US20240181512A1 - Robotic System for a Rolling Mill - Google Patents

Robotic System for a Rolling Mill Download PDF

Info

Publication number
US20240181512A1
US20240181512A1 US18/556,410 US202218556410A US2024181512A1 US 20240181512 A1 US20240181512 A1 US 20240181512A1 US 202218556410 A US202218556410 A US 202218556410A US 2024181512 A1 US2024181512 A1 US 2024181512A1
Authority
US
United States
Prior art keywords
roll
rolls
frame
rolling mill
grasping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
US18/556,410
Other languages
English (en)
Inventor
Conrad ERNST DE LA GRAETE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fives DMS SA
Original Assignee
Fives DMS SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fives DMS SA filed Critical Fives DMS SA
Assigned to FIVES DMS reassignment FIVES DMS ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ERNST DE LA GRAETE, Conrad
Publication of US20240181512A1 publication Critical patent/US20240181512A1/en
Pending legal-status Critical Current

Links

Images

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 loading and unloading system suitable for the replacement of rolls of a rolling mill, and possibly of the sets of backup rollers of a rolling mill, or else of suction ramps, as well as a rolling plant comprising such a robotic system.
  • the invention also relates to a method for unloading and/or loading rolls (or sets of backup rollers) of a rolling mill implemented by such a robotic system.
  • the field of the invention relates to the equipment used to perform maintenance operations on a 20-High type rolling mill.
  • a 20-High rolling mill is known from the anteriorities U.S. Pat. Nos. 5,193,377 and 5,471,859.
  • the rolls (and sets of backup rollers) are distributed into a lower group and an upper group, and according to a symmetrical configuration with respect to the running plane of the metal strip to be rolled.
  • FIG. 5 of the document U.S. Pat. No. 5,193,377 illustrates the upper group with a work roll, two first intermediate rolls, three second intermediate rolls, and four sets of backup rollers.
  • Each set of backup rollers typically comprises a support shaft along which rollers typically formed by bearings are distributed. To this end, the inner ring of each bearing is mounted on the support shaft, the outer ring of the bearing being intended to roll one, and possibly two contiguous rolls belonging to the second intermediate rolls.
  • the set of backup rollers also comprises a bracket whose arcuate body extends longitudinally over the length of the support shaft, and whose convex face is intended to bear on a concave seat of a mounting portion of the stand.
  • Each bracket also have extensions, projecting from the concave face of the body, crossed by the support shaft, the extensions being distributed over the length of the shaft and in particular disposed between the rollers.
  • Eccentric rings are also provided between the support shaft and these extensions, the shaft having a pinion intended to mesh within the stand of the rolling mill with a corresponding pinion, or else a rack.
  • this pinion (or this rack) allows driving the support shaft in rotation, and thus bring the position of the support shaft and of the carried rollers away or close relative to the arcuate body of the bracket, thanks to the eccentric rings.
  • these sets of backup rollers also require maintenance, which is performed by removing this member off the stand, according to the axis of said support shaft.
  • the operations of extracting (or setting up by insertion) the inner members, are usually performed thanks to handling equipment secured at the end of the member to be removed (namely at the end of the roll to be removed or of the support shaft of the set of backup rollers to be removed), provided with a counterweight.
  • the counterweight is intended to balance the member to be grasped when handled by the hoist of a crane bridge of the workshop, and in order to keep it substantially horizontal, and while the hook of the hoist grasps an eye positioned on the equipment between the counterweight and the grasped member.
  • the grasped member is rigidly secured to the counterweight of the equipment, which could swing at the lower end of the rope of the hoist.
  • the operators are necessarily present proximate to the grasped member, and in order to guide the extraction (or setup) operations which are thus particularly dangerous because of the possible seesaw movements of the heavy elements hanging to the rope of the crane bridge.
  • a robotic system for a plant for rolling a metal strip including a rolling mill with 20 rolls comprising a roll stand and a set of rolls, internal to the stand, including two rolls for working the metal strip, eight sets of backup rollers, first intermediate rolls and second intermediate rolls, the roll stand having an access opening, closed by a door system, the metal strip extending longitudinally according to a horizontal direction X, and transversely according to a horizontal direction Y, parallel to the axes of the rolls of the rolling mill.
  • FIGS. 1 and 2 Such a known robotic system is illustrated in FIGS. 1 and 2 .
  • the robotic system comprises: a robot Ro comprising:
  • a grasping system is secured to the third frame and such a robotic system according to the prior art is configured to ensure the extraction of a roll, by the implementation of the following steps:
  • the extracted roll is completely outside the stand of the rolling mill, directed axially parallel to the transverse direction Y.
  • the roll is then in an intermediate position where the roll is located between, on the one hand, the access opening of the stand of the rolling mill, left open by the door system and, on the other hand, the carriage of the robot, and as illustrated in FIG. 2 .
  • the dismount of the roll requires an additional motor-driven piece of equipment, including a motor-driven system of dismount racks, at least according to the direction X horizontally so that it could be positioned between the rolling mill and the robot.
  • This rack system may also be movable in a motor-driven manner according to the horizontal direction Y.
  • the rack system Rac may, in turn, comprise a carriage with a first frame Ch 11 configured to move along rails Ra 2 disposed parallel to the rail Ra 1 of the robot, laterally to the robot, according to the transverse direction Y by a first motor, and a second frame Ch 12 carrying the rack for loading/unloading the rolls, configured to be moved, relative to the first frame Ch 11 , according to the direction X thanks to a slide system between the second frame Ch 12 and the first frame 11 , and second motors.
  • the rack is thus moved by the first frame along the rails Ra 2 , according to the direction Y, and then by movement of the second frame according to the direction X, cantilevered on the first frame, to ensure the dismount of the roll by the robot on the rack which is performed, by the action of the third motor means, while the roll is still directed according to the direction Y, in a position where the movable rack is positioned midway between the rolling mill and the robot.
  • the movable rack system is a piece of equipment that obstructs the maintenance walkway, which extends, according to the direction X, along the access openings of the different rolling mills.
  • the rack system allows setting in the area between the rolling mill and the robot, so as to enable the robot to deposit the rolls that have been extracted on the rack system, the roll still being directed according to the transverse direction Y, or else enable the robot to recover one of the rolls on the rack then being directed according to the transverse direction Y.
  • the possible movement of the rack system according to the direction Y along the rails Ra 2 enables the rack system to get away from the rolling mill, thereby facilitating grasping of the rolls present on the rack by the bridge crane.
  • Such a robotic system is conventionally used to ensure the removal 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 allows improving the situation.
  • the present disclosure relates to a robotic system for a plant for rolling a metal strip, said plant comprising a rolling mill having a roll stand and a set of rolls, internal to the stand, including two work rolls, backup rolls or backup rollers, and possibly intermediate rolls in particular first intermediate rolls and second intermediate rolls, the roll stand having an access opening, possibly closed by a door system, the metal strip extending longitudinally according to a horizontal direction X, and transversely according to a horizontal direction Y, the direction Y being parallel to the axes of the rolls of the rolling mill,
  • the robotic system according to this first aspect comprises:
  • the present disclosure relates to a rolling plant comprising a robotic system according to one of the preceding claims and one said rolling mill comprising said stand and said set of rolls, internal to the stand, including the two work rolls, the backup rolls or the backup rollers, and possibly the intermediate rolls in particular the first intermediate rolls and the second intermediate rolls, the roll stand having said access opening, possibly closed by the door system, the metal strip Bm extending longitudinally according to a horizontal direction X, and transversely according to a horizontal direction Y, parallel to the axes of the rolls of the rolling mill and
  • said rolling mill is a 20-High rolling mill, having with respect to the plane of the metal strip to be rolled:
  • the rolling mill has suction ramps, including two upper suction ramps, and two lower suction ramps, and wherein said robotic system is configured to replace the suction ramps.
  • the present disclosure relates to a roll extraction method implemented in a rolling plant according to the second aspect, wherein it is proceeded with the extraction of a roll, by grasping a fitting secured to a roll by the grasping system, or else by grasping a roll by the gripping system locked by the grasping system, including:
  • the present disclosure relates to a roll insertion method implemented in a rolling plant according to one of claims 4 to 8 , wherein it is proceeded with the insertion of a roll, by grasping a fitting secured to a roll by the grasping system, or else by grasping a roll by the gripping system locked by the grasping system, including:
  • FIG. 1 A first figure.
  • FIG. 1 is a schematic view of a rolling plant comprising a rolling mill with 20 rolls, and a known robotic system of the prior art comprising a robot comprising a carriage movable along first rails, and a rack with a first frame movable along second rails, parallel to the rails of the robot, substantially according to the transverse direction Y, and the perpendicular movement thanks to a second frame movable relative to the first frame according to the direction X.
  • FIG. 2 is a schematic view showing the dismount of a roll extracted from the rolling mill by the recoil of the carriage, and the deposition thereof in the movable rack positioned midway between the rolling mill and the robot.
  • FIG. 3 is a view of the rolling plant according to the present disclosure, the grasping system of the robot equipped with a gripping system for grasping the work rolls.
  • FIG. 4 is a view of the rolling plant according to the present disclosure, the grasping system of the robot locking a fitting secured to a second intermediate roll.
  • FIG. 5 is a sectional view, illustrating the second intermediate roll, and its fitting.
  • FIG. 6 is a sectional view, according to a vertical plane parallel to the plane YZ, illustrating grasping of a second intermediate roll by the robot in the stand of the rolling mill.
  • FIG. 7 is a perspective view of the robot, when the grasping system holds a set of backup rollers.
  • FIG. 8 is a view of the robot of FIG. 7 , according to a partial section.
  • FIG. 9 is a sectional view of the grasping system, according to a vertical plane.
  • FIG. 10 is a sectional view of the robot, illustrating the set of actuators of the robot.
  • FIG. 11 is a schematic view of a cross-section of a 20-High rolling mill, the rolls distributed into a lower group and an upper group, each including ten rolls including one work roll, two first intermediate rolls, three second intermediate rolls, and four sets of backup rollers.
  • the present disclosure relates to a robotic system 1 of a plant for rolling a metal strip.
  • the plant for rolling comprises a rolling mill L having a roll stand and a set of rolls, internal to the stand, including two work rolls 12 , optionally backup rolls or backup rollers A, B, C, D, E, F, G, H, and possible intermediate rolls in particular first intermediate rolls 13 and second intermediate rolls 14 , 15 .
  • the rolling mill can be a 20-High rolling mill, with twenty rolls.
  • the rolls are distributed into a lower group Gi and an upper group Gs; more precisely these groups Gi and Gs have a symmetrical arrangement and each includes ten rolls of which a work roll 12 , two first intermediate rolls 13 , three second intermediate rolls 14 , 15 , and four backup rolls, or set of backup rollers, which are outside the arrangement, and which are noted as A, B, C and D for the upper group Gs and E, F, G and H for the lower group Gi.
  • the roll stand has an access opening, possibly closed by a door system, the metal strip Bm extending longitudinally according to a horizontal direction X, and transversely according to a horizontal direction Y, the direction Y being parallel to the axes of the rolls of the rolling mill.
  • the robotic system 1 is suited to ensure the operations of replacing rolls of the rolling mill, by extraction of the worn rolls from the stand of the rolling mill and/or insertion of new (or rectified) rolls into the roll stand, said robotic system comprising a robot Ro comprising:
  • the robotic system further comprises a fourth frame 5 , and rotational guide means connecting the fourth frame and the third frame about a vertical axis of rotation Av, configured to drive the rotation of the fourth frame 5 relative to the third frame 4 , by the action of fourth motor means M 4 , as well as a grasping system 6 , embedded on the fourth frame 5 .
  • the grasping system 6 can comprise an actuator configured to control locking and unlocking of grasping of a fitting Eb secured to a roll.
  • the grasping system is configured to grasp a fitting of a gripping system of a roll of the rolling mill.
  • the gripping system can be, by way of example, the tool suitable for replacing work rolls described in patent application FR 2002381 filed on 10 Mar. 2020 by the present Applicant.
  • the robotic system 1 is configured to ensure the extraction of a roll, by grasping the fitting secured to the roll, or else by grasping the roll by the gripping system locked by the grasping system, with the deposition of the roll preferably on a rack Ra, laterally to the rails Ra 1 , after pivoting of the roll by rotation of the fourth frame 5 relative to the third frame 4 about the vertical axis of rotation Av, generated by the fourth motor means M 4 .
  • the roll When the roll is deposited on the rack Ra by the robotic system, the roll extends longitudinally according to the direction X.
  • the grasping system 6 can be hinged to the fourth frame 5 according to a second horizontal hinge axis Ah perpendicular to the vertical axis of rotation Av between the fourth frame 5 and the third frame 4 , called first axis of rotation, and perpendicular to the axis of the roll grasped by the grasping system.
  • the robotic system further includes fifth motor means M 5 configured to set the inclination of the grasping system 6 , and thus the inclination of the grasped roll, by rotation of the grasping system about 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 M 5 makes it possible to adjust the inclination of the grasped roll when removed or inserted into the roll stand.
  • the inclination is adjusted in such a way that the grasped roll is parallel to the axis of the other rolls.
  • Such an adjustment makes it possible to prevent collisions and/or markings of the removed roll by the robotic system during the extraction thereof or the insertion thereof into the roll stand.
  • the roll is oriented according to the direction Y maintained by the grasping system 5 at its end of the side of the access opening of the rolling mill.
  • the 90° pivoting of the roll about the vertical axis of rotation Av, (called first axis of rotation), makes it possible to deposit the roll on the rack Ra which is disposed laterally to the robotic system, and in particular laterally to the rails Ra 1 .
  • the rolling plant according to the present disclosure is therefore devoid of a motorised rack system configured to position itself between the robotic system and the rolling mill, and contrary to the prior art shown in FIGS. 1 and 2 .
  • the rack is preferably positioned on a support frame Cha, leaving a maintenance walkway AL according to the direction X, along the access opening of the rolling mill, this maintenance walkway continuing between the support frame Cha and the roll stand
  • said plant can comprise at least one loading/unloading rack Ra, positioned more preferably removably as a simple bearing on the support frame Cha.
  • This support frame Cha is preferably anchored to the ground at an anchorage position at a distance from the rolling mill according to the transversal direction Y, clearing said maintenance walkway AL according to the direction X, along the access opening of the rolling mill. It is further remarked that the support frame Cha is disposed laterally to the rails Ra 1 along which the carriage of the robotic system is displaced.
  • the robotic system is configured to deposit the roll on a loading/unloading rack Ra resting on the support frame Cha in an anchoring position, once the grasped roll is pivoted by the fourth motor M 4 by 90° with respect to the position of the roll during the extraction.
  • Said at least one rack Ra is configured as a removable component of the support frame Cha.
  • the rack can be manipulated more preferably by a vehicle such as a self-guided vehicle (acronym “AGV” for Automated Guided Vehicle») or else alternatively by the hoist of the travelling crane of the rolling plant.
  • a vehicle such as a self-guided vehicle (acronym “AGV” for Automated Guided Vehicle») or else alternatively by the hoist of the travelling crane of the rolling plant.
  • said at least one rack can comprise:
  • the different racks more preferably each have a plurality of housings (or cradles) substantially parallel with one another.
  • the diameters of the housings (or cradles) are adapted to the rolls (or set of rollers) to be collected.
  • the diameters of the housings (or cradles) are different, entirely or partially, between the first, second, third, fourth racks.
  • the housings (or cradles) of said at least one rack Ra are oriented according to the direction X, when said at least one rack Ra rests on the support frame Cha.
  • the support frame Cha can include a first support Cha 1 , and a second support Cha 2 , respectively anchored to the ground parallelly according to the direction Y.
  • Said at least one rack Ra is configured to rest by bearing, the support frame Cha, by resting simultaneously on the first support Cha 1 and the second support Ch 2 , at two opposite edges of the rack Ra.
  • the support frame Cha preferably has a length, according to the direction Y larger than the dimension of said at least one rack.
  • the direction Y extends according to a horizontal direction perpendicular to the axes of the housings of the rack.
  • the support frame Cha is then advantageously configured to make it possible to support several racks, distributed on the frame in different positions along the direction Y.
  • the first support Cha 1 and the second support Cha 2 of the support frame Cha simultaneously support three (first) racks receiving work rolls 12 , according to the direction Y.
  • 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 Cha 2 of the support frame leave therebetween a free intermediate clearance that can be crossed by the rack handling vehicle, in particular self-guided, (AGV, acronym for “Automated Guided Vehicle”) when this vehicle deposits a rack on the support frame Cha, or on the contrary removes a rack.
  • AGV Automated Guided Vehicle
  • Such a handling vehicle positions itself between the first support and the second support to deposit a rack on the support frame Cha during the deposition of a rack, by lowering a lifting member of the vehicle.
  • this vehicle positions itself under the handling rack as a simple bearing on the support frame, the vehicle then between the first support and the second support, and lifts it, using a lifting member.
  • This rack handling vehicle can in particular deposit a (first, second, third or fourth) rack, free of rolls, intended to receive the worn rolls removed by the robotic system, and/or else a (first, second, third or fourth) rack including in its housings new (or rectified) rolls which are intended to be grasped by the robotic system to be inserted into the roll stand.
  • the rolling mill L can furthermore have suction ramps, including two upper suction ramps, and two lower suction ramps; said robotic system can then be configured to replace the suction ramps by grasping a fitting at the end of the suction ramps.
  • the grasping system 6 can comprise a tubular frame 60 inside which a locking/unlocking device 7 is provided, pivotally mounted through bearings 61 , 62 , about an axis of rotation, intended to be parallel, and possibly coincident with the axis of the grasped roll, through motor means M 6 , in particular sixth motor means.
  • the locking/unlocking device 7 can furthermore comprise (seventh) motor means M 7 configured to switch the locking device from a state of locking of the fitting Eb to a state of unlocking of the fitting.
  • the locking can be obtained by the displacement of jaws that clamp the fitting via the wedge effect.
  • the sixth motor means M 6 make it possible to ensure the adjusting of the orientation of the set of backup rollers (or of the suction ramp) about at axis parallel to the direction Y.
  • the set of backup rollers (or the suction ramp) cannot be inserted into the roll stand in just any orientation.
  • the backup rollers are driven in rotation in relation to the bracket via eccentrics, by a shaft carrying a receiver pinion.
  • the teeth of this pinion must mesh with the teeth of a drive pinion inside the roll stand.
  • the set of backup rollers are rotatably mounted with respect to the bracket, this bracket has to be engaged in a given orientation in a receiving area of the roll stand.
  • the sixth motor means 6 then make it possible to pivot the set of backup rollers, including the bracket which can be locked in rotation with the rollers, by a removable support (not shown).
  • the robotic system is configured to implement an extraction method wherein it is proceeded with the extraction of a roll (and possibly a set of backup rollers or else a suction ramp), by grasping a fitting Eb secured to a roll by the grasping system 6 , or else by grasping a roll by the gripping system locked by the grasping system, including:
  • the robotic system according to the present disclosure is configured for the implementation of a roll insertion method of a rolling plant according to the present disclosure wherein it is proceeded with the insertion of a roll (and possibly a set of backup rollers or else a suction ramp), by grasping a fitting secured to a roll by the grasping system, or else by grasping a roll by the gripping system locked by the grasping system, including:
  • the present technical solutions can have application in particular in cold rolling plants and in particular rolling plants that comprise one or more rolling mills, in particular 20-High rolling mills.
  • the robotic system according to the present disclosure makes it possible to proceed with replacing work rolls 12 , and possibly first intermediate rolls 13 and second intermediate rolls 14 , 15 , and possibly even sets of backup rollers A, B, C, D, E, F, G, H, or else suction ramps by increasing the safety of the operations for the operators.
  • FIGS. 2 to 10 Invention
  • FIG. 11 Arrangement of 20-High Rolling Mill

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Metal Rolling (AREA)
US18/556,410 2021-04-21 2022-04-20 Robotic System for a Rolling Mill Pending US20240181512A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FRFR2104141 2021-04-21
FR2104141A FR3122108B1 (fr) 2021-04-21 2021-04-21 Système robotisé pour laminoir
PCT/FR2022/050742 WO2022223927A1 (fr) 2021-04-21 2022-04-20 Système robotisé pour laminoir

Publications (1)

Publication Number Publication Date
US20240181512A1 true US20240181512A1 (en) 2024-06-06

Family

ID=76730716

Family Applications (1)

Application Number Title Priority Date Filing Date
US18/556,410 Pending US20240181512A1 (en) 2021-04-21 2022-04-20 Robotic System for a Rolling Mill

Country Status (5)

Country Link
US (1) US20240181512A1 (fr)
EP (1) EP4326452A1 (fr)
CN (2) CN115213232A (fr)
FR (1) FR3122108B1 (fr)
WO (1) WO2022223927A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH464787A (de) 1968-02-22 1968-10-31 Landis & Gyr Ag Behälter für Giessharz
JPH07201B2 (ja) * 1986-08-19 1995-01-11 新日本製鐵株式会社 圧延ロ−ル交換方法
US5193377A (en) 1991-08-23 1993-03-16 T. Sendzimir, Inc. Crown adjustment systems on cluster mills
US5471859A (en) 1992-07-20 1995-12-05 T. Sendzimir, Inc. Cluster mill crown adjustment system
CN102601120B (zh) * 2012-03-23 2015-07-29 高宇笙 轧机的自动换辊和调整装置及其操作方法
EP3441327A1 (fr) * 2017-08-09 2019-02-13 Air Vol, S.A. Grue empileuse roulante
FR3095140B1 (fr) * 2019-04-16 2021-05-14 Redex Dispositif de manutention d’un cylindre de laminoir

Also Published As

Publication number Publication date
FR3122108B1 (fr) 2023-06-16
CN115213232A (zh) 2022-10-21
FR3122108A1 (fr) 2022-10-28
CN218775390U (zh) 2023-03-31
EP4326452A1 (fr) 2024-02-28
WO2022223927A1 (fr) 2022-10-27

Similar Documents

Publication Publication Date Title
KR101197835B1 (ko) 압연 밴드 검사방법 및 검사장치
US4949568A (en) Device to replace rolls and apparatus on rolling stands having rolls supported at one end
EP2117741B1 (fr) Procédé et dispositif de démontage des équipages de planage dans une planeuse a rouleaux multiples
JPH0577978A (ja) 軸又は軸受の保持兼案内装置
US20240181512A1 (en) Robotic System for a Rolling Mill
CA2877755A1 (fr) Systeme, procede et appareil pour faciliter la reparation d'un ensemble galet de bande transporteuse
EP0908246A1 (fr) Dispositif de changement des cylindres de travail et/ou des cylindres intermédiaires d'une cage de laminoir, et ratelier de stockage pour un tel dispositif
KR101220048B1 (ko) 원자로 스터드볼트 리프팅 장치
CN113023557A (zh) 自夹持夹爪、上下料装置及自夹持夹爪的使用方法
CA3125062A1 (fr) Systeme et procede pour le remplacement de revetements dont la configuration permet le retrait et l'introduction, de maniere automatisee, de revetements d'un broyeur utilise pour le broyage de minerai
CN221158063U (zh) 金属带轧机装置
US3905485A (en) Roll changing device for a rolling mill and the like
CA3131450A1 (fr) Outil d'intervention pour l'exploitation d'une cuve d'electrolyse
US5274956A (en) Device for grinding the working rolls of a planetary mill
US20230119712A1 (en) Tool and method for changing the working roll in a rolling mill
JPH0912263A (ja) ロールリフタ
US7261618B2 (en) Device and method for abrading a wooden barrel
CN220387469U (zh) 适于实施更换轧机中的工作辊的方法的抓取工具及其组件
AU2020245186A1 (en) Vertical manipulator for large size tyres which comprises a platform and mechanisms for holding, raising and rotating tyres for the safe working of maintenance workers
EP3938147A1 (fr) Dispositif de manutention destiné à convoyer un outil d'intervention sur une cuve d'électrolyse
JPH047296A (ja) ロール吊り上げ装置およびロール吊り上げ方法およびロール組み替え方法
US5871247A (en) Crane wheel puller
CN215711139U (zh) 自夹持夹爪及上下料装置
KR100772834B1 (ko) 텐션레벨러의 워크롤 교환장치
JPH03223091A (ja) ロール吊上げ方法および装置

Legal Events

Date Code Title Description
AS Assignment

Owner name: FIVES DMS, FRANCE

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:ERNST DE LA GRAETE, CONRAD;REEL/FRAME:065295/0474

Effective date: 20220525

STPP Information on status: patent application and granting procedure in general

Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION