Robotic System for a Rolling Mill

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.

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.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Other features, details and advantages will appear upon reading the detailed description hereinafter, and upon analysing the appended drawings, wherein:

FIG. 1

[0073] 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

[0074] 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

[0075] 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

[0076] 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

[0077] FIG. 5 is a sectional view, illustrating the second intermediate roll, and its fitting.

FIG. 6

[0078] 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

[0079] FIG. 7 is a perspective view of the robot, when the grasping system holds a set of backup rollers.

FIG. 8

[0080] FIG. 8 is a view of the robot of FIG. 7, according to a partial section.

FIG. 9

[0081] FIG. 9 is a sectional view of the grasping system, according to a vertical plane.

FIG. 10

[0082] FIG. 10 is a sectional view of the robot, illustrating the set of actuators of the robot.

FIG. 11

[0083] 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

[0084] 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.

[0085] So, the present disclosure relates to a robotic system 1 of a plant for rolling a metal strip.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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: [0090] 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, [0091] 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 [0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] In particular, said at least one rack can comprise: [0106] a (first) rack configured for the support of the work rolls 12, [0107] a (second) rack configured for the support of the first intermediate rolls 13, [0108] a (third) rack configured for the support of the second intermediate rolls 14, 15, [0109] a (fourth) rack configured for the support of the sets of backup rollers A, B, C, D, E, F.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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: [0118] two work rolls 12, including an upper work roll and a lower work roll, [0119] 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, [0120] 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, [0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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).

[0128] 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: [0129] /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, [0130] /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, [0131] /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, [0132] /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, [0133] /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.

[0134] 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: [0135] /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, [0136] /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, [0137] /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, [0138] /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 [0139] /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, [0140] /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

[0141] 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.

[0142] 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.

[0143] 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):

[0144] Bm. Metal strip, [0145] Cy [0146] L. Rolling mill, [0147] Ro. Robot, [0148] Ra1. Rails (robot) [0149] Ch1. First frame, (Robot) [0150] Ch2. Second frame (Robot), [0151] Ch3. Third frame (Robot), [0152] Rac. Rack system, [0153] Ra2: Rails (rack), [0154] Ch11. First frame, [0155] Ch12. Second frame.

FIGS. 2 to 10: Invention

[0156] L. Rolling mill, [0157] 1. Robotic system, [0158] Ro. Robot, [0159] Ra1. Rail according to the direction Y [0160] 2. First frame [0161] 20. Wheels, [0162] M1. First motor means (movement of the carriage according to the direction Y) [0163] 3. Second frame, [0164] G1. First slide system according to the direction X (between the second and the first frame), [0165] M2. Second motor means (movement of the carriage according to the direction X), [0166] 4. Third frame, [0167] G2. Second slide system according to the direction Z [0168] M3. Third motor means (movement of the third frame along the second slide system according to the direction Z) [0169] 5. Fourth frame, [0170] Av. Vertical axis of rotation (between the fifth and fourth frame), called first axis of rotation [0171] M4. Fourth motor means (pivoting of the fourth frame relative to the third frame about the vertical axis of rotation), [0172] Ah. Horizontal axis of rotation between the grasping system and the fourth frame, [0173] 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, [0174] 6. Grasping system, [0175] 60. Tubular frame, [0176] 7. Locking/ unlocking device [0177] M6. Sixth motor means (pivoting of the roll grasped by the grasping system about its axis, or else a parallel axis [0178] M7. Seventh motor means (locking/unlocking device)

FIG. 11: Arrangement of 20-High Rolling Mill

[0179] Gi, Gs. Respectively upper group and lower group, [0180] 12. Work rolls, [0181] 13. First intermediate rolls, [0182] 14,15. Second intermediate rolls, [0183] A, B, C, D. respectively the four backup rolls or sets of backup rollers of the upper group, [0184] E, F, G, H. respectively the four backup rolls or sets of backup rollers of the lower group.