US20240181512A1

US20240181512A1 - Robotic System for a Rolling Mill

Info

Publication number: US20240181512A1
Application number: US18/556,410
Authority: US
Inventors: Conrad ERNST DE LA GRAETE
Original assignee: Fives DMS SA
Current assignee: Fives DMS SA
Priority date: 2021-04-21
Filing date: 2022-04-20
Publication date: 2024-06-06
Also published as: EP4326452A1; WO2022223927A1; CN115213232A; CN218775390U; FR3122108A1; FR3122108B1

Abstract

A robotic system for a plant for rolling a metal strip, the plant including a rolling mill having a roll stand and a set of rolls, internal to the stand, 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 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 the deposition thereof on a rack disposed laterally, and/or insertion of new or rectified rolls into the roll stand from rolls disposed in a rack.

Description

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.

TECHNICAL FIELD

More particularly, the field of the invention relates to the equipment used to perform maintenance operations on a 20-High type rolling mill. For example, a 20-High rolling mill is known from the anteriorities U.S. Pat. Nos. 5,193,377 and 5,471,859. In such a rolling mill, 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. For example, 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.
As rolling campaigns are carried out, it is necessary to renew the surface condition of the rolls of the rolling mill, this operation being performed by opening the access door of the stand of the rolling mill and by removing the rolls from the stand of the rolling mill. Afterwards, these rolls are rectified, before being inserted again into the stand of the rolling mill.
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. Thus, 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. Of course, 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, (rolls or sets of backup rollers) 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. During the extraction of the member (or conversely during the setup thereof), 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.

PRIOR ART

During the extraction manoeuvres, 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.
The operations of setting up each set of backup rollers in the stand of the rolling mill are also particularly tedious as it is necessary to direct, during the insertion of the set:

- the bracket according to the angular position enabling the insertion thereof into the stand in its mounting position, namely angularly align the bracket with the stand seat of the rolling mill: for example, this operation requires the sets of rollers of the upper group to hold the bracket upwards, and against gravity which tends to tilt it downwards),
- the support shaft and especially the pinion secured to its end and in order to accurately position the teeth of the pinion between the teeth of the drive pinion (or of the drive rack) of the rolling mill lying at the bottom of the stand.

Nonetheless, it is known from the document JP1976454C, on the name of Nippon Steel, a loading/unloading system based on the use of a standard “5-axis” robotic arm. In this anteriority, the robotic arm is embedded on a carriage moving along the rails, parallel to the running plane of the strip, enabling the movement of the hinged arm in line with the different stands of the rolling mills. The end of the arm is provided with a clamping system enabling grasping, and then locking of a work roll at its end.
According to the observations of the Applicant, the use of a standard robotic arm for handling the rolls of the rolling mill has two major drawbacks, namely:

- the use of an oversized robotic arm: it will be necessary to use a bulky arm with considerable motors at the hinges of the arm to resist the torques needed for holding the members to be grasped at the tip, namely rolls and/or sets of backup rollers (because of their considerable weight and their large length),
- a considerable operational bulk during the loading/unloading operations: the surface swept by the grasped member (roll or set of backup rollers) carried at the end of the robotic arm during the rotation thereof and up to the deposit area is very significant and could be considered only when the required space in the workshop is available.

There is also known 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.
Such a known robotic system is illustrated in FIGS. 1 and 2 .
According to this robotic prior art, the robotic system comprises: a robot Ro comprising:

- a carriage comprising a first frame Ch1 fitted with wheels cooperating with rails Ra1 disposed on the ground, extending according to the direction Y, in line with the access opening of the stand of the rolling mill, said first frame configured to move according to the direction Y along the rails, by the action of a first motor means driving the wheels,
- a second frame Ch2 and a first slide system connecting the second frame and the first frame configured to move the second frame relative to the first frame according to the direction X, by the action of second motor means,
- a third frame Ch3 and a second slide system connecting the third frame and the second frame, configured to move the third frame relative to the second frame according to a vertical direction Z, by the action of a third motor means.

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:

- align the grasping system with the axis of the roll Cy to be grasped by movement of the grasping system according to the direction X by the action of the second motor means and according to the direction Z by the action of the third motor means,
- grasp the roll by the grasping system by the advance of the carriage along the rails,
- extract the roll out of the stand of the rolling mill by the recoil of the carriage along the rails according to the direction Y, by the action of the first motor means.

At the end of extraction of the roll performed by the recoil of the robot along the rails, 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 .
In such a prior art, 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.
Thus, the rack system Rac may, in turn, comprise a carriage with a first frame Ch11 configured to move along rails Ra2 disposed parallel to the rail Ra1 of the robot, laterally to the robot, according to the transverse direction Y by a first motor, and a second frame Ch12 carrying the rack for loading/unloading the rolls, configured to be moved, relative to the first frame Ch11, according to the direction X thanks to a slide system between the second frame Ch12 and the first frame 11, and second motors.
As illustrated in FIG. 2 , the rack is thus moved by the first frame along the rails Ra2, 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.
According to the observations of the Inventor, 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. Thus, 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 Ra2 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.
However, and according to the knowledge of the Applicant, such a robotic arm according to this prior art does not allow replacing the eight sets of backup rollers of the rolling mill which are evacuated or brought:

- either directly, and successively thanks to the crane bridge, according to the previously-described procedure with a counterweight, which is particularly dangerous for the operators on the ground;
- or by directly placing onto the bridge, between the rolling mill and the robotic system, a rack intended to receive a given number of sets of backup rollers of the rolling mill or carrying the new sets of backup rollers. This robotic system is just intended to pull the sets of backup rollers out of the rolling mill to slip them on this removable rack onto the bridge or to push the new sets of backup rollers lying on this removable rack to introduce them into the rolling mill.

The procedure of bringing in or withdrawing this removable rack loaded with sets of backup rollers, between the robotic system and the rolling mill to the bridge, is also particularly dangerous for the operators on the ground.

SUMMARY

The present disclosure allows improving the situation.
According to a first aspect, the present disclosure relates to a robotic system for a plant for rolling a metal strip, said plant comprising a rolling mill having a roll stand and a 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,

- and wherein said robotic system 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 stand of the rolling mill, said robotic system comprising: a robot comprising:
  - a carriage comprising a first frame fitted with wheels cooperating with rails disposed on the ground, extending according to the direction Y, in line with the access opening of the stand of the rolling mill, said first frame being configured to move according to the direction Y along the rails, by the action of first motor means driving the wheels,
  - a second frame and a first slide system connecting the second frame and the first frame configured to move the second frame relative to the first frame according to the direction X, by the action of second motor means,
  - a third frame and a second slide system connecting the third frame and the second frame, configured to move the third frame relative to the second frame according to a vertical direction Z, by the action of third motor means.

According to the present disclosure, the robotic system according to this first aspect comprises:

- a fourth frame, and rotational guide means connecting the fourth frame and the third frame about a vertical axis of rotation, configured to drive the rotation of the fourth frame relative to the third frame, by the action of fourth motor means,
- a grasping system, embedded on the fourth frame comprising an actuator configured to control locking and unlocking of grasping of a fitting secured to a roll, or else grasping of a fitting of a gripping system of a roll of the rolling mill,
  and wherein the robotic system 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, laterally to the rails, after pivoting of the roll by rotation of the fourth frame relative to the third frame about the vertical axis of rotation.

According to optional features of this first aspect, considered separately or in combination:

- the grasping system may be hinged to the fourth frame according to a second horizontal hinge axis perpendicular to the vertical axis of rotation between the fourth frame and the third frame, called first axis of rotation, and perpendicular to the axis of the roll grasped by the grasping system, the robotic system including motor means, in particular fifth motor means, configured to set the inclination of the grasping system, and thus the inclination of the grasped roll, by rotation of the grasping system about said second axis of rotation;
- the grasping system may comprise a tubular frame inside which a locking/unlocking device is provided, pivotally mounted through bearings, about an axis of rotation, intended to be parallel, and possibly coincident with the axis of the grasped roll, through motor means, in particular sixth motor means, and wherein the locking/unlocking device comprises the actuator, including motor means configured to switch the locking device from a state of locking the fitting to a state of unlocking the fitting.

According to a second aspect, 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

- and wherein said plant comprises a loading/unloading rack, removably positioned on a support frame anchored to the ground at an anchorage position at a distance from the rolling mill according to the transverse direction Y and laterally to the rails, clearing a maintenance walkway according to the direction X, along the access opening of the rolling mill, the rack resting on the support frame having housings, directed according to the direction X, and wherein the robotic system is configured to deposit the roll, on the loading/unloading rack resting on the support frame, after pivoting of the roll by rotation of the fourth frame relative to the third frame about the vertical axis of rotation, the roll then being directed according to the direction X.

According to optional features of this second aspect, considered separately or in combination:

- the support frame has a length, according to the direction Y, larger than the dimension of said at least one rack, the direction Y then being perpendicular to the axes of housings of said at least one rack, said support frame configured to support several racks, distributed over the length of the support frame at different positions along the direction Y,
- the support frame comprises a first support, and a second support, respectively anchored to the ground parallelly according to the direction Y and wherein said at least one rack is configured to rest by bearing, the support frame, by resting simultaneously on the first support and the second support, at two opposite edges of the rack and wherein the first support and the second support of the support frame leave therebetween a free intermediate clearance configured to be crossed by a rack handling vehicle, in particular a self-guided vehicle, when this vehicle deposits a rack on the support frame, for example a rack free of rolls intended to receive the worn rolls removed by the robotic system, and/or else a rack including in its housings new (or rectified) rolls intended to be grasped by the robotic system to be inserted into the stand of the rolling mill.

According to a second embodiment of this second aspect, said rolling mill is a 20-High rolling mill, having with respect to the plane of the metal strip to be rolled:

- two work rolls, including an upper work roll and a lower work roll,
- four first intermediate rolls, including two upper first intermediate rolls, in contact with the upper work roll, and two lower first intermediate rolls, in contact with the lower work roll,
- six second intermediate rolls, including three upper second intermediate rolls, in contact with the two upper first intermediate rolls, and three lower second intermediate rolls, in contact with the two lower first rolls,
- eight sets of backup rollers, each provided with a bracket secured to the stand, including four sets of upper rollers, bearing with the three upper second intermediate rolls, and four sets of lower rollers, bearing with the three second intermediate rolls,
  and wherein said robotic system is configured to replace the sets of rolls of the rolling mill, namely the two work rolls, the four first intermediate rolls, the six second intermediate rolls, and the eight sets of backup rollers, by depositing them on one or several rack(s) positioned at the anchorage position of the support frame anchored to the ground.

Still according to an embodiment of this second aspect, 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.
According to a third aspect, the present disclosure relates to a roll extraction method implemented in a rolling plant according to the second aspect, wherein 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:

- /a1/ Align the gripping system and/or the grasping system with the axis of the roll to be grasped by moving the grasping system according to the direction X by the action of the second motor means and according to the direction Z by the action of the third motor means,
- /b1/ Grasp the roll by the grasping system or said gripping system secured to the grasping system after the advance of the carriage along the rails according to the direction Y by the action of the first motor means,
- /c1/ Extract the roll out of the stand of the rolling mill by the recoil of the carriage along the rails according to the direction Y, by the action of the first motor means,
- /d1/ Pivot by a quarter turn the extracted roll about said vertical axis of rotation by the action of the fourth motor means, and lower the roll pivoted by a quarter turn by the action of the third motor means to ensure deposition, on the loading/unloading rack, disposed laterally to the rails and to the area of displacement of the carriage,
- /e1/ Release the roll by the recoil of the grasping system according to the direction X, by the action of the second motors.

According to a fourth aspect 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:

- /a2/ Align the gripping system and/or the grasping system with the axis of the roll to be grasped on the unloading/loading rack by moving the grasping system according to the direction Y by the action of the first motor means and according to the direction Z by the action of the third motor means,
- /b2/ Grasp the roll by the grasping system or said gripping system secured to the grasping system after the advance of the carriage along the rails according to the direction X by the action of the second motor means,
- /c2/ Raise the roll off the rack according to the direction Z by the action of the third motor means, and pivot the extracted roll about said vertical axis of rotation by the action of the fourth motor means by a quarter turn,
- /d2/ Align the axis of the roll in an alignment position in the stand of the rolling mill, by moving the grasping system according to the direction X by the action of the second motor means and according to the direction Z by the action of the third motor means
- /e2/ Insert the roll into the stand of the rolling mill in the alignment position, by the advance of the carriage according to the direction Y by the action of the first motor means,
- /f2/ Release the roll by the recoil of the robot according to the direction Y, by the action of the first motors.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features, details and advantages will appear upon reading the detailed description hereinafter, and upon analysing the appended drawings, wherein:

FIG. 1

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

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

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

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

FIG. 5 is a sectional view, illustrating the second intermediate roll, and its fitting.

FIG. 6

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

FIG. 7 is a perspective view of the robot, when the grasping system holds a set of backup rollers.

FIG. 8

FIG. 8 is a view of the robot of FIG. 7 , according to a partial section.

FIG. 9

FIG. 9 is a sectional view of the grasping system, according to a vertical plane.

FIG. 10

FIG. 10 is a sectional view of the robot, illustrating the set of actuators of the robot.

FIG. 11

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.

DESCRIPTION OF EMBODIMENTS

The drawings and the description hereinafter contain, for the most part, elements of a certain nature. They can therefore not only be used to better understand the present disclosure, but also contribute to the definition thereof, where applicable.
So, 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. As diagrammatically shown in FIG. 11 , 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:

- a carriage comprising a first frame 2 fitted with wheels 20 cooperating with rails Ra1 disposed on the ground, extending according to the direction Y, in line with the access opening of the roll stand, said first frame 2 being configured to move according to the direction Y along the rails Ra1, by the action of first motor means M1 driving the wheels 20,
- a second frame 3 and a first slide system G1 connecting the second frame 3 and the first frame 2 configured to move the second frame 3 relative to the first frame 2 according to the direction X, by the action of second motor means M2
- a 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 according to a vertical direction Z, by the action of third motor means M3.

Notably, 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 M4, 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. Alternatively, 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.
According to the present disclosure, 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 Ra1, 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 M4. When the roll is deposited on the rack Ra by the robotic system, the roll extends longitudinally according to the direction X.
Possibly, 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 M5 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 M5 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.
Thus, and when the roll is removed (or inserted) in the rolling mill, 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 Ra1. 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
In particular, 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 Ra1 along which the carriage of the robotic system is displaced.
Advantageously, 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 M4 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.
In particular, said at least one rack can comprise:

- a (first) rack configured for the support of the work rolls 12,
- a (second) rack configured for the support of the first intermediate rolls 13,
- a (third) rack configured for the support of the second intermediate rolls 14, 15,
- a (fourth) rack configured for the support of the sets of backup rollers A, B, C, D, E, F.

The different racks (in particular first, second, third and fourth) 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 Cha1, and a second support Cha2, 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 Cha1 and the second support Ch2, 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. For example, and in FIG. 3 , the first support Cha1 and the second support Cha2 of the support frame Cha simultaneously support three (first) racks receiving work rolls 12, according to the direction Y. Again, and FIG. 4 , 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.
It is further remarked that the first support Cha 1 and the second support Cha2 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. 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. During the removal of the racks, 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.
Thus and when said rolling mill is a 20-High rolling mill, has with respect to the plane of the metal strip to be rolled:

- two work rolls 12, including an upper work roll and a lower work roll,
- four first intermediate rolls 13, including two first upper intermediate rolls, in contact with the upper work roll, and two first lower intermediate rolls, in contact with the lower work roll,
- six second intermediate rolls 14, 15, including three upper second intermediate rolls, in contact with the two first upper intermediate rolls, and three second lower intermediate rolls, in contact with the two lower first rolls,
- eight sets of backup rollers, each provided with a bracket secured to the stand, including four sets of upper rollers A, B, C, D, bearing with the three second upper intermediate rolls, and four sets of lower rollers E, F, G, H, bearing with the three second intermediate rolls,
  then said robotic system can advantageously be configured to replace the set of rolls of the rolling mill, namely the two work rolls 12, the four first intermediate rolls 13, the six second intermediate rolls 14, 15, and the eight sets of backup rollers A to H, by depositing them on one or more racks Ra positioned at the anchorage position of the support frame Cha anchored to the ground.

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.
According to an embodiment, 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 M6, in particular sixth motor means.
The locking/unlocking device 7 can furthermore comprise (seventh) motor means M7 configured to switch the locking device from a state of locking of the fitting Eb to a state of unlocking of the fitting. For example, the locking can be obtained by the displacement of jaws that clamp the fitting via the wedge effect.
The sixth motor means M6 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. For example, the set of backup rollers (or the suction ramp) cannot be inserted into the roll stand in just any orientation.
For example, 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 according to the present disclosure 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:

- /a1/ Align the gripping system and/or the grasping system 6 with the axis of the roll to be grasped by moving the grasping system according to the direction X by the action of the second motor means M2 and according to the direction Z by the action of the third motor means M3,
- /b1/ Grasp the roll by the grasping system or said gripping system secured to the grasping system after the advance of the carriage along the rails Ra1 according to the direction Y by the action of the first motor means M1, and in particular by the locking of the fitting by the locking device 7, by the action of seventh motor means M7,
- /c1/ Extract the roll out of the roll stand by the recoil of the carriage along rails according to the direction Y, by the action of the first motor means M1,
- /d1/ Pivot by a quarter turn the extracted roll about said vertical axis of rotation Av by the action of the fourth motor means M4, and lower the roll pivoted by a quarter turn by the action of the third motor means M3 to ensure deposition, on the loading/unloading rack, disposed laterally to the rails and to the area of displacement of the carriage,
- /e1/ Release the roll by the recoil of the grasping system according to the direction X, by the action of the second motors M2, in particular after unlocking of the locking/unlocking device 7 by the action of the seventh motor means M7.

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:

- /a2/ Align the gripping system and/or the grasping system 6 with the axis of the roll to be grasped on the loading/unloading rack Ra by moving the grasping system 6 according to the direction Y by the action of the first motor means M1 and according to the direction Z by the action of the third motor means M3,
- /b2/ Grasp the roll by the grasping system or said gripping system secured to the grasping system after the advance of the carriage along the rails according to the direction X by the action of the second motor means M2, in particular by the locking of the fitting by the locking device 7, by the action of seventh motor means M7,
- /c2/ Raise the roll off the rack according to the direction Z by the action of the third motor means M3, and pivot the extracted roll about said vertical axis of rotation Av by the action of the fourth motor means M4 by a quarter turn,
- /d2/ Align the axis of the roll in an alignment position the roll stand, by moving the grasping system according to the direction X by the action of the second motor means M2 and according to the direction Z by the action of the third motor means M3
- /e2/ Insert the roll into the roll stand in the alignment position, by advance of the carriage according to the direction Y by the action of the first motor means M1,
- /f2/ Release the roll by the recoil of the robot according to the direction Y, by the action of the first motors M1 and in particular after the unlocking of the fitting by the locking device 7, by the action of seventh motor means M7.

INDUSTRIAL APPLICATION

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.
The arrangement with the position of said at least one rack on a support frame disposed laterally to the rails, at a distance according to the transversal direction Y makes it possible to leave the maintenance walkway AL free which can extend continuously along rolling mills when each is provided with a robotic system according to the present disclosure.

LIST OF REFERENCE SIGNS

FIGS. 1 & 2 (Prior Art):

- Bm. Metal strip,
- Cy
- L. Rolling mill,
- Ro. Robot,
- Ra1. Rails (robot)
- Ch1. First frame, (Robot)
- Ch2. Second frame (Robot),
- Ch3. Third frame (Robot),
- Rac. Rack system,
- Ra2: Rails (rack),
- Ch11. First frame,
- Ch12. Second frame.

FIGS. 2 to 10: Invention

- L. Rolling mill,
- 1. Robotic system,
- Ro. Robot,
- Ra1. Rail according to the direction Y
- 2. First frame
- 20. Wheels,
- M1. First motor means (movement of the carriage according to the direction Y)
- 3. Second frame,
- G1. First slide system according to the direction X (between the second and the first frame),
- M2. Second motor means (movement of the carriage according to the direction X),
- 4. Third frame,
- G2. Second slide system according to the direction Z
- M3. Third motor means (movement of the third frame along the second slide system according to the direction Z)
- 5. Fourth frame,
- Av. Vertical axis of rotation (between the fifth and fourth frame), called first axis of rotation
- M4. Fourth motor means (pivoting of the fourth frame relative to the third frame about the vertical axis of rotation),
- Ah. Horizontal axis of rotation between the grasping system and the fourth frame,
- M5. Fifth motor means (pivoting of the grasping system about the horizontal axis of rotation making possible the adjustment of the inclination of the roll grasped by the grasping system,
- 6. Grasping system,
- 60. Tubular frame,
- 7. Locking/ unlocking device
- M6. Sixth motor means (pivoting of the roll grasped by the grasping system about its axis, or else a parallel axis
- M7. Seventh motor means (locking/unlocking device)

FIG. 11: Arrangement of 20-High Rolling Mill

- Gi, Gs. Respectively upper group and lower group,
- 12. Work rolls,
- 13. First intermediate rolls,
- 14,15. Second intermediate rolls,
- A, B, C, D. respectively the four backup rolls or sets of backup rollers of the upper group,
- E, F, G, H. respectively the four backup rolls or sets of backup rollers of the lower group.

Claims

1-10. (canceled)

11. 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,

and wherein said robotic system 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 stand of the rolling mill, said robotic system comprising: a robot comprising:

a carriage comprising a first frame fitted with wheels cooperating with rails disposed on the ground, extending according to the direction Y, in line with the access opening of the stand of the rolling mill, said first frame being configured to move according to the direction Y along the rails, by the action of first motor means driving the wheels,

a second frame and a first slide system connecting the second frame and the first frame configured to move the second frame relative to the first frame according to the direction X, by the action of second motor means,

a third frame and a second slide system connecting the third frame and the second frame, configured to move the third frame relative to the second frame according to a vertical direction Z, by the action of third motor means,

a fourth frame, and rotational guide means connecting the fourth frame and the third frame about a vertical axis of rotation, configured to drive the rotation of the fourth frame relative to the third frame, by the action of fourth motor means,

a grasping system, embedded on the fourth frame comprising an actuator configured to control locking and unlocking of grasping of a fitting secured to a roll, or else grasping of a fitting of a gripping system of a roll of the rolling mill,

and wherein the robotic system 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, laterally to the rails, after pivoting of the roll by rotation of the fourth frame relative to the third frame about the vertical axis of rotation.

12. The robotic system according to claim 11, wherein the grasping system is hinged to the fourth frame according to a second horizontal hinge axis perpendicular to the vertical axis of rotation between the fourth frame and the third frame, called first axis of rotation, and perpendicular to the axis of the roll grasped by the grasping system, the robotic system including motor means, in particular fifth motor means, configured to set the inclination of the grasping system, and thus the inclination of the grasped roll, by rotation of the grasping system about said second axis of rotation.

13. The robotic system according to claim 11, wherein the grasping system comprises a tubular frame inside which a locking/unlocking device is provided, pivotally mounted through bearings, about an axis of rotation, intended to be parallel, and possibly coincident with the axis of the grasped roll, through motor means, in particular sixth motor means, and wherein the locking/unlocking device comprises the actuator, including motor means configured to switch the locking device from a state of locking the fitting to a state of unlocking the fitting.

14. A rolling plant comprising a robotic system according to claim 11, wherein 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, and transversely according to a horizontal direction Y, parallel to the axes of the rolls of the rolling mill and

wherein said plant comprises a loading/unloading rack, removably positioned on a support frame anchored to the ground at an anchorage position at a distance from the rolling mill according to the transverse direction Y and laterally to the rails, clearing a maintenance walkway according to the direction X, along the access opening of the rolling mill, the rack resting on the support frame having housings, directed according to the direction X, and wherein the robotic system is configured to deposit the roll, on the loading/unloading rack) resting on the support frame, after pivoting of the roll by rotation of the fourth frame relative to the third frame about the vertical axis of rotation, the roll then being directed according to the direction X.

15. The rolling plant according to claim 14, wherein the support frame has a length, according to the direction Y, larger than the dimension of said at least one rack, the direction Y then being perpendicular to the axes of housings of said at least one rack, said support frame configured to support several racks, distributed over the length of the support frame at different positions along the direction Y.

16. The rolling plant according to claim 14, wherein the support frame comprises a first support, and a second support, respectively anchored to the ground parallelly according to the direction Y and wherein said at least one rack is configured to rest by bearing, the support frame Cha, by resting simultaneously on the first support and the second support, at two opposite edges of the rack and wherein the first support Cha1 and the second support Cha2 of the support frame leave therebetween a free intermediate clearance configured to be crossed by a rack handling vehicle, in particular a self-guided vehicle, when this vehicle deposits a rack on the support frame, for example a rack free of rolls intended to receive the worn rolls removed by the robotic system, and/or else a rack including in its housings new rolls intended to be grasped by the robotic system to be inserted into the stand of the rolling mill.

17. The rolling plant according to claim 14, wherein said rolling mill is a 20-High rolling mill, having with respect to the plane of the metal strip to be rolled:

two work rolls, including an upper work roll and a lower work roll,

four first intermediate rolls, including two upper first intermediate rolls, in contact with the upper work roll, and two lower first intermediate rolls, in contact with the lower work roll, six second intermediate rolls, including three upper second intermediate rolls, in contact with the two upper first intermediate rolls, and three lower second intermediate rolls, in contact with the two lower first rolls,

eight sets of backup rollers, each provided with a bracket secured to the stand, including four sets of upper rollers, bearing with the three upper second intermediate rolls, and four sets of lower rollers, bearing with the three second intermediate rolls,

and wherein said robotic system is configured to replace the sets of rolls of the rolling mill, namely the two work rolls, the four first intermediate rolls, the six second intermediate rolls, and the eight sets of backup rollers, by depositing them on one or several rack positioned at the anchorage position of the support frame anchored to the ground.

18. The rolling plant according to claim 17, wherein the rolling mill having suction ramps, including two upper suction ramps, and two lower suction ramps,

and wherein said robotic system is configured to replace the suction ramps.

19. A roll extraction method implemented in a rolling plant according to claim 14,

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:

align the gripping system and/or the grasping system with the axis of the roll to be grasped by moving the grasping system according to the direction X by the action of the second motor means and according to the direction Z by the action of the third motor means,

grasp the roll by the grasping system or said gripping system secured to the grasping system after the advance of the carriage along the rails according to the direction Y by the action of the first motor means,

extract the roll out of the stand of the rolling mill by the recoil of the carriage along the rails according to the direction Y, by the action of the first motor means,

pivot by a quarter turn the extracted roll about said vertical axis of rotation by the action of the fourth motor means, and lower the roll pivoted by a quarter turn by the action of the third motor means to ensure deposition, on the loading/unloading rack, disposed laterally to the rails and to the area of displacement of the carriage,

release the roll by the recoil of the grasping system according to the direction X, by the action of the second motors.

20. A roll insertion method implemented in a rolling plant according to claim 14, 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:

align the gripping system and/or the grasping system with the axis of the roll to be grasped on the unloading/loading rack by moving the grasping system according to the direction Y by the action of the first motor means and according to the direction Z by the action of the third motor means,

grasp the roll by the grasping system or said gripping system secured to the grasping system after the advance of the carriage along the rails according to the direction X by the action of the second motor means,

raise the roll off the rack according to the direction Z by the action of the third motor means, and pivot the extracted roll about said vertical axis of rotation by the action of the fourth motor means by a quarter turn,

align the axis of the roll in an alignment position in the stand of the rolling mill, by moving the grasping system according to the direction X by the action of the second motor means and according to the direction Z by the action of the third motor means Insert the roll into the stand of the rolling mill in the alignment position, by the advance of the carriage according to the direction Y by the action of the first motor means, and release the roll by the recoil of the robot according to the direction Y, by the action of the first motors.