Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
  • B21B—ROLLING OF METAL
  • B21B31/00—Rolling stand structures; Mounting, adjusting, or interchanging rolls, roll mountings, or stand frames
  • B21B31/08—Interchanging rolls, roll mountings, or stand frames, e.g. using C-hooks; Replacing roll chocks on roll shafts
  • B21B31/10—Interchanging rolls, roll mountings, or stand frames, e.g. using C-hooks; Replacing roll chocks on roll shafts by horizontally displacing, i.e. horizontal roll changing
  • B21B31/103—Manipulators or carriages therefor

Definitions

• the invention relates to a robotic system for loading and unloading suitable for changing rolls of a rolling mill, or even sets of support rollers of a rolling mill, or even spray ramps, as well as a rolling installation comprising such a robotic system.
• the invention also relates to a method for unloading and/or loading rolls (or sets of support rollers) of a rolling mill implemented by such a robotic system.
• the field of the invention relates more particularly to the equipment used to carry out maintenance operations on a rolling mill of the 20 High type.
• a rolling mill 20 High is for example known from prior art US Pat. No. 5,193,377 and US Pat. No. 5,471,859. relative to the running plane of the metal strip to be rolled.
• Figure 5 of document US 5,193,377 illustrates for example the upper group with a work roll, two first intermediate rolls, three second intermediate rolls, and four sets of support rollers.
• As the rolling campaigns progress it is necessary to renew the surface condition of the rolls of the rolling mill, this operation being carried out by opening the access door of the rolling stand and by removing the rolls from the rolling stand. These rolls are then rectified, before being inserted again into the rolling mill stand.
• Each set of support rollers typically comprises a support shaft along which are distributed rollers typically formed by bearings.
• the inner ring of each bearing is mounted on the support shaft, the outer ring of the bearing being intended to roll on one, or even two contiguous cylinders belonging to the cylinders of the second intermediates.
• the set of support rollers further comprises a fifth wheel whose arcuate body extends longitudinally over the length of the support shaft, and whose convex face is intended to bear on a concave seat of a mounting part from the cage.
• This fifth wheel also has extensions, projecting from the concave face of the body, through which the support shaft passes, the extensions being distributed over the length of the shaft and in particular arranged between the rollers.
• Eccentric rings are also provided between the support shaft and these extensions, the shaft having a pinion intended to mesh in the rolling mill stand with a corresponding pinion, or even a rack.
• This pinion (or this rack) thus makes it possible to drive the support shaft in rotation, and thus to spread or approximate the position of the support shaft and the rollers carried in relation to the arcuate body of the fifth wheel, thanks to the eccentric rings .
• these sets of support rollers also require maintenance, which is carried out by removing this member from the cage, along the axis of said support shaft.
• the operations for extracting (or putting in place by insertion) internal organs are usually carried out using handling equipment secured to the end of the organ at withdraw (i.e. at the end of the cylinder to be withdrawn or of the support shaft of the set of support rollers to be withdrawn), provided with a counterweight.
• the purpose of the counterweight is to balance the member to be gripped when manipulated by the hoist of an overhead crane in the workshop, and in order to keep it substantially horizontal, and while the hook of the hoist grips a ring positioned on the equipment between the counterweight and the seized organ.
• the gripped organ is rigidly attached to the counterweight of the equipment, which is likely to swing at the lower end of the cable of the hoist.
• this operation requires, for example, for the sets of rollers of the upper group to maintain the harness upwards, and against gravity which tends to tilt it downwards,
• the surface swept by the gripped member (cylinder or set of support rollers) carried at the end of the robotic arm during its rotation and up to the area of removal is very important and can only be considered when the necessary space in the workshop is available.
• a robotic system for an installation for rolling a metal strip, including a rolling mill with 20 rolls comprising a rolling stand and a set of rolls, internal to the stand, including two working rolls of the metal strip, eight sets of support rollers, first intermediate rolls and second intermediate rolls, the rolling stand having an access opening, closed by a door system, the metal strip extending longitudinally in a direction X, horizontal, and transversely in a direction Y, horizontal, parallel to the axes of the rolls of the rolling mill.
• the robotic system comprises: a robot Ro comprising:
• a carriage comprising a first chassis Ch1 provided with wheels cooperating with rails Ra1 arranged on the ground, extending in the direction Y, in line with the access opening of the rolling mill stand, said first chassis configured to move in the direction Y along the rails, under the action of the first driving means driving the wheels,
• a gripping system is attached to the third chassis and such a robotic system according to the state of the art is configured to ensure the extraction of a cylinder, by implementing the following steps:
• the extracted cylinder is entirely outside the stand of the rolling mill, oriented axially parallel to the Y direction, transverse.
• the roll is then in an intermediate position where the roll is located between, on the one hand, the access opening of the rolling mill stand, left open by the door system, and on the other hand, the robot carriage, and as shown in Figure 2.
• the removal of the cylinder requires additional motorized equipment, comprising a system of removal racks, motorized, at least in the direction X horizontally so that it is positioned between the rolling mill and the robot.
• This rack system can also be moved in a motorized manner in the horizontal Y direction.
• the Rac rack system can thus itself comprise a carriage with a first chassis Ch11 configured to move along rails Ra2 arranged parallel to the rail Ra1 of the robot, laterally to the robot, in the transverse direction Y by a first engine, and a second chassis Ch12 carrying the cylinder loading/unloading rack, configured to be moved, relative to the first chassis Ch11, in the X direction using a slide system between the second chassis Ch12 and the first chassis 11, and second engines.
• the rack is thus moved by the first frame along the rails Ra2, in the Y direction, then by moving the second frame in the X direction, cantilevered from the first frame , to ensure the removal of the cylinder by the robot on the rack which takes place, by the action of the third motor means, while the cylinder is still oriented in the direction Y, in a position where the mobile rack is positioned intermediate between the rolling mill and the robot.
• the mobile rack system is an item of equipment which clutters the maintenance aisle, which extends, in the direction X, along the access openings of the various rolling mills.
• the system of rack thus makes it possible to stand in the area between the rolling mill and the robot, so as to allow the robot to deposit the cylinders which have been extracted on the rack system, the cylinder then still oriented in the transverse direction Y, or even to allow the robot to recover one of the cylinders on the rack then oriented in the transverse direction Y.
• Such a robotic system is conventionally used to ensure the withdrawal of the rolls of a 20 Hi rolling mill, and in particular the work rolls, the first intermediate rolls and the second intermediate rolls.
• the present disclosure relates to a robotic system for an installation for rolling a metal strip, said installation comprising a rolling mill having a rolling stand and a set of rolls, internal to the stand, including comprising two work rolls, support rolls or support rollers, or even intermediate rolls, in particular first intermediate rolls and second intermediate rolls, the rolling stand having an access opening, possibly closed by a system of gate, the metal strip extending longitudinally in a horizontal X direction, and transversely in a horizontal Y direction, the Y direction being parallel to the axes of the rolls of the rolling mill, and in which said robotic system is suitable for carrying out the changing operations rolling mill rolls, by extracting worn rolls from the rolling mill stand and/or inserting new rolls or ground in the roll stand, said robotic system comprising a robot comprising:
• a carriage comprising a first frame provided with wheels cooperating with rails arranged on the ground, extending in the Y direction, in line with the access opening of the rolling mill stand, said first frame being configured to move along the Y direction along the rails, under the action of first motor means driving the wheels,
• the robotic system according to this first aspect comprises:
• an input system embedded on the fourth chassis comprising an actuator configured to control the locking and unlocking of the input of an endpiece integral with a cylinder, or the input of an endpiece of a gripping system of a roll of the rolling mill, and in which the robotic system is configured to ensure the extraction of a roll, by gripping the end piece secured to the roll, or by gripping the roll by the gripping system locked by the input system, with removal of the cylinder, laterally to the rails, after pivoting of the cylinder by rotation of the fourth frame relative to the third frame around the vertical axis of rotation.
• the input system can be articulated to the fourth frame along a second horizontal axis of articulation perpendicular to the axis of vertical rotation between the fourth frame and the third frame, called first axis of rotation, and perpendicular to the axis of the cylinder grasped by the grasping system, the robotized system comprising motor means, in particular fifth motor means, configured to adjust the inclination of the grasping system, and thus the inclination of the grasped cylinder, by rotation of the grasping system around said second axis of rotation;
• the input system may comprise a tubular frame inside which is provided a locking/unlocking device, pivotally mounted by means of bearings, around an axis of rotation, intended to be parallel, or even coincident with the axis of the cylinder seized, by means of motor means, in particular sixth motor means, and in which the locking/unlocking device comprises the actuator, including motor means configured to pass the locking device from one locking state of the tip to an unlocking state of the tip.
• the present disclosure relates to a rolling installation comprising a robotic system according to the first aspect and a said rolling mill comprising said stand and said set of rolls, internal to the stand, including the two work rolls, the support rolls or the support rollers, even the intermediate rolls, in particular the first intermediate rolls and the second ones intermediate rolls, the roll stand having said access opening, possibly closed by the door system, the metal strip Bm extending longitudinally in a horizontal X direction, and transversely in a horizontal Y direction, parallel to the axes of the rolls of the rolling mill and and in which said installation comprises a loading/unloading rack, removably positioned on a support frame, anchored to the ground in an anchoring position at a distance from the rolling mill in the Y direction transverse and laterally to the rails, releasing a maintenance aisle in direction X, along the access opening of the rolling mill, the rack resting on the support frame present ntant housings, oriented in the direction X, and in which the robotic system is configured to deposit the
• the support frame is of length, along the Y direction greater than the dimension of said at least rack, the Y direction then perpendicular to the housing axes of said at least rack, said support frame configured to support several racks, distributed over the length of the support frame in different positions along the Y direction,
• the support frame comprises a first support, and a second support, respectively anchored to the ground in a parallel manner in the Y direction and in which said at least one rack is configured to rest while resting, the support frame resting simultaneously on the first support and the second support, at two opposite edges of the rack and in which the first support and the second support of the support frame leave between them a free intermediate space configured to be crossed by a vehicle rack handling, in particular a self-guided vehicle, when this vehicle deposits a rack on the support frame, for example an empty cylinder rack intended to receive the worn cylinders removed by the robotic system, and/or even a rack comprising in its housings new (or rectified) rolls intended to be gripped by the robotic system to be inserted into the rolling mill stand.
• a vehicle rack handling in particular a self-guided vehicle
• said rolling mill is a 20 High rolling mill, having in relation to the plane of the metal strip to be rolled:
• first intermediate cylinders including two first intermediate cylinders, upper, in contact with the upper working cylinder, and two first intermediate cylinders, lower, in contact with the lower working cylinder,
• each provided with a fifth wheel secured to the cage including four sets of upper rollers, in contact with the three second intermediate, upper cylinders, and four sets of lower rollers, in contact with the three second intermediate rolls, and in which said robotic system is configured to change the sets of rolls of the rolling mill, namely the two work rolls, the first four intermediate rolls, the six second intermediate rolls, and the eight sets of rollers support, by placing them on one or more racks positioned in the anchoring position of the support frame anchored to the ground.
• the rolling mill has spray ramps, including two upper spray ramps, and two lower spray ramps, and in which said robotic system is configured to change the spray booms.
• the present disclosure relates to a roll extraction process implemented in a rolling installation according to the second aspect, in which one proceeds to the extraction of a roll, by entering an end piece secured to a cylinder by the gripping system, or by gripping a cylinder by the gripping system locked by the gripping system, including:
• the present disclosure relates to a roll insertion method implemented in a rolling installation according to the second aspect in which the insertion of a roll is carried out, by entering an end piece secured to a cylinder by the gripping system, or by gripping a cylinder by the gripping system locked by the gripping system, including:
• FIG. 1 is a schematic view of a rolling installation comprising a 20-roll rolling mill, and a robotic system known from the state of the art comprising a robot comprising a carriage movable along first rails, and a rack with a first chassis movable along second rails, parallel to the rails of the robot, substantially in the transverse direction Y, and the perpendicular displacement thanks to a second frame movable relative to the first frame in the direction X.
• FIG. 2 is a schematic view showing the depositing of a roll extracted from the rolling mill by the retraction of the carriage, and its depositing in the mobile rack positioned intermediate between the rolling mill and the robot.
• Fig. 3 is a schematic view showing the depositing of a roll extracted from the rolling mill by the retraction of the carriage, and its depositing in the mobile rack positioned intermediate between the rolling mill and the robot.
• FIG. 3 is a view of the rolling installation according to the present disclosure, the gripping system of the robot equipped with a gripping system for gripping the work rolls.
• Fig. 4 is a view of the rolling installation according to the present disclosure, the gripping system of the robot equipped with a gripping system for gripping the work rolls.
• FIG. 4 is a view of the rolling installation according to the present disclosure, the robot's gripping system locking an end piece secured to a second intermediate cylinder.
• FIG. 5 is a sectional view illustrating the second intermediate cylinder and its end piece.
• FIG. 6 is a sectional view, along a vertical plane parallel to the YZ plane, illustrating the picking up of a second intermediate roll by the robot in the rolling mill stand.
• FIG. 7 is a perspective view of the robot, when the gripper system holds a set of support rollers
• FIG. 8 is a view of the robot of FIG. 7, in partial section.
• FIG. 9 is a sectional view of the input system, along a vertical plane.
• FIG. 10 is a sectional view of the robot, illustrating all of the robot's actuators.
• FIG. 11 is a schematic view of a cross section of a rolling mill 20Hi, the rolls divided into a lower group and an upper group, each comprising ten rolls including a working roll, two first intermediate rolls, three second intermediate rolls, and four bearing roller assemblies.
• the present disclosure relates to a robotic system 1 of a rolling installation for a metal strip.
• the rolling installation comprises a rolling mill L having a rolling stand and a set of rolls, internal to the stand, including two work rolls 12, optionally support rolls or support rollers A, B , C, D, E, F, G, H, even intermediate cylinders in particular first intermediate cylinders 13 and second intermediate cylinders 14,15.
• the rolling mill may be a 20Hi rolling mill, with twenty rolls.
• the cylinders are divided into a lower group Gi and an upper group Gs; more precisely these groups Gi and Gs have a symmetrical arrangement and each comprise ten cylinders including a working cylinder 12, two first intermediate cylinders 13, three second intermediate cylinders 14, 15, and four support cylinders, or set of rollers support, which are outside the arrangement, and which are denoted A, B, C and D for the upper group Gs and E, F, G and H for the lower group Gi.
• the rolling stand has an access opening, optionally closed by a door system, the metal strip Bm extending longitudinally in a horizontal X direction, and transversely in a horizontal Y direction, the Y direction being parallel to the axes of the rolls of the rolling mill.
• the robotic system 1 is suitable for ensuring rolling mill roll changing operations, by extracting worn rolls from the rolling mill stand and/or inserting new (or rectified) rolls into the rolling mill stand, said robotic system comprising an Ro robot comprising:
• a carriage comprising a first frame 2 provided with wheels 20 cooperating with rails Ra1 arranged on the ground, extending in the direction Y, in line with the access opening of the rolling mill stand, said first frame 2 being configured to move in direction Y along the rails Ra1, under the action of first motor means M1 driving the wheels 20,
• third frame 4 and a second slide system G2 connecting the third frame 4 and the second frame 3, configured to move the third frame 4 relative to the second frame 3 in a direction Z, vertical, under the action of third means M3 engines.
• the robotic system further comprises a fourth frame 5, and rotation guide means connecting the fourth frame and the third frame around a vertical axis of rotation Av, configured to drive the rotation of the fourth frame 5 with respect to the third chassis 4, under the action of fourth motor means M4, as well as an input system 6, on board the fourth chassis 5.
• the input system 6 may include an actuator configured to control the locking and unlocking of the input of an end piece Eb secured to a cylinder.
• the gripping system is configured to grip an end piece of a gripping system of a roll of the rolling mill.
• the gripping system can be, by way of example, the tool suitable for changing the working rolls described in the patent application FR 2002381 filed on March 10, 2020 by the present Applicant.
• the robotic system 1 is configured to ensure the extraction of a cylinder, by gripping the end piece secured to the cylinder, or by gripping the cylinder by the gripping system locked by the input system, with depositing of the cylinder preferably on a rack Ra, laterally to the rails Ra1, after pivoting of the cylinder by rotation of the fourth frame 5 relative to the third frame 4 around the vertical axis of rotation Av, generated by the fourth medium M4 engines.
• the cylinder When the cylinder is placed on the rack Ra by the robotic system, the cylinder extends longitudinally in the direction X.
• the input system 6 can be articulated to the fourth frame 5 along a second axis of articulation Ah, horizontal perpendicular to the axis of vertical rotation Av between the fourth frame 5 and the third frame 4, said first axis of rotation, and perpendicular to the axis of the cylinder entered by the entry system.
• the robotic system further comprises fifth motor means M5 configured to adjust the inclination of the gripping system 6, and thus the inclination of the gripped cylinder, by rotation of the gripping system around said second axis of rotation Ah.
• Such a possibility of adjustment offered by the second horizontal axis of rotation Ah and the fifth motor means M5 makes it possible to adjust the inclination of the cylinder gripped when removed or inserted into the roll stand.
• the tilt is adjusted so that the cylinder entered is parallel to the axes of the other cylinders.
• Such an adjustment makes it possible to avoid collisions and/or markings of the roll removed by the robotic system during its extraction or its insertion into the rolling mill stand.
• the roll when the roll is extracted (or inserted) from the rolling mill, the roll is oriented in the Y direction maintained by the input system 5 at its end on the side of the access opening of the rolling mill.
• the 90° pivoting of the cylinder around the vertical axis of rotation Av, (known as the first axis of rotation), makes it possible to deposit the cylinder on the rack Ra which is arranged laterally to the robotic system, and in particular laterally to the Ra1 tracks.
• the rolling installation according to the present disclosure is therefore devoid of motorized rack system configured to be positioned between the robotic system and the rolling mill, and contrary to the state of the art illustrated in figures 1 and 2.
• the rack is preferably positioned on a support frame Cha, leaving a maintenance aisle AL along the direction X, along the access opening of the rolling mill, this maintenance aisle continuing between the support frame Cha and the rolling mill stand.
• said installation may comprise at least one loading/unloading rack Ra, preferably positioned removably by simply resting on the support frame Cha.
• This support frame Cha is preferably anchored to the ground in an anchoring position at a distance from the rolling mill in the transverse direction Y, freeing up said maintenance aisle AL in the direction X, along the access opening of the rolling mill. It is further noted that the support frame Cha is arranged laterally to the rails Ra1 along which the carriage of the robotic system moves.
• the robotic system is configured to place the cylinder on a loading/unloading rack Ra resting on the support frame Cha in an anchored position, once the gripped cylinder is rotated by the fourth motor M4 by 90 ° relative to the position of the cylinder during extraction.
• Said at least rack Ra is configured as a removable component of the support chassis Cha.
• the rack can be handled preferably by a vehicle such as an auto-guided vehicle (acronym in English “AGV” for Automated Guided Vehicle) or alternatively by the hoist of the overhead crane of the rolling installation.
• a vehicle such as an auto-guided vehicle (acronym in English “AGV” for Automated Guided Vehicle) or alternatively by the hoist of the overhead crane of the rolling installation.
• said at least one rack may comprise:
• the various racks preferably each have a plurality of housings (or cradles) substantially parallel to one another.
• the diameters of the housings (or cradles) are adapted to the cylinders (or set of rollers) to be collected.
• the diameters of the housings (or cradles) are different, in whole or in part, between the first, second, third, fourth racks.
• the housings (or cradles) of said at least rack Ra are oriented in direction X, when said at least rack Ra rests on the support frame Cha.
• the support frame Cha may comprise a first support Cha1, and a second support Cha2, respectively anchored to the ground in a parallel manner in the direction Y.
• Said at least one rack Ra is configured to rest by resting, the support frame Cha , resting simultaneously on the first support Cha1 and the second support Ch2, at two opposite edges of the rack Ra.
• the Cha support frame is preferably longer in the Y direction than the dimension of said at least one rack.
• the Y direction extends in a horizontal direction perpendicular to the axes of the rack slots.
• the Cha support frame is then advantageously configured to allow several racks to be supported, distributed on the frame in different positions along the Y direction.
• the first support Cha1 and the second support Cha2 of the support frame Cha simultaneously support three (first) racks receiving work rolls 12, along the Y direction.
• the support frame Cha (in particular the first support and the second support) respectively supports two (first ) racks receiving work rolls 12, a (second) rack receiving first intermediate rolls 13, and a (third) rack receiving second intermediate rolls 14,15.
• first support Cha 1 and the second support Cha2 of the support frame leave between them a free intermediate clearance which can be crossed by the rack handling vehicle, in particular self-guided (AGV, English acronym for “Automated Guided vehicle”) when this vehicle places a rack on the Cha support frame, or on the contrary removes a rack.
• AGV Auto-guided
• Such a handling vehicle is positioned between the first support and the second support to deposit a rack on the support frame Cha when removing a rack, by lowering a lifting device of the vehicle.
• this vehicle is positioned under the rack to be handled by simply pressing on the support frame, the vehicle then retracted between the first support and the second support, and lifts it, by means of a lifting.
• This rack handling vehicle can in particular deposit a (first, second, third or fourth) rack, empty of cylinder, intended to receive the worn cylinders removed by the robotic system, and/or even a (first, second, third or fourth) rack comprising in its housings new (or rectified) rolls which are intended to be gripped by the robotic system to be inserted into the rolling mill stand.
• first intermediate cylinders 13 including two first intermediate cylinders, upper, in contact with the upper working cylinder, and two first intermediate cylinders, lower, in contact with the lower working cylinder,
• second intermediate cylinders 14,15 including three second intermediate cylinders, upper, in contact with the first two upper intermediate cylinders, and y three second lower intermediate cylinders, in contact with the first two lower cylinders,
• said robotic system can be advantageously configured to change all the rolls of the rolling mill, namely the two working rolls 12, the first four intermediate rolls 13, the six second intermediate rolls 14,15, and the eight set of support rollers A to H, by placing them on one or more racks Ra positioned in the anchoring position of the support frame Cha anchored to the ground.
• the rolling mill L can still have spray ramps, including two upper spray ramps, and two lower spray ramps; said robotic system can then be configured to change the spray booms by entering a tip at the end of the spray booms.
• the input system 6 may comprise a tubular frame 60 inside which is provided a locking / unlocking device 7, pivotally mounted via bearings 61, 62, around an axis of rotation, intended to be parallel to, or coincident with, the axis of the gripped cylinder, by means of motor means M6, in particular sixth motor means.
• the locking/unlocking device 7 may further comprise (seventh) motor means M7 configured to switch the locking device from a locking state of the end piece Eb to an unlocking state of the end piece.
• locking can be obtained by moving the jaws that grip the end piece by wedge effect.
• the sixth motor means M6 make it possible to ensure the adjustment of the orientation of the set of support rollers (or of the spray bar) around an axis parallel to the direction Y.
• the backing roller assembly (or spray bar) cannot be inserted into the roll stand in any orientation.
• the support rollers are driven in rotation with respect to the fifth wheel via eccentrics, by a shaft carrying a driven pinion.
• the teeth of this pinion must be engaged with the teeth of a drive pinion inside the rolling mill stand.
• the set of support rollers are rotatably mounted with respect to the saddle, this saddle needing to be engaged in a given orientation in a receiving zone of the rolling mill stand.
• the sixth motor means 6 then make it possible to pivot the set of support rollers, including the fifth wheel which can be locked in rotation with the rollers, by a removable support (not shown).
• the robotic system is configured for the implementation of an extraction process in which one proceeds to the extraction of a cylinder (or even a set of support rollers or even a ramp of 'spray), by entering an end piece Eb secured to a cylinder by the entry system 6, or by entering a cylinder by the gripping system locked by the entry system, including:
• the robotic system according to the present disclosure is configured for the implementation of a roll insertion method of a rolling installation according to the present disclosure in which a roll is inserted (or even a set of support rollers or even a spray bar), by gripping an end piece secured to a cylinder by the gripping system, or by gripping a cylinder by the gripping system locked by the input system, including:
• the present technical solutions can find application in particular in cold rolling installations and in particular rolling installations comprising one or more rolling mills, in particular 20Hi rolling mills.
• the robotic system according to the present disclosure makes it possible to change the work rolls 12, even the first intermediate rolls 13 and the second intermediate rolls 14, 15, even the sets of support rollers A, B, C, D, E, F, G, H, or even spray booms by increasing the safety of operations for operators.
• the arrangement with the position of said at least one rack on a support frame arranged laterally to the rails, at a distance in the transverse direction Y, makes it possible to leave the maintenance aisle AL free, which can extend continuously along the rolling mills when each equipped with a robotic system according to the present disclosure.
• Second driving means (movement of the carriage in direction X), - 4.
• Third frame
• Fourth driving means pivotting of the fourth chassis relative to the third chassis around the vertical axis of rotation
• Sixth driving means pivotting of the cylinder seized by the seized system around its axis, or a parallel axis
• Seventh motor means (locking/unlocking device).
• Figures 11 20 Hi rolling mill layout
• - A, B, C, D. respectively the four support cylinders or sets of support rollers of the upper group
• - E, F, G, H. respectively the four support cylinders or sets of support rollers of the lower group.

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• 2021
  • 2021-04-21 FR FR2104141A patent/FR3122108B1/fr active Active
• 2022
  • 2022-04-20 WO PCT/FR2022/050742 patent/WO2022223927A1/fr active Application Filing
  • 2022-04-20 EP EP22722868.1A patent/EP4326452A1/de active Pending
  • 2022-04-20 US US18/556,410 patent/US20240181512A1/en active Pending
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