanique sont:
  • -- dans une position de séparation dans laquelle le cylindre de travail et la bande métallique sont séparés physiquement de sorte à éviter tout frottement entre le cylindre de travail et la bande métallique lors du déplacement, ou/et
  • -- dans une position de séparation dans laquelle le cylindre de travail et les organes de roulement sont séparés physiquement et de sorte à éviter tout frottement entre le cylindre de travail et les organes de roulement lors du déplacement.

According to a second aspect, a method is proposed for changing the working rolls of a rolling mill in the presence of a metal strip intended to be rolled between the two working rolls, including an upper working roll and a lowering roll. lower work, and in which in a closed position of the rolling mill stand configured for rolling the metal strip, said working rolls each have a contact generator with the metal strip, the contact generators and the axes of the rolls of working located in a plane substantially perpendicular to a direction of travel of the metal strip, rolling members such as first intermediate cylinders, being in contact along two contact generators between each of the working cylinders and the rolling members, the rolling members ensuring the transmission of a rolling force to the lower and upper working rolls in contact with the metal strip (BM), process in which the insertion of the working rolls, new or ground ( s), in the rolling mill stand in the presence of the metal strip and the rolling members, after at least partial opening of the rolling mill stand by the implementation of the following steps, for said upper working roll and/or the lower working cylinder

• an insertion step c) comprising:
  • -- a robotic insertion of mechanical separation means between the metal strip and the working cylinder to be inserted guaranteeing the elimination of contact between the working cylinder and the metal strip and/or
  • -- a robotic insertion of mechanical separation means between the rolling members and said working cylinder to be inserted guaranteeing the elimination of contact between the working cylinder and the rolling members
• an insertion step d), joint or successive to the insertion step c) comprising an insertion of said working cylinder in a robotic manner, by pushing one end of said working cylinder and moving said next working cylinder its axis relative to the metal strip and the rolling members present in the rolling mill stand, in which said mechanical separation means are:
  • -- in a separation position in which the working cylinder and the metal strip are physically separated so as to avoid any friction between the working cylinder and the metal strip during movement, or/and
  • -- in a separation position in which the working cylinder and the rolling members are physically separated and so as to avoid any friction between the working cylinder and the rolling members during movement.

• un système de fourche comprenant deux branches configurées pour être insérées dans la cage d'un laminoir dans une position écartée des branches de part et d'autre d'un cylindre de travail, supérieur du laminoir, lesdites branches mobiles par rapport à un support de fourche, lesdites branches étant configurées pour passer de leur position écartée jusqu'à une position rapprochée dans laquelle les branches assurent le soulèvement du cylindre de travail supérieur en garantissant la séparation physique entre le cylindre de travail et la bande métallique lors d'une extraction d'un cylindre de travail, et/ou encore le système de fourche comprenant les deux branches configurées pour être insérées dans la cage d'un laminoir dans leur position rapprochée, lesdites branches étant mobiles par rapport à un support de fourche, configurées pour passer de leur position rapprochée jusqu'à leur position écartée pour provoquer la dépose du cylindre de travail, supérieur sur la bande métallique
• un dispositif de saisie, comprenant un préhenseur relié par un actionneur au support de fourche, configuré pour saisir une extrémité du cylindre de travail et tirer le cylindre de travail le long des branches du système de fourche, en particulier lors de l'extraction du cylindre de travail, ou encore configuré pour pousser le cylindre de travail le long des branches du système de fourche lors de l'insertion d'un cylindre de travail, neuf ou rectifié.

According to a third aspect, the present disclosure concerns a tool suitable for changing the working rolls of a rolling mill configured to be manipulated by motorized means comprising:

• a fork system comprising two branches configured to be inserted into the stand of a rolling mill in a position spaced apart from the branches on either side of a working cylinder, upper of the rolling mill, said branches movable relative to a support of fork, said branches being configured to move from their spaced position to a close position in which the branches ensure the lifting of the upper working cylinder by guaranteeing the physical separation between the working cylinder and the metal strip during extraction of a working cylinder, and/or the fork system comprising the two branches configured to be inserted into the stand of a rolling mill in their close position, said branches being movable relative to a fork support, configured to pass from their close position to their separated position to cause the removal of the upper working cylinder on the metal strip
• a gripping device, comprising a gripper connected by an actuator to the fork support, configured to grip one end of the working cylinder and pull the working cylinder along the legs of the fork system, in particular when extracting the cylinder working, or even configured to push the cylinder work along the legs of the fork system when inserting a new or ground work cylinder.

According to one embodiment, a mobile support connected by a second actuator to the fork support is configured to ensure blocking of the end of the working cylinder gripped and pulled by the gripping device, pinched between the mobile support and a counter -support in the vicinity of the fork support, when the branches are in a close position.

• lors du rapprochement des deux branches, et conjointement des ailes en insert, de leur position écartée jusqu'à leur position rapprochée la séparation mécanique entre le cylindre de travail et les organes de roulement dans laquelle ledit cylindre de travail et les organes de roulement sont séparés physiquement sur la longueur du cylindre de travail, par lesdites ailes en insert garantissant la suppression du contact entre le cylindre de travail et les organes de roulement, en particulier la suppression des deux génératrices de contact du cylindre de travail inférieur avec les organes de roulement, et/ou
• le lâcher du cylindre de travail inférieur sur les ailes en insert entre le cylindre de travail et les organes de roulement, dans la position rapprochée des branches dans la cage du laminoir, puis la dépose du cylindre de travail inférieure sur les organes de roulement lorsque les branches et les ailes en insert sont passés de leur position rapprochée vers leur position écartée.

According to one embodiment, the tool may comprise two wings, with insert function, respectively secured in an articulated manner to said two branches of the fork system and ensuring:

• when the two branches, and jointly the insert wings, are brought together, from their spaced position to their close position, the mechanical separation between the working cylinder and the rolling members in which said working cylinder and the rolling members are separated physically along the length of the working cylinder, by said insert wings guaranteeing the elimination of contact between the working cylinder and the rolling members, in particular the elimination of the two contact generators of the lower working cylinder with the rolling members, and or
• releasing the lower working roll on the insert wings between the working roll and the rolling members, in the close position of the branches in the rolling mill stand, then removing the lower working roll on the rolling members when the branches and the insert wings have moved from their close position to their spread position.

Brief description of the drawings

• Fig. 1
  [Fig. 1] montre une vue en perspective d'un robot manipulant un outil de changement de cylindre de travail selon la présente divulgation, et convenant pour la mise en oeuvre du procédé selon la présente divulgation, le robot placé dans la zone de travail devant un laminoir 20 cylindres, en regard de l'accès aux cylindres de travail, après une ouverture d'un portillon.
• Fig. 2
  [Fig. 2] est une vue en perspective de l'outil de changement de cylindre de travail, dans une position par rapport à la bande métallique permettant la saisie du cylindre de travail supérieur, les composants du laminoir étant non illustrés.
• Fig. 3
  [Fig. 3] est une vue de détail de la figure 2, illustrant les extrémités libres des branches du système de fourche, mais encore deux ailes à fonction d'insert, respectivement articulées auxdites branches, et s'étendant suivant la longueur des branches, lesdites ailes étant configurées pour venir s'insérer entre le cylindre de travail, d'une part, et respectivement les premiers cylindres intermédiaires, d'autre part, lors du mouvement de rapprochement des branches du système de fourche depuis leur position écartée vers leur position rapprochée.
• Fig. 4
  [Fig. 4] est une vue de la figure 2, selon un plan vertical passant par l'une des branches dudit système de fourche, illustrant l'extrémité libre avec sa pente configurée pour soulever la bande métallique et l'écarter du cylindre de travail inférieur.
• Fig. 5
  [Fig. 5] est une vue de coupe, selon un plan passant par l'axe d'un deuxième cylindre intermédiaire, illustrant l'insertion des branches du système de fourche, dans la position écartée desdites branches, et conjointement l'insertion des ailes à fonction d'insert.
• Fig. 6
  [Fig. 6] est une vue de coupe de la figure 5, selon un plan de coupe vertical parallèle à la direction de défilement de la bande métallique dans le laminoir, la vue de coupe illustrant particulièrement les deux branches et lesdites ailes, dans leur position écartée, de part et d'autre du cylindre de travail supérieur, et du plan de serrage passant par les axes des deux cylindres de travail.
• Fig. 7
  [Fig. 7] est une vue de coupe consécutive à la figure 6, les deux branches étant déplacées jusqu'à leur position rapprochée, venant en contact avec le cylindre de travail en le soulevant jusqu'à obtenir la suppression de la génératrice de contact avec la bande métallique, les deux ailes solidaires des deux branches assurant conjointement la séparation mécanique entre le cylindre de travail, d'une part, et les deux premiers cylindres intermédiaires, d'autre part.
• Fig. 8
  [Fig. 8] est une vue consécutive de la figure 7 dans laquelle un préhenseur du type à ventouse électromagnétique d'un dispositif de saisie est déplacé par un actionneur jusqu'à la saisie d'une extrémité du cylindre de travail.
• Fig. 9
  [Fig. 9] est une vue consécutive de la figure 8, pour laquelle le cylindre de travail est tracté sur les branches alors en position rapprochée par le préhenseur, et jusqu'à une position où l'extrémité du cylindre de travail saisi est positionnée entre un appui mobile et un contre- appui, destinés à bloquer la position cylindre de travail.
• Fig. 10
  [Fig. 10] est une vue de coupe, selon un plan de coupe vertical, parallèle à la direction de défilement de la bande métallique dans le laminoir, illustrant particulièrement les deux branches et lesdites ailes, dans leur position écartée, de part et d'autre du cylindre de travail inférieur, et du plan de serrage passant par les axes des deux cylindres de travail, ledit cylindre inférieur en appui par deux génératrices de contact avec les premiers cylindres intermédiaires du laminoir.
• Fig. 11
  [Fig. 11] est une vue de coupe, consécutive à la figure 10 les deux branches étant déplacées jusqu'à leur position rapprochée, les deux ailes solidaires des deux branches assurant conjointement la séparation mécanique entre le cylindre de travail, inférieur, d'une part et les deux premiers cylindres intermédiaires, d'autre part, avec suppression des deux génératrices de contact entre le cylindre de travail et les premiers cylindres intermédiaires.
• Fig. 12
  [Fig. 12] La figure 12 est une représentation schématique de la configuration d'un laminoir à 20 cylindres.
• Fig. 13
  [Fig. 13] La figure 13 est une représentation schématique illustrant le positionnement des branches de la fourche, avant insertion entre la bande métallique et le cylindre de travail, en vue de soulever la bande métallique et l'écarter du cylindre de travail, inférieur.
• Fig. 14
  [Fig. 14] La figure 14 est une vue successive de la figure 13, illustrant le soulèvement de la bande métallique et son écartement du cylindre de travail inférieur, par le mouvement d'insertion des branches de la fourche, et le travail des pentes aux extrémités libres des branches du système de fourche.

Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the appended drawings, in which:

• Fig. 1
  [ Fig. 1 ] shows a perspective view of a robot manipulating a work roll changing tool according to the present disclosure, and suitable for implementing the method according to the present disclosure, the robot placed in the work area in front of a 20-roll rolling mill, opposite access to the work rolls, after opening a gate.
• Fig. 2
  [ Fig. 2 ] is a perspective view of the work roll change tool, in a position relative to the metal strip allowing gripping of the upper work roll, the components of the rolling mill being not illustrated.
• Fig. 3
  [ Fig. 3 ] is a detailed view of the figure 2 , illustrating the free ends of the branches of the fork system, but also two wings with insert function, respectively articulated to said branches, and extending along the length of the branches, said wings being configured to be inserted between the cylinder of work, on the one hand, and respectively the first intermediate cylinders, on the other hand, during the movement of the branches of the fork system from their spaced position towards their close position.
• Fig. 4
  [ Fig. 4 ] is a view of the figure 2 , along a vertical plane passing through one of the branches of said fork system, illustrating the free end with its slope configured to lift the metal strip and move it away from the lower working cylinder.
• Fig. 5
  [ Fig. 5 ] is a sectional view, along a plane passing through the axis of a second intermediate cylinder, illustrating the insertion of the branches of the fork system, in the spaced position of said branches, and jointly the insertion of the wings with function d 'insert.
• Fig. 6
  [ Fig. 6 ] is a sectional view of the figure 5 , according to a vertical section plane parallel to the direction of travel of the metal strip in the rolling mill, the section view particularly illustrating the two branches and said wings, in their spaced position, on either side of the upper working cylinder, and of the clamping plane passing through the axes of the two working cylinders.
• Fig. 7
  [ Fig. 7 ] is a section view following the Figure 6 , the two branches being moved to their close position, coming into contact with the working cylinder by lifting it until obtaining the removal of the generator of contact with the metal strip, the two wings secured to the two branches jointly ensuring the mechanical separation between the working cylinder, on the one hand, and the first two intermediate cylinders, on the other hand.
• Fig. 8
  [ Fig. 8 ] is a consecutive view of the Figure 7 wherein an electromagnetic suction cup type gripper of a gripping device is moved by an actuator until gripping one end of the working cylinder.
• Fig. 9
  [ Fig. 9 ] is a consecutive view of the figure 8 , for which the working cylinder is pulled on the branches then in a brought together position by the gripper, and up to a position where the end of the gripped working cylinder is positioned between a movable support and a counter-support, intended to block the working cylinder position.
• Fig. 10
  [ Fig. 10 ] is a sectional view, along a vertical sectional plane, parallel to the direction of travel of the metal strip in the rolling mill, particularly illustrating the two branches and said wings, in their spaced position, on either side of the cylinder lower working surface, and the clamping plane passing through the axes of the two working rolls, said lower cylinder supported by two contact generators with the first intermediate rolls of the rolling mill.
• Fig. 11
  [ Fig. 11 ] is a section view, following the Figure 10 the two branches being moved to their close position, the two wings secured to the two branches jointly ensuring the mechanical separation between the lower working cylinder, on the one hand, and the first two intermediate cylinders, on the other hand, with removal of the two contact generators between the working cylinder and the first intermediate cylinders.
• Fig. 12
  [ Fig. 12 ] There Figure 12 is a schematic representation of the configuration of a 20 roll rolling mill.
• Fig. 13
  [ Fig. 13 ] There Figure 13 is a schematic representation illustrating the positioning of the branches of the fork, before insertion between the metal strip and the working cylinder, with a view to lifting the metal strip and moving it away from the lower working cylinder.
• Fig. 14
  [ Fig. 14 ] There Figure 14 is a successive view of the figure 13 , illustrating the lifting of the metal strip and its separation from the lower working cylinder, by the insertion movement of the branches of the fork, and the work of the slopes at the free ends of the branches of the fork system.

Description of embodiments

The drawings and description below contain, for the most part, elements of a certain nature. They can therefore not only be used to better understand this disclosure, but also contribute to its definition, if necessary.

Also the present disclosure relates first of all to a method for changing the working rolls 12 of a rolling mill marked 10, in the presence of a metal strip BM intended to be rolled between the two working rolls 12, including a roll upper working cylinder, and a lower working cylinder.

In a closing position of the rolling mill stand configured for rolling the metal strip BM, the working rolls 12 each have a contact generator with the metal strip, the contact generators and the axes of the working cylinders 12 being in a plane substantially perpendicular to a direction of travel of the metal strip.

In the closed position of the cage, rolling members such as first intermediate cylinders 13 are in contact along two contact generators between each of the working cylinders 12 and the rolling members, the rolling members ensuring the transmission of a rolling force to the working rolls 12, lower and upper, in contact with the metal strip BM.

• une étape d'insertion a) comprenant :
  • -- une insertion de manière robotisée de moyens de séparation mécanique 1 entre ledit cylindre de travail 12 et la bande métallique BM jusqu'à une position de séparation PS1 dans laquelle la bande métallique BM et ledit cylindre de travail 12 sont séparés physiquement sur la longueur du cylindre de travail, et jusqu'à garantir la suppression du contact entre le cylindre de travail 12 et la bande métallique BM et/ou
  • -- une insertion de manière robotisée de moyens de séparation mécanique 1 entre le cylindre de travail 12 et les organes de roulement jusqu'à une position de séparation PS2 dans laquelle ledit cylindre de travail 12 et les organes de roulement sont séparés physiquement sur la longueur du cylindre de travail, jusqu'à garantir la suppression du contact entre le cylindre de travail 12 et les organes de roulement,
• une étape de retrait b) comprenant :
  • -- une extraction dudit cylindre de travail 12 de manière robotisée, par une saisie d'une extrémité dudit cylindre de travail 12 et déplacement dudit cylindre de travail 12 suivant son axe par rapport à la bande métallique BM et aux organes de roulement présents dans la cage du laminoir, dans laquelle lesdits moyens de séparation mécanique sont:
    • -- dans ladite position de séparation PS1 dans laquelle le cylindre de travail 12 et la bande métallique BM sont séparés physiquement de sorte à éviter tout frottement entre le cylindre de travail et la bande métallique lors du déplacement, ou/et
    • -- dans ladite position de séparation PS2 dans laquelle le cylindre de travail 12 et les organes de roulement sont séparés physiquement et de sorte à éviter tout frottement entre le cylindre de travail et les organes de roulement lors du déplacement.

According to the method of the present disclosure, the extraction of the working rolls 12 from the rolling mill stand is ensured after at least partial (or even total) opening of the rolling mill stand for which the working rolls 12 are spaced apart from each other. the other, and relative to the positions of the working rolls 12, in the closed position of the rolling mill stand, by implementing the following steps, for said upper and/or lower working roll

• an insertion step a) comprising:
  • -- a robotic insertion of mechanical separation means 1 between said working cylinder 12 and the metal strip BM up to a separation position PS1 in which the metal strip BM and said working cylinder 12 are physically separated along the length of the working cylinder, and until guaranteeing the elimination of contact between the working cylinder 12 and the metal strip BM and/or
  • -- a robotic insertion of mechanical separation means 1 between the working cylinder 12 and the rolling members up to a separation position PS2 in which said working cylinder 12 and the rolling members are physically separated along the length of the working cylinder, until the elimination of contact between the working cylinder 12 and the rolling members is guaranteed,
• a withdrawal step b) comprising:
  • -- an extraction of said working cylinder 12 in a robotic manner, by grasping one end of said working cylinder 12 and moving said working cylinder 12 along its axis relative to the metal strip BM and the rolling members present in the rolling mill stand, in which said means of mechanical separation are:
    • -- in said separation position PS1 in which the working cylinder 12 and the metal strip BM are physically separated so as to avoid any friction between the working cylinder and the metal strip during movement, or/and
    • -- in said separation position PS2 in which the working cylinder 12 and the rolling members are physically separated and so as to avoid any friction between the working cylinder and the rolling members during movement.

Thus and notably, the method comprises an insertion step a), prior to the withdrawal step b), with robotic insertion of the mechanical separation means guaranteeing the elimination of contact between the working cylinder 12 and the strip metal BM, in the separation position PS1, and alternatively or preferably additionally, with a robotic insertion of mechanical separation means guaranteeing the elimination of contact between the working cylinder 12 and the rolling members, in the separation position PS2.

The withdrawal step b) is then implemented while said mechanical separation means are in said separation position PS1 in which the working cylinder 12 and the metal strip BM are physically separated or/and preferably in said position of separation PS2 in which the working cylinder 12 and the support members are physically separated.

The method according to the present disclosure advantageously makes it possible, during the removal step b) to avoid any friction between the working cylinder, on the one hand, and the metal strip and/or the rolling members, during the movement of the working roll for its removal from the rolling mill stand.

It becomes possible to extract the working cylinder, lower or upper, without marking the working cylinder, or without marking the metal strip or the rolling members when removing the working cylinder by movement along its axis.

The process according to the present disclosure finds a particular application in a 20Hi rolling mill as shown schematically in the Figure 12 .

The method according to the present disclosure can be advantageously implemented by a cylinder changing tool 8, comprising a fork system, with two branches 20, 21. When the branches 20, 21 are inserted between the metal strip BM and the cylinder working cylinder 12 to be extracted, parallel to the axis of the working cylinder, said branches, advantageously interposed between the metal strip BM and the working cylinder 12 make it possible to guarantee the elimination of contact between the metal strip and the working cylinder.

Thus, the insertion step a) and the extraction step b) can be implemented for the upper working cylinder 12, and as visible from the figures 5 to 9 , the separation means 1 between said upper working cylinder 12 and the metal strip BM comprising said fork system 2 with its two branches 20, 21, parallel to each other, held to the same fork support 22.

The two branches 20, 21 of the fork system are movable relative to said fork support, to take, on the one hand, a spaced position PE, visible at the Figure 6 , configured to ensure the insertion of the two branches 20, 21 of the fork system, on either side of the upper working cylinder, without friction with said upper working cylinder 12, then always in contact by the contact generator with the metal strip, and on the other hand a close position PR, visible at the figure 7 in which the two branches of the fork system are brought closer to each other.

In the close position PR, the two branches are advantageously configured so as to come into contact respectively with two generators of the upper working cylinder 12 to separate the upper working cylinder from the metal strip BM by lifting it, thus eliminating the contact between the upper working cylinder with the metal strip, and as visible at the Figure 7 .

For this purpose, and according to one embodiment, the two branches 20, 21 of the fork system 2 can advantageously have a section, following a plane perpendicular to the direction of the branches 20, 21, comprising two slopes 25, 26, belonging respectively to the two branches 20, 21 facing each other, inclined relative to the plane of the metal strip BM following the direction of travel of the metal strip. The two slopes 25, 26 are configured to come into contact with two generators of the upper working cylinder 12 to ensure the lifting of the upper working cylinder, forming a cradle for maintaining the upper working cylinder 12, in the close position PR of the branches 20, 21 of the fork system 2.

Notably, the branches 20, 21 of the fork system can have a metal body machined to form the slopes 25, 26. A protective coating, for example plastic, or Teflon can cover the metal body at least at the level of the slopes. 25, 26 intended to come into contact with the working cylinder 12. Such a coating makes it possible to protect the surface condition of the working cylinder when it is caused to roll or slide on the slopes 25, 26 of the branches, and thus avoiding marking/scratching of the work cylinder.

• les moyens de séparation entre ledit cylindre de travail 12 et la bande métallique BM comprennent ledit système de fourche 2, y compris les deux branches 20, 21, mobiles l'une par rapport à l'autre pour passer de leur position écartée PE jusqu'à la position rapprochée PR dans laquelle les deux branches 20, 21 du système de fourche sont intercalées entre ledit cylindre de travail 12, supérieur ou inférieur, et la bande métallique BM garantissant la suppression du contact entre le cylindre de travail 12 et la bande métallique BM, et additionnellement
• les moyens de séparation mécanique entre ledit cylindre de travail 12 et les organes de roulement notamment les premiers cylindres intermédiaires 13 comprennent, deux ailes 3, 4, à fonction d'insert, respectivement solidaires de manière articulée auxdites deux branches 20, 21 du système de fourche et assurant conjointement, lors du rapprochement des deux branches 20, 21 de leur position écartée PE jusqu'à leur position rapprochée PR la séparation mécanique entre le cylindre de travail 12 et les organes de roulement dans laquelle ledit cylindre de travail 12 et les organes de roulement sont séparés physiquement sur la longueur du cylindre de travail, par lesdites ailes 3, 4 en insert garantissant la suppression du contact entre le cylindre de travail 12 et les organes de roulement.

According to an advantageous embodiment:

• the separation means between said working cylinder 12 and the metal strip BM comprise said fork system 2, including the two branches 20, 21, movable relative to each other to move from their spaced position PE until at the close position PR in which the two branches 20, 21 of the fork system are interposed between said working cylinder 12, upper or lower, and the metal strip BM guaranteeing the elimination of contact between the working cylinder 12 and the metal strip BM, and additionally
• the mechanical separation means between said working cylinder 12 and the rolling members, in particular the first intermediate cylinders 13, comprise two wings 3, 4, with insert function, respectively secured in an articulated manner to said two branches 20, 21 of the system of fork and jointly ensuring, when the two branches 20, 21 are brought together from their spaced position PE to their close position PR, the mechanical separation between the working cylinder 12 and the rolling members in which said working cylinder 12 and the members bearings are physically separated along the length of the working cylinder, by said insert wings 3, 4 guaranteeing the elimination of contact between the working cylinder 12 and the rolling members.

Thus, and at the Figure 3 , we note that the two branches 20 and 21 of the fork system are provided respectively with a first wing 3, and with a second wing 4. The first wing 3 extends longitudinally to the branch 20, and is articulated along a pivot axis 30 to said branch 20 and the second wing 4 extends longitudinally to the branch 21, and is articulated along a pivot axis 40 to the other branch 21.

Note that the two wings 3 and 4 extend, following a section perpendicular to the direction of the branches of the fork system, from their pivot axis 30 or 40, one towards the other, each being inclined relative to to the plane passing through the axes of two branches, at an angle allowing the introduction of a free edge 31, or 41 of each of the wings 3 or 4 between the working cylinder and the corresponding rolling members, namely the one and the other of the first intermediate rolls in the case of a 20Hi rolling mill.

• les moyens de séparation entre ledit cylindre de travail et la bande métallique comprennent ledit système de fourche 2, y compris les deux branches 20, 21, mobiles l'une par rapport à l'autre pour passer de leur position écartée PE jusqu'à la position rapprochée PR dans laquelle les deux branches 20, 21 du système de fourche sont intercalées entre ledit cylindre de travail 12, supérieur ou inférieur, et la bande métallique BM garantissant la suppression du contact entre le cylindre de travail 12 et la bande métallique BM et
• les moyens de séparation mécanique entre ledit cylindre de travail 12 et les organes de roulement comprennent les deux ailes 3, 4, à fonction d'insert, respectivement solidaires de manière articulée audites deux branches 20, 21 du système de fourche et assurant conjointement, lors du rapprochement des deux branches 20, 21 de leur position écartée PE jusqu'à leur position rapprochée PR la séparation mécanique entre le cylindre de travail et les organes de roulement dans laquelle ledit cylindre de travail 12 et les organes de roulement sont séparés physiquement sur la longueur du cylindre de travail, par lesdites ailes 3, 4 en insert, en garantissant la suppression du contact entre le cylindre de travail 12 et les organes de roulement.

Thus, and according to one embodiment of the process:

• the separation means between said working cylinder and the metal strip comprise said fork system 2, including the two branches 20, 21, movable relative to each other to move from their spaced position PE to the close position PR in which the two branches 20, 21 of the fork system are interposed between said working cylinder 12, upper or lower, and the metal strip BM guaranteeing the elimination of contact between the working cylinder 12 and the metal strip BM and
• the mechanical separation means between said working cylinder 12 and the rolling members comprise the two wings 3, 4, with insert function, respectively secured in an articulated manner to said two branches 20, 21 of the fork system and jointly ensuring, when the rapprochement of the two branches 20, 21 from their spaced apart position PE to their close position PR the mechanical separation between the working cylinder and the rolling members in which said working cylinder 12 and the rolling members are physically separated on the length of the working cylinder, by said insert wings 3, 4, guaranteeing the elimination of contact between the working cylinder 12 and the rolling members.

Thus, and at the Figure 6 , when extracting the upper working cylinder 12, we notice that the rapprochement of the branches 20, 21 of the fork system not only allows the branches 20, 21 to lift the upper working cylinder 12 by moving it away from the metal strip BM, but also allows the insertion of the wing marked 3 between the working cylinder 12 and one of the two first intermediate cylinders 13 (left), but also the insertion of the wing marked 4, between the working cylinder 12 and the other (right) of the first two intermediate cylinders.

It is then possible to extract the upper working cylinder, without risk of friction with the metal strip BM thanks to the branches 20, 21 interposed between the working cylinder 12 and the metal strip, but also without risk of friction between the working cylinder. working cylinder 12 and the first two intermediate cylinders, thanks to the wings 3, 4 interposed between the working cylinder and respectively the first two intermediate cylinders 13.

According to one embodiment of the present disclosure, the insertion step a) and the extraction step b) are implemented for the lower working cylinder, and in which said separation means between said working cylinder and the metal strip comprise the fork system 2 comprising the two branches 20, 21 parallel to each other, held to the same fork support 22 and in which the two branches of said fork system have free ends 23, advantageously provided with slopes 24 .

These slopes 24 are particularly visible at figures 3 and 4 and are inclined relative to the plane of the metal strip BM, in the direction perpendicular to the direction of travel of the metal strip, when the two branches 20, 21 of the fork system have axes contained in a plane parallel to the plane of the BM metal strip.

As illustrated in figures 13 And 14 , these slopes 24 are advantageously configured to cooperate with the edge of the metal strip BM in order to lift the metal strip during the insertion of the branches 20, 21 following a movement parallel to the direction of the lower working cylinder, causing the spacing of the metal strip BM from the lower working cylinder 12 and therefore the elimination of contact between the lower working cylinder 12 and the metal strip BM.

The two branches can be inserted directly into their close position PR when the working cylinder changing tool does not have wings 3, 4 with insert function. Otherwise and when the two branches 20, 21 are provided with said wings 3 and 4, said branches 20, 21 are inserted during the insertion step a), in their spaced position PE between the metal strip BM, and the cylinder of work 12 lower, and as visible at the Figure 10 .

Advantageously the passage from the spaced position PE of the two branches 20, 21 as visible at the Figure 10 , up to the close position PR, not only allows the two branches 20, 21 of the fork system to be inserted between the lower working cylinder 12 and the metal strip, not only guaranteeing the elimination of any contact between the metal strip BM and the working cylinder 12, lower, but also to jointly insert the wings 3 and 4, between the working cylinder, lower, and the rolling members, in particular the first two intermediate cylinders. We note in fact that the rapprochement of the branches 20, 21 causes that of the wings 3, 4, up to a position of the wing marked 3 inserting between the lower working cylinder 12 and the left one of the first intermediate cylinders, the wing marked 4 inserting between the working cylinder 12, lower, and the first intermediate cylinder 13, right.

It is then possible to extract the lower working cylinder 12, without risk of friction with the metal strip BM, thanks to the branches 20, 21 interposed between the working cylinder 12, in particular upper or lower and the metal strip BM, but also without risk of friction between the working cylinder 12, in particular lower or upper, and the first two intermediate cylinders, thanks to the wings 3, 4 interposed between the working cylinders and respectively the first two intermediate cylinders 13.

The wings 3, 4 with insert function can be made of a plastic material, or similar, at least at the level of its surfaces intended to come into contact with the working cylinder and the rolling members, in particular the first intermediate cylinders.

According to one embodiment of the present disclosure, the gripping of the end of the working cylinder during the withdrawal step b) is implemented by a gripping device 5 configured to grip the end of the working cylinder comprising a gripper 50 with an electromagnetic suction cup, or else a pneumatic suction cup cooperating with a base of the cylinder, or else presenting a clamp whose jaws engage with the periphery cylindrical from the end of the cylinder.

According to this embodiment, the withdrawal step b) is implemented by moving the gripper 50 of the gripping device 5 in the direction of the working cylinder so as to ensure traction of the working cylinder 12.

According to one embodiment of the present disclosure, the gripping device 5 comprises said gripper 50, but also an actuator 51 connecting the fork support 22 to the gripper 50, configured to move the gripper 50 relative to the fork support 22, following a direction parallel to the branches of the fork system. For example at the figure 8 , the gripping device comprises a gripper 50, in particular an electromagnetic suction cup, and the actuator comprises a rack 52. This rack 52 supports the gripper 50, at one of its ends. A motor, 53 secured to the fork support 22, includes a pinion (not visible because it is interior) which meshes with the teeth of the rack. The motorized drive of the pinion in one direction of rotation makes it possible to pull the gripper 50, following the direction of the branches 20, 21 of the fork system 2. The motorized drive of the pinion in the opposite direction makes it possible to push the working cylinder in the rolling mill stand, when inserting a new or ground work roll.

According to one embodiment of the present disclosure, a movable support 6 connected by a second actuator 60 to the fork support 22 is configured to ensure the blocking of the end of the working cylinder gripped and towed by the gripping device 5, the cylinder being blocked, pinched between the movable support 6 and a counter-support 7 in the vicinity of the fork support, when the branches are in the close position PR.

Thus, and when the gripper 50 is at the end of its withdrawal stroke, as visible in the figure 8 , we see that the end of the working cylinder gripped is positioned on the counter support 7, which extends the branches 20, 21 of the system of fork then in close PR position. The second actuator 60 is then configured to ensure the movement of the mobile support 6 towards the counter-support 7, until the working cylinder is blocked on the fork system, pinched between the two supports 6 and 7.

Such blocking makes it possible to completely remove the working cylinder 12 by moving the fork system assembly and the working cylinder blocked between the movable support 6 and the counter-support 7, in particular when the working cylinder is the upper working cylinder which then held by gravity against the branches 20, 21 during withdrawal, or when the working cylinder is a lower working cylinder then positioned under the branches 20, 21 of the fork system.

In the case of removal of the upper working cylinder, this still makes it possible to remove the upper working cylinder, by turning over the entire fork system/working cylinder blocked between the supports 6, 7. The working cylinder 12 is then positioned by robotic means on a support support. The movable support 6 is moved away from the counter-support 7, then the gripper is deactivated, in order to ensure the removal of the working cylinder.

• une première sous-étape de retrait dans laquelle le préhenseur 50 saisit l'extrémité dudit cylindre de travail 12 et procède à un retrait partiel du cylindre de travail 12 par rapport au système de fourche dont les branches 12 sont en position rapprochée PR, immobiles dans la cage du laminoir 10, par déplacement du cylindre de travail 12 le long des branches 20, 21 du système de fourche,
• une deuxième sous-étape de retrait dans laquelle un appui 6, déplaçable selon une direction perpendiculaire à la direction des branches, relié audit support par un second actionneur 60, vient en prise avec la périphérie du cylindre de travail, à proximité de l'extrémité saisie pour assurer le blocage du cylindre de travail, pincée entre l'appui 6, motorisé, d'une part, et un contre appui 7 au voisinage du support de fourche 12,
• une troisième sous étape de retrait dans laquelle le cylindre de travail bloqué entre l'appui 6 et le contre-appui 7 est retiré entièrement de la cage du laminoir par déplacement de l'ensemble système de fourche et cylindre de travail bloqué.

Thus, withdrawal step b) may include:

• a first withdrawal sub-step in which the gripper 50 grasps the end of said working cylinder 12 and proceeds to partially withdraw the working cylinder 12 relative to the fork system whose branches 12 are in the close position PR, immobile in the rolling mill stand 10, by moving the working cylinder 12 along the branches 20, 21 of the fork system,
• a second withdrawal sub-step in which a support 6, movable in a direction perpendicular to the direction of the branches, connected to said support by a second actuator 60, comes into engagement with the periphery of the working cylinder, near the end gripped to ensure the blocking of the working cylinder, pinched between the motorized support 6, on the one hand, and a counter support 7 in the vicinity of the fork support 12,
• a third removal sub-step in which the working cylinder blocked between the support 6 and the counter-support 7 is removed entirely from the rolling mill stand by moving the fork system and blocked working cylinder assembly.

According to one embodiment illustrated in the figures, the fork system 2, the gripping device 5 comprising in addition to said gripper 50, the actuator 51 connecting the support of the fork system to the gripper and the support 6 connected to the support by said second actuator 60 is a self-supporting assembly forming the same tool 8 for changing the working cylinder, manipulated by robotic means Ro.

To the figure 1 , is shown the robotic means Ro manipulating the tool 8 for changing the working cylinder, in the work zone facing the maintenance access to the rolling mill stand.

• la direction x, à savoir la direction horizontale perpendiculaire à la direction de défilement de la bande métallique,
• la direction y, à savoir la direction horizontale parallèle à la direction de défilement de la bande métallique,
• la direction z, à savoir la direction verticale.

An orthonormal coordinate system (x,y,z) defines three directions of space, with:

• the direction x, namely the horizontal direction perpendicular to the direction of travel of the metal strip,
• the y direction, namely the horizontal direction parallel to the direction of travel of the metal strip,
• the z direction, namely the vertical direction.

The robotic means Ro comprising a motorized carriage, movable along Rai rails oriented in the x direction.

The change tool 8 is oriented during the insertion step a) (or the withdrawal step), in the axis of the working cylinder 12 to be gripped, the parallel branches 20, 21, substantially contained in a plane parallel to the plane of the metal strip BM, oriented parallel to the axis of the working cylinder to be gripped.

For gripping the upper working cylinder 12, the gripping device is positioned above the branches 20, 21 and while for gripping the lower working cylinder, the two branches are located above the gripping device 5.

The working cylinder changing tool 8 is mounted on a support S mounted movable in a motorized manner along a column C carried by the carriage of the robotic means. The vertical movement when raising (or lowering) the support S along the column C allows the height of the tool to be adjusted.

The inclination of the longitudinal axis of the changing tool parallel to the axis of the branches can be adjusted by a pivot P between the tool 8 and the support S via a motorization. Another degree of freedom in pivoting allows the tool to be rotated change tool 8 around its longitudinal axis, and in order to allow the change tool to be turned over by 180°.

It is understood that the robotic means can take many other forms such as for example a six-axis robotic arm, manipulating the working cylinder changing tool 8.

• suivant une direction x parallèle à l'axe du cylindre de travail 12 à saisir, lors de l'étape d'insertion ou de l'étape de retrait, par exemple par déplacement du chariot le long des rails Rai,
• en hauteur suivant une direction z, pour passer d'une position permettant l'extraction du cylindre de travail supérieur à une position permettant l'extraction du cylindre inférieur, notamment par déplacement motorisé du support S le long de la colonne C,
• en pivot suivant un axe de rotation parallèle à la direction des branches du système de fourche pour passer d'une configuration de l'ensemble autoportant autorisant l'extraction du cylindre de travail, supérieure, à une configuration dans laquelle l'ensemble autoportant est pivoté de 180° autorisant l'extraction du cylindre de travail inférieur.

Thus, and according to an exemplary embodiment, the upper working cylinder and the lower working cylinder can advantageously be removed successively by said same tool 8 for changing the working cylinder, manipulated by the robotic means Ro, said robotic means comprising means for move the self-supporting assembly:

• in a direction x parallel to the axis of the working cylinder 12 to be gripped, during the insertion step or the withdrawal step, for example by moving the carriage along the Rai rails,
• in height in a direction z, to move from a position allowing the extraction of the upper working cylinder to a position allowing the extraction of the lower cylinder, in particular by motorized movement of the support S along the column C,
• pivoted along an axis of rotation parallel to the direction of the branches of the fork system to move from a configuration of the self-supporting assembly allowing the extraction of the working cylinder, superior, to a configuration in which the self-supporting assembly is pivoted of 180° allowing the extraction of the lower working cylinder.

The process according to the present disclosure finds a particular application in a 20Hi rolling mill as shown schematically in the Figure 12 .

The present disclosure also concerns such a tool 8 suitable for changing work cylinders configured to be manipulated by motorized means Ro. This tool 8 comprises the fork system 2 comprising two branches 20, 21 configured to be inserted into the stand of a rolling mill in a spaced position PE from the branches, on either side of an upper working cylinder 12 of the rolling mill , said branches 20, 21 being movable relative to a fork support 22, said branches 20, 21 being configured to pass from their spaced position PE up to a close position PR in which the branches 20, 21 ensure the lifting of the upper working cylinder 12 by guaranteeing the physical separation between the working cylinder 12 and the metal strip BM during extraction of a working cylinder.

The tool further comprises the gripping device 5 comprising the gripper 50 connected by an actuator 51 to the fork support, configured to grip one end of the working cylinder 12 and pull the working cylinder 12 along the branches 20, 21 of the system fork

The tool 8 for changing the working cylinder can also include the movable support 6 connected by a second actuator 60 to the fork support 22 configured to ensure blocking of the end of the working cylinder gripped and pulled by the gripping device 5, pinched between the movable support 6 and a counter-support 7 in the vicinity of the fork support, when the branches 20, 21 are in the close position PR.

It should be noted that this work roll changing tool is suitable not only for extracting the work roll, but also for gripping and inserting a new or ground work roll into the rolling mill as a replacement. of the upper working cylinder.

Thus the replacement of the working roll removed in the rolling mill stand, in the presence of the metal strip, and the rolling members, in particular of the first intermediate rolls can be carried out by an inversion of the steps of the process ensuring the extraction of the roll from work

To replace the upper cylinder, the new or rectified working cylinder is jointly inserted, blocked along the two branches 20, 21 of the fork system then in the close position PR, which allows the new working cylinder 12 to be inserted. or ground, without risk of marking with the metal strip BM, or even without risk of marking with the rolling members, in particular the first two intermediate cylinders 13 when the tool also includes the wings 3 and 4 with insert function . Said branches 20, 21 are movable relative to a fork support 22, configured to move from their close position PR to their spaced position PE to cause the removal of the working cylinder 12, upper on the metal strip BM. This causes a controlled removal of the upper working cylinder 12, without falling, and in particular thanks to the slopes 25, 26 of the branches, which ensure a gentle descent of the working cylinder when the branches 20, 21 are separated.

Prior to this removal by spacing of the branches 20, 21 of the fork system, and when the tool includes the movable support 6, and the counter-support 7, it is understood that the movable support 6 is separated from the counter-support 7 , so as to release the working cylinder; then the gripper 50 is pushed by the actuator 51 in order to completely push the working roll into the rolling mill stand to the desired position, in the axial direction of the roll.

• lors du rapprochement des deux branches 20, 21, et conjointement des ailes 3, 4 en insert, de leur position écartée PE jusqu'à leur position rapprochée PR la séparation mécanique entre le cylindre de travail 12 et les organes de roulement dans laquelle ledit cylindre de travail et les organes de roulement sont séparés physiquement sur la longueur du cylindre de travail, par lesdites ailes 3, 4 en insert garantissant la suppression du contact entre le cylindre de travail et les organes de roulement, en particulier la suppression des deux génératrices de contact du cylindre de travail inférieur avec les organes de roulement, et/ou
• le lâcher du cylindre de travail 12 inférieur sur les ailes 3, 4 en insert entre le cylindre de travail 12 et les organes de roulement, dans la position rapprochée PR des branches dans la cage du laminoir, puis la dépose du cylindre de travail inférieur sur les organes de roulement lorsque les branches 20, 21 et les ailes 3, 4 en insert sont passés de leur position rapprochée PR vers leur position écartée PE.

The tool can also include the two wings 3, 4, with insert function, respectively secured in an articulated manner to said two branches 20, 21 of the fork system and ensuring:

• when bringing together the two branches 20, 21, and jointly the wings 3, 4 in insert, from their spaced position PE to their close position PR the mechanical separation between the working cylinder 12 and the rolling members in which said cylinder working and the rolling members are physically separated along the length of the working cylinder, by said insert wings 3, 4 guaranteeing the elimination of contact between the working cylinder and the rolling members, in particular the elimination of the two generators of contact of the lower working cylinder with the rolling members, and/or
• releasing the lower working cylinder 12 onto the wings 3, 4 inserted between the working cylinder 12 and the rolling members, in the close position PR of the branches in the rolling mill stand, then removing the lower working cylinder on the rolling members when the branches 20, 21 and the insert wings 3, 4 have moved from their close position PR to their spaced position PE.

Wings 3 and 4 with insert function are thus of interest when extracting the work cylinder; the two wings are inserted between the working cylinder 12, lower or upper, and the rolling members, in particular the two first intermediate cylinders 13, any marking of the working cylinder and the first two intermediate cylinders during movement is advantageously avoided of the working roll, whether by the gripping device, or by the movement caused by the robotic means when the working roll is completely extracted from the rolling mill stand.

These wings 3 and 4 still present a notable interest in ensuring the replacement of the working roll removed in the rolling mill stand, in the presence of the metal strip, and the rolling members, in particular of the first intermediate rolls, by eliminating the risk of marking between the new (or rectified) cylinder and the first two intermediate cylinders.

In particular and with regard to the insertion of the lower, new or rectified working cylinder, and when the unlocking of the mobile support and the deactivation of the gripper can cause a (very slight) fall; this fall is advantageously then triggered in the close position PR of the branches 20 and 21 and therefore of the wings so that the release of the lower working cylinder, new or rectified, takes place on the wings 3, 4, thus avoiding the risk of marking between the working cylinder 12 and the first intermediate cylinders during this release. The work roll is then partially inserted into the rolling mill stand, and before the gripper pushes the work roll completely into the rolling mill stand.

In a second step, the new or rectified cylinder is placed on the rolling members, in particular the first intermediate cylinders, by moving the branches from their close position visible at the Figure 11 up to their separated position, which leads to the withdrawal of the wings 3, 4, respectively between the working cylinder, and the first two intermediate cylinders, and as visible in the Figure 10 .

Such a tool thus advantageously makes it possible not only to extract the working cylinders without risk of marking the working cylinder, but also to insert a new or ground working cylinder, in particular mirror polished, and advantageously without risk of marking the new or rectified working cylinder, which is a great advantage.

Thus and in general, the present disclosure also relates to a process for changing the working cylinder suitable for ensuring the insertion of a working roll in the rolling mill stand, in the presence of the metal strip and the rolling members. Notably, this process is advantageous in that it eliminates or even greatly limits the risk of friction of the working cylinder, new or rectified, and therefore of scratching of the working cylinder.

• une étape d'insertion c) comprenant :
  • -- une insertion de manière robotisée de moyens de séparation mécanique 1 entre la bande métallique BM et le cylindre de travail à insérer garantissant la suppression du contact entre le cylindre de travail 12 et la bande métallique BM et/ou
  • -- une insertion de manière robotisée de moyens de séparation mécanique 1 entre les organes de roulement et ledit cylindre de travail 12 à insérer garantissant la suppression du contact entre le cylindre de travail 12 et les organes de roulement
• une étape de d'insertion d), conjointe ou successive à l'étape d'insertion c) comprenant une insertion dudit cylindre de travail 12 de manière robotisée, par une poussée d'une extrémité dudit cylindre de travail 12 et déplacement dudit cylindre de travail suivant son axe par rapport à la bande métallique BM et aux organes de roulement présents dans la cage du laminoir, dans laquelle lesdits moyens de séparation mécanique sont:
  • -- dans une position de séparation PS1 dans laquelle le cylindre de travail 12 et la bande métallique BM sont séparés physiquement de sorte à éviter tout frottement entre le cylindre de travail et la bande métallique lors du déplacement, ou/et
  • -- dans une position de séparation PS2 dans laquelle le cylindre de travail 12 et les organes de roulement sont séparés physiquement et de sorte à éviter tout frottement entre le cylindre de travail et les organes de roulement lors du déplacement.

Also, the present disclosure also relates to a method for changing the work rolls 12 of a rolling mill 10 in the presence of a metal strip BM intended to be rolled between the two work rolls 12, including an upper work roll and a lower working roll, and in which in a closed position of the rolling mill stand configured for rolling the metal strip BM, said working rolls 12 each have a contact generator with the metal strip, the contact generators and the axes of the working rolls being in a plane substantially perpendicular to a direction of travel of the metal strip, rolling members such as first intermediate rolls 13, being in contact along two contact generators between each of the working rolls 12 and the rolling members, the rolling members ensuring the transmission of a rolling force to the lower and upper working rolls 12 in contact with the metal strip BM, a process in which the insertion of the working rolls 12 is ensured, in particular new or rectified, in the rolling mill stand in the presence of the metal strip and the rolling members, after at least partial opening of the rolling mill stand by the implementation of the following steps, for said upper working roll and /or lower

• an insertion step c) comprising:
  • -- a robotic insertion of mechanical separation means 1 between the metal strip BM and the working cylinder to be inserted guaranteeing the elimination of contact between the working cylinder 12 and the metal strip BM and/or
  • -- a robotic insertion of mechanical separation means 1 between the rolling members and said working cylinder 12 to be inserted guaranteeing the elimination of contact between the working cylinder 12 and the rolling members
• an insertion step d), joint or successive to the insertion step c) comprising an insertion of said working cylinder 12 in a robotic manner, by pushing one end of said working cylinder 12 and moving said cylinder working along its axis relative to the metal strip BM and the rolling members present in the rolling mill stand, in which said mechanical separation means are:
  • -- in a separation position PS1 in which the working cylinder 12 and the metal strip BM are physically separated so as to avoid any friction between the working cylinder and the metal strip during movement, or/and
  • -- in a separation position PS2 in which the working cylinder 12 and the rolling members are physically separated and so as to avoid any friction between the working cylinder and the rolling members during movement.

Thus and notably, the method comprises an insertion step c), prior to or combined with the insertion step d), with robotic insertion of the mechanical separation means guaranteeing the elimination of contact between the working cylinder 12 and the metal strip BM, in the separation position PS1, and alternatively or preferably additionally, with a robotic insertion of mechanical separation means guaranteeing the elimination of contact between the working cylinder 12 and the rolling members, in the position separation PS2.

The step of inserting d) of the working cylinder is then implemented while said mechanical separation means are in said separation position PS1 in which the working cylinder 12 and the metal strip BM are physically separated or/and from preferably in said separation position PS2 in which the working cylinder 12 and the support members are physically separated.

The method according to the present disclosure advantageously makes it possible, during the insertion step d) to avoid any friction between the working cylinder, to be inserted new, or rectified, on the one hand, and the metal strip and/or the rolling members, when moving the working roll for its insertion into the rolling mill stand.

It becomes possible to insert the working cylinder, lower or upper, without marking the working cylinder, or without marking the metal strip or the rolling members when removing the working cylinder by movement along its axis.

Thus the method can present the insertion step c) comprising the robotic insertion of the mechanical separation means between said working cylinder 12 to be inserted, upper or lower, and the metal strip BM up to the separation position PS1 in which the metal strip BM and said upper or lower working cylinder 12 are physically separated along the length of the working cylinder, guaranteeing elimination of contact between the working cylinder and the metal strip, and the insertion in which one carries out said insertion of the working cylinder in a robotic manner, by moving said working cylinder 12 along its axis relative to the metal strip and the rolling members, in said separation position PS1 in which the working cylinder 12, upper or lower and the metal strip BM are physically separated so as to avoid any friction between the working cylinder and the metal strip during movement.

The method according to the present disclosure can be advantageously implemented by a tool 8 for changing the cylinder in particular as previously described for extraction, comprising a fork system, with two branches 20, 21. When the branches 20, 21 are inserted between the metal strip BM and the working cylinder 12 to be inserted, parallel to the axis of the working cylinder, said branches 20, 21 are advantageously interposed between the metal strip BM and the working cylinder 12 make it possible to guarantee the removal of contact between the metal strip and the working cylinder.

Thus, the insertion step c) and the insertion step d) can be implemented for the upper working cylinder 12, and by inversion of the steps described for the extraction and as visible from the figures 5 to 9 , the separation means 1 between said upper working cylinder 12 and the metal strip BM comprising said fork system 2 with its two branches 20, 21, parallel to each other, held to the same fork support 22.

Thus the insertion step c) and the insertion step d) can be implemented for the upper working cylinder 12. Said separation means 1 between said upper working cylinder 12 and the metal strip BM may comprise a fork system 2 comprising two parallel branches 20, 21 between them, held at the same fork support 22. The two branches of the fork system are movable relative to said fork support, to take, on the one hand, during the insertion step c) and the step insertion d) a close position PR in which the two branches of the fork system are brought closer to each other, configured so as to come into contact respectively with two generators of the upper working cylinder 12 to separate the cylinder from upper working of the metal strip BM, then on the other hand, a spaced position PE, configured to ensure the removal of the upper working cylinder 12 on the metal strip with the presence of a contact generator between the upper working cylinder and the metal strip, the two branches then placed on either side of the upper working cylinder.

Thus and according to this embodiment, it is possible to insert the upper working cylinder 12 during the insertion step d), between the metal strip BM and the rolling members, without risk of friction between the working cylinder. working, and the metal strip BM thanks to the branches 20, 21 of the fork system, interposed between the working cylinder and the metal strip, in their close position PR and as illustrated in the Figure 7 . Once the working roll 12 is inserted into position in the rolling mill stand, removal is obtained by spacing the branches 20, 21 up to their spaced position PE, which causes the working roll to descend to its brought into contact with the metal strip BM, by gravity, and as illustrated in Figure 6 .

According to one embodiment, the two branches 20, 21 of the fork system 2 can have the section, following a plane perpendicular to the direction of the branches 20, 21, comprising two slopes 25, 26, belonging respectively to the two branches 20, 21 facing each other, inclined relative to the plane of the metal strip BM following the direction of travel of the metal strip, the two slopes 25, 26 being configured to come into contact with two generators of the upper working cylinder 12 to ensure maintaining the upper work, by forming a cradle for maintaining the upper working cylinder 12, in the close position PR of the branches 20, 21 of the fork system 2, then a controlled removal of the upper working cylinder on the metal strip, thanks to slopes 25, 26 when the two branches are moved to their spaced position PE.

Concerning the lower working cylinder 12, the insertion step c) and the insertion step d) can be implemented for the lower working cylinder, and in which said mechanical separation means between said cylinder working and the metal strip comprise a fork system 2 comprising two branches 20, 21, parallel to each other, held to the same fork support 22 and in which the two branches of said fork system have free ends 23, provided with slopes 24 , which when the two branches 20, 21 of the fork system have axes contained in a plane parallel to the plane of the metal strip BM, are inclined relative to the plane of the metal strip BM, in the direction perpendicular to the direction of travel metal strip.

The slopes 24 at the ends of the branches 21 are configured to cooperate with the edge of the metal strip BM to lift the metal strip during the insertion of the branches 20, 21 following a movement parallel to the direction of the lower working cylinder, with spacing of the metal strip BM of the lower working cylinder 12.

Thus, and as understandable from the Figure 11 , the insertion of the branches of the fork system, with the slopes 24 at the ends of branches 20, 21 makes it possible to lift the metal strip BM, and to provide the two branches 20, 21 as a mechanical separation preventing any friction between the working cylinder lower and the metal strip when it is inserted.

The lifting of the metal strip, by the work of the slopes 24, can be carried out in the close position PR of the branches 20, 21 of the fork system, or even in conjunction with the insertion of the lower working cylinder then positioned just below the branches 20, 21 of the fork system during the insertion step d), and like the work of the slopes during the extraction of the working cylinder ( figures 13 And 14 ).

According to an advantageous embodiment, the method not only makes it possible to avoid friction between the working cylinder 12 to be inserted (upper or lower) and the metal strip BM, but also to avoid friction between said working cylinder (lower or upper) and the rolling members, in particular between the upper working cylinder 12 and the first upper intermediate cylinders 13, or even between the lower working cylinder 12 and the first lower intermediate cylinders 13.

• ladite insertion de manière robotisée des moyens de séparation mécanique 1 entre la bande métallique BM et le cylindre de travail à insérer garantissant la suppression du contact entre le cylindre de travail 12 et la bande métallique BM
  et
• ladite insertion de manière robotisée de moyens de séparation mécanique 1 entre les organes de roulement et ledit cylindre de travail 12 à insérer garantissant la suppression du contact entre le cylindre de travail 12 et les organes de roulement, et dans lequel ladite étape d'insertion d) comprend l'insertion dudit cylindre de travail de manière robotisée, par une poussée d'une extrémité dudit cylindre de travail et le déplacement dudit cylindre de travail suivant son axe par rapport à la bande métallique BM et aux organes de roulement, et dans lequel lesdits moyens de séparation mécanique 1 sont:
  • -- dans ladite position de séparation PS1 dans laquelle le cylindre de travail 12 et la bande métallique 2 sont séparés physiquement de sorte à éviter tout frottement entre le cylindre de travail et la bande métallique lors du déplacement, et simultanément
  • -- dans ladite position de séparation PS2 dans laquelle le cylindre de travail 12 et les organes de roulement sont séparés physiquement et de sorte à éviter tout frottement entre le cylindre de travail et les organes de roulement lors du déplacement.

To this end, said insertion step c) comprises:

• said robotic insertion of the mechanical separation means 1 between the metal strip BM and the working cylinder to be inserted guaranteeing the elimination of contact between the working cylinder 12 and the metal strip BM
  And
• said robotic insertion of mechanical separation means 1 between the rolling members and said working cylinder 12 to be inserted guaranteeing the elimination of contact between the working cylinder 12 and the rolling members, and in which said insertion step d ) comprises the insertion of said working cylinder in a robotic manner, by pushing one end of said working cylinder and moving said working cylinder along its axis relative to the metal strip BM and the rolling members, and in which said mechanical separation means 1 are:
  • -- in said separation position PS1 in which the working cylinder 12 and the metal strip 2 are physically separated so as to avoid any friction between the working cylinder and the metal strip during movement, and simultaneously
  • -- in said separation position PS2 in which the working cylinder 12 and the rolling members are physically separated and so as to avoid any friction between the working cylinder and the rolling members during movement.

For this purpose, and according to one embodiment, the separation means between said working cylinder and the metal strip may comprise said fork system 2, including the two branches 20, 21, movable one relative to the another to move from a close position PR in which the two branches 20, 21 of the fork system are interposed between said upper working cylinder 12 or lower, and the metal strip BM guaranteeing the elimination of contact between the working cylinder 12 and the metal strip BM during the insertion step c) and the insertion step d) and in which the separation means mechanics between said working cylinder 12 and the rolling members comprise, in addition, two wings 3, 4, with insert function, respectively secured in an articulated manner to said two branches 20, 21 of the fork system and jointly ensuring, in a close position PR the mechanical separation between the working cylinder and the rolling members in which said working cylinder 12 and the rolling members are physically separated along the length of the working cylinder, by said wings 3, 4 in insert, guaranteeing the elimination of contact between the working cylinder 12 and the rolling members during the insertion step c) and the insertion step d).

For example, the insertion step c) and the insertion step d) are implemented for the upper working cylinder 12, and in which said separation means 1 between said upper working cylinder 12 and the metal strip BM comprise the fork system 2 comprising two branches 20, 21, parallel to each other, held to the same fork support 22.

The two branches of the fork system are movable relative to said fork support, to take, on the one hand, during the insertion step c) and the insertion step d), a close position PR in which the two branches 20, 21 of the fork system are brought closer to each other, configured so as to come into contact respectively with two generators of the upper working cylinder 12 to separate the upper working cylinder from the metal strip BM, the two wings 3.4 jointly ensuring the mechanical separation between the working cylinder 12 and the rolling members, and then on the other hand, a spaced position PE, configured to ensure the removal of the upper working cylinder 12 on the metal strip BM with contact generator between the upper working cylinder 12 and the metal strip. In their spaced position PE the two branches are then arranged on either side of the upper working cylinder, which jointly causes the wings 3, 4 to be retracted into a spaced position where the latter free the inter-spaces between the working cylinder and the rolling members.

According to one embodiment, the pushing of the end of the working cylinder 12 during the insertion step d) is implemented by a gripping device 5 comprising a gripper 50 configured to push the end of the working cylinder and in which the insertion step d) is implemented by a movement of the gripper 50 of the gripping device in the direction of the working cylinder ensuring a thrust of the working cylinder 12.

• une première sous-étape d'insertion dans laquelle le cylindre de travail 12, bloqué entre un appui 6 et un contre-appui 7 embarqué sur le support de fourche est inséré partiellement dans la cage du laminoir entre la bande métallique BM et le cylindre de travail 12, supérieur ou inférieur, les branches 20,21 du système de la fourche, voire les ailes 3, 4 dans leur position rapprochée PR garantissant la suppression du contact entre la bande métallique BM et le cylindre de travail 12, éventuellement en garantissant la suppression du contact entre le cylindre de travail et les organes de roulement par les ailes 3, 4 en insert,
• une deuxième sous-étape de déblocage dans laquelle ledit appui 6, déplaçable, relié audit support par un second actionneur 60 selon une direction perpendiculaire à la direction des branches est écarté du contre-appui pour libérer (débloquer) le cylindre de travail,
• une troisième sous-étape d'insertion dans laquelle le cylindre de travail partiellement inséré est poussé par l'actionneur 51 jusqu'à sa position axiale finale dans la cage du laminoir, par glissement du cylindre de travail, supérieur sur les branches 20, 21 du système la fourche alors en position rapprochée PR, ou encore glissement du cylindre inférieur sur les ailes en insert 3, 4 .

According to one embodiment, the gripping device 5 further comprises an actuator 51 connecting the fork support 22 to the gripper 50, configured to move the gripper 50 relative to the fork support 22, in a direction parallel to the branches of the fork system , the insertion step d) comprising:

• a first insertion sub-step in which the working cylinder 12, blocked between a support 6 and a counter-support 7 mounted on the fork support, is partially inserted into the rolling mill cage between the metal strip BM and the roll cylinder work 12, upper or lower, the branches 20,21 of the fork system, or even the wings 3, 4 in their close position PR guaranteeing the elimination of contact between the metal strip BM and the working cylinder 12, possibly by guaranteeing the elimination of contact between the working cylinder and the rolling members by the insert wings 3, 4,
• a second unblocking sub-step in which said support 6, movable, connected to said support by a second actuator 60 in a direction perpendicular to the direction of the branches is moved away from the counter-support to release (unblock) the working cylinder,
• a third insertion sub-step in which the partially inserted working roll is pushed by the actuator 51 to its final axial position in the rolling mill stand, by sliding of the upper working roll on the branches 20, 21 of the system the fork then in the close position PR, or even sliding of the lower cylinder on the wings in insert 3, 4.

The removal of the upper working cylinder 12 is ensured by the spacing of the branches 20, 21 from their close position PR to their spaced position EP, which also causes the wings 3, 4 to be retracted, with release of the inter-space between the working cylinder, and the rolling members, in particular the first two upper intermediate cylinders 13.

The removal of the lower working cylinder 12 is ensured by the spacing of the branches 20, 21, and thus jointly the spacing of the wings 3, 4 in insert up to their spaced position PE for which the working cylinder, 12, lower comes into contact with the rolling members, in particular with the two first intermediate cylinders 13, lower, and according to the two generators of contact between the working cylinder and respectively the two first intermediate cylinders 13, lower.

The tool 8 for changing the working cylinder, manipulated by robotic means Ro, as previously described may be suitable for implementing the insertion steps a) and the withdrawal step b) for extraction working cylinders.

The tool 8 for changing the working cylinder, manipulated by robotic means Ro, as previously described may still be suitable for implementing the insertion steps c) and the insertion step d) for the insertion of working cylinders, new or ground.

The present disclosure makes it possible to avoid degradation of the metal strip, of the rolling members such as the first intermediate rolls, but also of the working roll, not only when extracting the working roll from the rolling mill stand, but even advantageously when inserting a new or ground working cylinder.

List of reference signs

• 1. Means of mechanical separation,
• 2. Fork system,
• 20, 21. Branches (Fork system),
• 22. Fork support
• 23. Free ends (Branches),
• 24. Slopes (Free ends of branches),
• 25, 26. slopes facing the section of the branches,
• 3, 4. wings with insert function, articulated respectively to the branches of the fork system,
• 30, 40. pivot pins,
• 31, 41. free edges
• 5. Gripper (cylinder end)
• 50. Gripper,
• 51. Actuator,
• 52. Housewarming
• 53. Motorization (rack)
• 6. Mobile support
• 7. Counter-support
• 60. Second actuator
• 8. Work cylinder change tool
• BM. Metal strip,
• PS1. separation position in which the metal strip and said working cylinder are physically separated along the length of the working cylinder,
• PS2. separation position in which said working cylinder and the rolling members are physically separated along the length of the working cylinder,
• PE. Position separated from the branches (of the fork system),
• PR. Close position of the branches (of the fork system)
• 10. Rolling mill
• 12. Working cylinder
• 13. First intermediate cylinders
• 14, 15. Second intermediate cylinders,
• A, B, C, D. Upper group GS rollers
• E, F, G, H. Lower group GI rollers
• GI, Gs. Lower Group/Higher Group

• Ro. Robotic means,
• Rai. Floor rails for trolley,
• C. Column carried by the cart,
• S. sliding support along the column,
• P. Pivot between changing tool and support S

Claims (25)

1. A method for changing work rolls (12) of a rolling mill (10) in the presence of a metal strip (MS) to be rolled between both work rolls (12), including an upper work roll and a lower work roll, and wherein in a closing position of the roll stand configured to roll the metal strip (MS), said work rolls (12) each have a contact generatrix with the metal strip, the contact generatrices and the axes of the work rolls lying in a plane substantially perpendicular to a running direction of the metal strip, rolling members such as first intermediate rolls (13) being in contact along two contact generatrices between each of the work rolls (12) and the rolling members, the rolling members ensuring transmission of a rolling force to the lower and upper work rolls (12) in contact with the metal strip (MS), method in which extraction of the work rolls (12) from the roll stand is ensured after at least partially opening the roll stand for which the work rolls (12) are spaced apart from each other with respect to the positions of the work rolls in the closing position of the roll stand, the method being characterised in that the extraction of the work rolls (12) is ensured by carrying out the following steps, for said upper and/or lower work roll

   - an insertion step a) comprising:

   -- robotically inserting mechanical separation means (1) between said work roll (12) and the metal strip (MS) to a separation position (SP1) in which the metal strip (MS) and said work roll (12) are physically separated along the length of the work roll, and up to ensuring removal of the contact between the work roll (12) and the metal strip (MS) and/or

   -- robotically inserting mechanical separation means (1) between the work roll (12) and the rolling members to a separation position (SP2) in which said work roll (12) and the rolling members are physically separated along the length of the work roll, until ensuring suppression of the contact between the work roll (12) and the rolling members

   - a removal step b) comprising:

   -- robotically extracting said work roll (12), by gripping one end of said work roll (12) and moving said work roll along its axis with respect to the metal strip (MS) and the rolling members present in the roll stand, wherein said mechanical separation means are:

   -- in said separation position (SP1) in which the work roll (12) and the metal strip (MS) are physically separated so as to avoid any friction between the work roll and the metal strip upon moving, or/and

   -- in said separation position (SP2) in which the work roll (12) and the rolling members are physically separated and so as to avoid any friction between the work roll and the rolling members upon moving.
2. The method according to claim 1, having the insertion step a) comprising robotically inserting the mechanical separation means between said upper or lower work roll (12), and the metal strip (MS) to the separation position (SP1) in which the metal strip (MS) and said upper or lower work roll (12), are physically separated along the length of the work roll, guaranteeing suppression of the contact between the work roll and the metal strip and extraction in which said extraction of the work roll is robotically performed, by moving said work roll (12) along its axis with respect to the metal strip and the rolling members, in said separation position (SP1) in which the upper or lower work roll (12), and the metal strip (MS) are physically separated so as to avoid any friction between the work roll and the metal strip upon moving.
3. The method according to claim 2, wherein the insertion step a) and the extraction step b) are implemented for the upper work roll (12), and wherein said separation means (1) between said upper work roll (12) and the metal strip (MS) comprise a fork system (2) comprising two branches (20, 21), parallel to each other, held to a same fork support (22) and wherein both branches of the fork system are movable with respect to said fork support, to assume, on the one hand, a spaced apart position (SAP) configured to ensure insertion of both branches of the fork on either side of the upper work roll, without friction with said upper work roll (12) still in contact with the metal strip via the contact generatrix, and on the other hand a close position (CP) in which both branches of the fork system are moved closer to each other, configured so as to come into contact respectively with two generatrices of the upper work roll (12) in order to space apart the upper work roll from the metal strip (MS) by lifting it, suppressing contact between the upper work roll and the metal strip.
4. The method according to claim 2 or 3, wherein the insertion step a) and the extraction step b) are carried out for the lower work roll, and wherein said separation means between said work roll and the metal strip comprise a fork system (2) comprising two branches (20, 21), parallel to each other, held to a same fork support (22) and wherein both branches of said fork system have free ends (23), provided with slopes (24), which when both branches (20, 21) of the fork system have axes contained in a plane parallel to the plane of the metal strip (MS), are tilted with respect to the plane of the metal strip (MS), along the direction perpendicular to the running direction of the metal strip, said slopes (24) at the ends of the branches (21) being configured to cooperate with the edge of the metal strip (MS) to lift the metal strip upon insertion of the branches (20, 21) in a movement parallel to the direction of the lower work roll, with spacing apart the metal strip (MS) from the lower work roll (12) and suppressing contact between the lower work roll (12) and the metal strip (MS).
5. The method according to claim 3, wherein both branches (20, 21) of the fork system (2) have a cross-section, in a plane perpendicular to the direction of the branches (20, 21), comprising two slopes (25, 26), belonging respectively to both branches (20, 21) facing each other, which are tilted with respect to the plane of the metal strip (MS) in the running direction of the metal strip, both slopes (25, 26) being configured to come into contact with two generatrices of the upper work roll (12) to ensure lifting of the upper work roll, forming a cradle for holding the upper work roll (12), in the close position (CP) of the branches (20, 21) of the fork system (2).
6. The method according to one of claims 1 to 5, wherein said insertion step a) comprises:

   - said robotically inserting the mechanical separation means (1) between said work roll (12) and the metal strip (MS) to the separation position (SP1) in which the metal strip (MS) and said work roll (12) are physically separated along the length of the work roll, and up to guaranteeing suppression of the contact between the work roll (12) and the metal strip (MS), and

   - said robotically inserting the mechanical separation means between the work roll (12) and the rolling members to the separation position (SP2) in which said work roll and the rolling members are physically separated along the length of the work roll, up to guaranteeing suppression of the contact between the work roll and the rolling members

   and wherein said removal step b) comprises robotically extracting said work roll, by gripping one end of said work roll and moving said work roll along its axis with respect to the strip and the rolling members, and wherein said mechanical separation means (1) are:

   -- in said separation position (SP1) in which the work roll (12) and the metal strip (123) are physically separated so as to avoid any friction between the work roll and the metal strip upon moving, and simultaneously

   -- in said separation position (SP2) in which the work roll (12) and the rolling members are physically separated and so as to avoid any friction between the work roll and the rolling members upon moving.
7. The method according to claim 3 or 4, taken in combination with claim 6, wherein the separation means between said work roll and the metal strip comprise said fork system (2), including both branches (20, 21), movable with respect to each other from their spaced apart position (SAP) to the close position (CP) in which both branches (20, 21) of the fork system are interposed between said upper or lower work roll (12) and the metal strip (MS) guaranteeing suppression of the contact between the work roll (12) and the metal strip (MS) and wherein the mechanical separation means between said work roll (12) and the rolling members comprise two wings (3, 4), with an insert function, respectively hingedly integral with both branches (20, 21) of the fork system and concurrently ensuring, upon moving both branches from their spaced apart position (SAP) to their close position (CP), mechanical separation between the work roll and the rolling members, in which said work roll (12) and the rolling members are physically separated along the length of the work roll, by said wings (3, 4) as an insert, guaranteeing suppression of the contact between the work roll (12) and the rolling members.
8. The method according to one of claims 1 to 7, wherein gripping the end of the work roll (12) during the removal step b) is implemented by a gripping device (5) configured to grip the end of the work roll comprising a gripper (50) with an electromagnetic suction cup or a pneumatic suction cup cooperating with a base of the roll, or having a clamp whose jaws engage the cylindrical periphery of the end of the roll, and wherein the removal step b) is implemented by moving the gripper (50) in the direction of the work roll ensuring pulling of the work roll (12).
9. The method according to claim 3, 4, 5 or 7 in combination with claim 8 wherein the gripping device (5) further comprises said gripper (50), but also an actuator (51) connecting the fork support (22) to the gripper (50), configured to move the gripper (50) relative to the fork support (22), along a direction parallel to the branches of the fork system, the removal step b) comprising:

   - a first removal sub-step in which the gripper (50) grips the end of said work roll (12) and performs partial removal of the work roll (12) with respect to the fork system whose branches (12) are, in the close position (CP), immobile in the roll stand (10), by moving the work roll (12) along the branches (20, 21) of the fork system,

   - a second removal sub-step in which a backup element (6), movable along a direction perpendicular to the direction of the branches, connected to said support by a second actuator (60), engages the periphery of the work roll, in proximity of the end gripped to ensure locking of the work roll, clamped between the motor-driven backup element (6), on the one hand, and a counter-backup element (7) in the vicinity of the fork support (12),

   - a third removal sub-step in which the work roll locked between the backup element (6) and the counter-backup element (7) is entirely removed from the roll stand by moving the whole of the fork system and work roll locked.
10. The method according to claim 9, wherein the fork system (2), the gripping device (5) further comprising said gripper (50), but also an actuator (51) connecting the support of the fork system to the gripper and the back-up element (6) connected to the support by said second actuator (60) is a self-supporting assembly forming a same work roll change tool (8), handled by a robotic means (Ro).
11. The method according to claim 10, wherein the upper work roll and the lower work roll are successively removed by said same work roll change tool, handled by robotic means (Ro), said robotic means comprising means for moving the self-supporting assembly:

    - in an x-direction parallel to the axis of the work roll (12) to be gripped, during the insertion step or the removal step,

    - in height along a z-direction, to move from a position allowing extraction of the upper work roll to a position allowing extraction of the lower roll,

    - in pivot along an axis of rotation parallel to the direction of the branches of the fork system to move from a configuration of the self-supporting assembly allowing extraction of the upper work roll to a configuration in which the self-supporting assembly is pivoted by 180° enabling extraction of the lower work roll.
12. A method for changing the work rolls (12) of a rolling mill (10) in the presence of a metal strip (MS) to be rolled between both work rolls (12), including an upper work roll and a lower work roll, and wherein in a closing position of the roll stand configured to roll the metal strip (MS), said work rolls (12) each have a contact generatrix with the metal strip, the contact generatrices and the axes of the work rolls lying in a plane substantially perpendicular to a running direction of the metal strip, rolling members such as first intermediate rolls (13) being in contact along two contact generatrices between each of the work rolls (12) and the rolling members, the rolling members ensuring transmission of a rolling force to the lower and upper work rolls (12) in contact with the metal strip (MS), method in which the insertion of the new or ground work rolls (12), into the roll stand is ensured in the presence of the metal strip and the rolling members, after at least partially opening the roll stand, the method being characterised in that the insertion of the work rolls (12) is ensured by the implementation of the following steps, for said upper and/or lower work roll

    - an insertion step c) comprising:

    -- robotically inserting mechanical separation means (1) between the metal strip (MS) and the work roll to be inserted guaranteeing suppression of the contact between the work roll (12) and the metal strip (MS) and/or

    -- robotically inserting mechanical separation means (1) between the rolling members and said work roll (12) to be inserted guaranteeing suppression of the contact between the work roll (12) and the rolling members

    - an insertion step d), concurrent or subsequent to the insertion step c) comprising robotically inserting said work roll (12), by pushing one end of said work roll (12) and moving said work roll along its axis with respect to the metal strip (MS) and to the rolling members present in the roll stand, wherein said mechanical separation means are:

    -- in a separation position (SP1) in which the work roll (12) and the metal strip (MS) are physically separated so as to avoid any friction between the work roll and the metal strip upon moving, or/and

    -- in a separation position (SP2) in which the work roll (12) and the rolling members are physically separated and so as to avoid any friction between the work roll and the rolling members upon moving.
13. The method according to claim 12, having the insertion step c) comprising robotically inserting mechanical separation means between said upper or lower work roll (12) to be inserted and the metal strip (MS) to the separation position (SP1) in which the metal strip (MS) and said upper or lower work roll (12) are physically separated along the length of the work roll, guaranteeing suppression of the contact between the work roll and the metal strip and the insertion step d) in which said inserting the work roll is robotically performed, by moving said work roll (12) along its axis with respect to the metal strip and the rolling members, in said separation position (SP1) in which the upper or lower work roll (12) and the metal strip (MS) are physically separated so as to avoid any friction between the work roll and the metal strip upon moving.
14. The method according to claim 12 or 13, wherein the insertion step c) and the insertion step d) are implemented for the upper work roll (12), and wherein said separation means (1) between said upper work roll (12) and the metal strip (MS) comprise a fork system (2) comprising two branches (20, 21), parallel to each other, held to a same fork support (22) and wherein both branches of the fork system are movable with respect to said fork support, to assume, on the one hand, during the insertion step c) and the insertion step d) a close position (CP) in which both branches of the fork system are moved closer to each other, configured so as to come into contact respectively with two generatrices of the upper work roll (12) to space apart the upper work roll from the metal strip (MS) on the other hand, and then a spaced apart position (SAP), configured to ensure deposition of the upper work roll (12) onto the metal strip with a contact generatrix between the upper work roll and the metal strip, both branches then being arranged on either side of the upper work roll.
15. The method according to claim 13 or 14, wherein the insertion step c) and the insertion step d) are carried out for the lower work roll, and wherein said separation means between said work roll and the metal strip comprise a fork system (2) comprising two branches (20, 21), parallel to each other, held to a same fork support (22), and wherein both branches of said fork system have free ends (23), provided with slopes (24), which when both branches (20, 21) of the fork system are of axes contained in a plane parallel to the plane of the metal strip (MS), are tilted with respect to the plane of the metal strip (MS), along the direction perpendicular to the running direction of the metal strip, said slopes (24) at the ends of the branches (21) being configured to cooperate with the edge of the metal strip (MS) to lift the metal strip upon inserting the branches (20, 21) in a movement parallel to the direction of the lower work roll, with spacing apart the metal strip (MS) from the lower work roll (12).
16. The method according to claim 14 or 15, wherein both branches (20, 21) of the fork system (2) have a cross-section, along a plane perpendicular to the direction of the branches (20, 21), comprising two slopes (25, 26), belonging respectively to both branches (20, 21) facing each other, tilted with respect to the plane of the metal strip (MS) along the running direction of the metal strip, both slopes (25, 26) being configured to come into contact with two generatrices of the upper work roll (12) to ensure holding of the upper work, forming cradle for holding the upper work roll (12), in the close position (CP) of the branches (20, 21) of the fork system (2), and then controlled deposition of the upper work roll onto the metal strip when both branches are moved to their spaced apart position (SAP).
17. The method according to one of claims 12 to 16, wherein said insertion step c) comprises:

    - said robotically inserting the mechanical separation means (1) between the metal strip (MS) and the work roll to be inserted guaranteeing suppression of the contact between the work roll (12) and the metal strip (MS), and

    - said insertion step of robotically inserting mechanical separation means (1) between the rolling members and said work roll (12) to be inserted ensuring suppression of the contact between the work roll (12) and the rolling members and wherein said insertion step d) comprises robotically inserting said work roll, by pushing one end of said work roll and moving said work roll along its axis with respect to the strip and the rolling members, and wherein said mechanical separation means (1) are:

    -- in said separation position (SP1) in which the work roll (12) and the metal strip (MS) are physically separated so as to avoid any friction between the work roll and the metal strip upon moving, and simultaneously

    -- in said separation position (SP2) in which the work roll (12) and the rolling members are physically separated and so as to avoid any friction between the work roll and the rolling members upon moving.
18. The method according to claim 14 or 15, taken in combination with claim 17, wherein the separation means between said work roll and the metal strip comprise said fork system (2), including both branches (20, 21), movable with respect to each other from a close position (CP) in which both branches (20, 21) of the fork system are interposed between said upper or lower work roll (12) and the metal strip (MS) guaranteeing suppression of the contact between the work roll (12) and the metal strip (MS) during the insertion step c) and the insertion step d) and wherein the mechanical separation means between said work roll (12) and the rolling members comprise two wings (3, 4), with an insert function, respectively hingedly integral with said two branches (20, 21) of the fork system and concurrently ensuring, in a close position (CP), the mechanical separation between the work roll and the rolling members in which said work roll (12) and the rolling members are physically separated along the length of the work roll, by said insert wings (3, 4) guaranteeing suppression of the contact between the work roll (12) and the rolling members during the insertion step c) and the insertion step d).
19. The method according to claim 18, wherein the insertion step c) and the insertion step d) are implemented for the upper work roll (12), and wherein said separation means (1) between said upper work roll (12), and the metal strip (MS) comprise the fork system (2) comprising two branches (20, 21) parallel to each other, held to a same fork support (22) and in which both branches of the fork system are movable with respect to said fork support, to assume, on the one hand, during the insertion step c) and the insertion step d) a close position (CP) in which both branches of the fork system are moved closer to each other, configured so as to come into contact respectively with two generatrices of the upper work roll (12) in order to space apart the upper work roll from the metal strip (MS), both wings (3, 4) concurrently ensuring mechanical separation between the work roll (12) and the rolling members, and then, on the other hand, a spaced apart position (SAP), configured to ensure deposition of the upper work roll (12) onto the metal strip with a contact generatrix between the upper work roll and the metal strip, both arms then being arranged on either side of the upper work roll, and concurrently retraction of the wings (3, 4) into a spaced apart position in which they release the interspaces between the work roll and the rolling members.
20. The method according to one of claims 12 to 19, wherein pushing the end of the work roll (12) in the insertion step d) is implemented by a gripper (5) comprising a gripper (50) configured to push the end of the work roll and wherein the insertion step d) is implemented by moving the gripper (50) along the direction of the work roll ensuring pushing of the work roll (12).
21. The method according to claim 20, wherein the gripper (5) further comprises an actuator (51) connecting the fork support (22) to the gripper (50), configured to move the gripper (50) relative to the fork support (22), in a direction parallel to the branches of the fork system, the insertion step d) comprising:

    - a first insertion sub-step in which the work roll locked between a backup element (6) and a counter-backup element (7) on board the fork support is partially inserted into the roll stand between the metal strip MS and the upper or lower work roll, the branches of the fork, or even the wings (3,4) in their close position (CP) guaranteeing suppression of the contact between the metal strip and the work roll, with possibly guaranteeing suppression of the contact between the work roll and the rolling members by the wings (3,4),

    - a second, unlocking, sub-step in which said backup element (6), which is movable and connected to said support by a second actuator (60) along a direction perpendicular to the direction of the branches, is spaced apart from the counter-backup element in order to release the work roll,

    - a third insertion sub-step in which the work roll partially inserted is pushed by the actuator (51) by sliding the upper work roll on the branches of the system, the fork then in the close position (CP), or even sliding the lower roll on the insert wings (3, 4).
22. The method according to any of claims 1 to 21, wherein said rolling mill is a 20 HI rolling mill.
23. A tool (8) suitable for changing the work rolls of a rolling mill according to the method of any one of claims 1 to 22, said tool configured to be handled by motor-driven means (Ro) comprising:

    - a fork system (2) comprising two branches (20, 21) configured to be inserted in the stand of a rolling mill in a spaced apart position (SAP) of the branches on either side of an upper work roll (12) of the rolling mill, said branches (20, 21) being movable with respect to a fork support (22), said branches (20, 21) being configured to move from their spaced apart position (SAP) to a close position (CP) in which the branches (20, 21) ensure lifting of the upper work roll (12) by guaranteeing physical separation between the work roll (12) and the metal strip (MS) upon extracting a work roll, and/or the fork system comprising both branches (20, 21) configured to be inserted in the stand of a rolling mill in their close position (CP), said branches being movable with respect to a fork support (22), configured to move from their close position (CP) to their spaced apart position (SAP) to cause deposition of the upper work roll (12) from the metal strip (MS)

    - a gripping device (5), comprising a gripper (50) connected by an actuator (51) to the fork support (22), configured to grip one end of the work roll (12) and pull the work roll along the branches (20, 21) of the fork system.
24. A tool according to claim 23 comprising a movable backup element (6) connected by a second actuator (60) to the fork support (22) configured to ensure locking of the end of the work roll gripped and pulled by the gripping device (5), clamped between the movable backup element (6) and a counter-backup element (7) in the vicinity of the fork support (22), when the branches are in the close position (CP).
25. The tool according to claim 23 or 24, comprising two wings (3, 4), with an insert function, respectively hingedly integral with both branches (20, 21) of the fork system and ensuring:

    - when both arms (20, 21), and concurrently the wings (3, 4) as an insert, are moved closer, from their spaced apart position (SAP) to their brought-together position (CP), the mechanical separation between the work roll (12) and the rolling members, in which said work roll and the rolling members are physically separated over the length of the work roll, by said insert wings (3, 4) guaranteeing suppression of the contact between the work roll and the rolling members, in particular suppression of both generatrices of the contact of the lower work roll with the rolling members, and/or

    - releasing the lower work roll (12) onto the insert wings (3, 4) between the work roll (12) and the rolling members, in the close position (CP) of the branches in the roll stand, and then removing the lower work roll onto the rolling members when the branches (20, 21) and the insert wings (3, 4) have moved from their close position (CP) to their spaced apart position (SAP).

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