Patent Application
20250001477
The present disclosure relates to a grasping tool, notable in that it is configured to grasp, in particular in a roll stand, typically when the metal strip is present, simultaneously two rolling rolls, and with a view to simultaneous manipulation thereof, in particular during roll-change operations.
Such a grasping tool finds a particular application for simultaneously grasping the two first intermediate rolls of a 20-roll rolling mill, and in particular simultaneously grasping the two first top intermediate rolls, and/or also simultaneously grasping the two first bottom intermediate rolls.
The present disclosure also relates to an assembly comprising a grasping tool according to the present disclosure and a robotic system suitable for performing operations of changing rolls of the rolling mill, by extracting worn rolls from the roll stand and/or inserting new or rectified rolls into the roll stand, said robotic system comprising a robot provided with a grasping system configured to control the locking of a fastening part of the grasping tool.
The present disclosure also relates to a rolling installation comprising such an assembly according to the present disclosure.
The present disclosure also relates to a method for changing rolls of a rolling mill using a grasping tool according to the present disclosure, or an assembly according to the present disclosure.
The field of the invention relates more particularly to equipment used for carrying out maintenance operations on a 20-roll rolling mill, also known as a “20-High”. A 20-roll rolling mill is known for example from the prior art U.S. Pat. Nos. 5,193,377 and 5,471,859. In such a rolling mill, the rolls (and sets of back-up rollers) are divided into a lower group and an upper group, and in a configuration symmetrical to the conveying plane of the metal strip to be rolled. FIG. 4 of the document U.S. Pat. No. 5,193,377 illustrates for example the upper group with a work roll, two first intermediate rolls, three second intermediate rolls, and four sets of backup rollers.
As rolling operations 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 roll stand and removing the rolls from the roll stand. Afterwards, these rolls are rectified, before being inserted back into the roll stand.
The operations of extraction (or setup by insertion) of the internal members (rolls or sets of backup rollers) are usually performed thanks to a piece of handling equipment secured to the end of the member to be removed (namely to 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 manipulated by the hoist of a bridge crane of the workshop, and in order to keep it substantially horizontal, and while the hook of the hoist grasps a lifting eye positioned on the equipment between the counterweight and the grasped member. During the extraction of the member (or conversely during its setup), the grasped member is rigidly secured to the counterweight of the equipment, which might swing at the lower end of the rope of the hoist.
During the extraction manoeuvres, the operators are necessarily present proximate to the grasped member, in order to guide the extraction (or setup) operations which are thus particularly dangerous because of the possible swinging movements of the heavy elements hanging from the cable of the bridge crane.
However, from document JP1976454C, in the name of Nippon Steel, a loading/unloading system is known which is based on the use of a standard (5 axis) robotic arm. In this prior art, the robotic arm is mounted on a carriage that moves along rails, parallel to the conveying plane of the strip, allowing the articulated arm to be moved past the various stands of the rolling mills. The end of the arm is provided with a clamping system, allowing a work roll to be grasped and then locked at its end.
However, from the document WO2022223927 of the present Applicant, a robotic system is known comprising a robot limiting the operational space required during loading/unloading operations, and allowing the deposit of removed rolls on a rack at a distance from the roll stand. As described in this prior art, the robotic system is configured to change the set of rolls or set of backup rollers of a 20-roll rolling mill, namely extract and insert the following components of the upper and lower group from the roll stand:
When the rolls are changed, the robotic systems of the document JP1976454C or of the document WO2022223927 proceed with removing the rolls, one by one, one after the other, in order to remove them from the rolling-mill stand, and then inserting the rectified, or new, rolls, one by one, one after the other.
There has always been a need to reduce the time taken for the roll-change operations. This is because these change operations require stopping the rolling operations, and therefore have a negative impact on the productivity of the rolling mill.
The present invention aims to improve the situation.
According to a first aspect, a grasping tool is proposed comprising:
The features outlined in the following paragraphs can optionally be implemented independently of one another or in combination with one another.
According to one embodiment, the slide system includes at least one guide rail secured to the frame, oriented in the transverse direction, and wherein the first recessing system and the second recessing system are mounted slidably along said at least one rail, movable with respect to the frame on a limited travel.
According to one embodiment, said means for adjusting the distance include:
According to one embodiment, the grasping tool comprises a pneumatic brake device configured to pass from a non-braked position releasing the sliding of the slide system so as to freely allow an adjustment of said distance, to a braked position blocking the sliding of the first recessing system and of the second recessing system, locking said distance.
According to one embodiment, the first recessing system comprises a first locking member and a first actuator configured to move said first locking member from a first, retracted, position, allowing the insertion of the end of the first roll in the first housing, to a second position for which the first locking member enters inside the first housing while providing locking of the first roll, typically in abutment on a bottom of the first housing, by penetration of a locking groove of the second roll,
and wherein the second recessing system comprises a second locking member and a second actuator configured to move said second locking member from a first retracted position, allowing insertion of the end of the second roll in the second housing, to a second position for which the second locking member penetrates inside the second housing while providing locking of the second roll, typically in abutment on a bottom of the second housing, by penetration of a locking groove of the second roll.
According to one embodiment, the first actuator and the second actuator are pneumatic actuators.
According to one embodiment:
The present disclosure also relates, according to a second aspect, to an assembly comprising a grasping tool according to the present disclosure and a robotic system suitable for performing operations of changing rolls of the rolling mill, by extracting worn rolls from the roll stand and/or inserting new or rectified rolls into the roll stand, said robotic system comprising a robot provided with a grasping system configured to provide locking of a fastening part of the grasping tool.
The features outlined in the following paragraphs can optionally be implemented independently of one another or in combination with one another.
According to one embodiment, the grasping system comprises a quick-coupling system, comprising a first mechanical coupling part, motorised, configured to move from a coupled position configured for mechanically locking a second mechanical coupling part forming the part securing the grasping tool, to an uncoupled position allowing the release of the second mechanical coupling part.
According to one embodiment, the robotic system incorporates at least one controllable pneumatic power source, the quick-coupling system comprising, in addition to the first mechanical coupling part, a first pneumatic coupling part, configured to move from a coupled position for locking a second pneumatic coupling part, and wherein the grasping tool is equipped with a second coupling part and said pneumatic actuators configured to be actuated by said at least one pneumatic power source to provide locking or unlocking of the first and second roll and/or also to provide braking of the first recessing system and of the second recessing system.
According to one embodiment, said grasping system is configured to enable the grasping tool to be turned over through 180° between:
The present disclosure also relates, according to a third aspect, to a rolling mill installation for a metal strip comprising a rolling mill, having a roll stand and a set of rolls, inside the stand, having:
The present disclosure also relates, according to a fourth aspect, to a method for changing rolls of a rolling mill using a grasping tool according to the present disclosure, or a set according to the present disclosure, the rolling mill having a roll stand and a set of 20 rolls, internal to the stand, having:
According to one embodiment the first intermediate rolls have peripheral locking grooves, and wherein the method comprises the locking of the first roll in the first housing by penetration of the first locking member in the locking groove of the first roll, and locking of the second roll in the second housing by penetration of the second locking member in the locking groove of the second roll, once the ends of the first and second rolls are recessed in the first and second housing.
According to one embodiment, the method comprises an adjustment of the distance, in the course of said movement of the grasping tool in the direction parallel to the two rolls, said at least one first guide wall cooperating in guidance with an end of the first roll and said at least one second guide wall cooperating in guidance with an end of the second roll so as to generate forces resulting from the guidances modifying said centre distance, counter to the return force of the spring system.
According to one embodiment of the method, the pneumatic brake device is switched from the non-braked position to the braked position blocking the sliding of the first recessing system and of the second recessing system, prior to a movement by the robotic system of the rolls held by the grasping tool.
According to one embodiment of the method, the roll stand has, on the same side as a window giving access to a door system comprising:
Other features, details and advantages will appear upon reading the detailed description hereinafter, and analysing the accompanying drawings, in which:
Thus the present disclosure relates to a grasping tool 20 comprising:
The first housing L1 has a first grasping axis AL1 for grasping the first roll C1 substantially coaxial with said first grasping axis and a second housing L2 has a second grasping axis for grasping the second roll substantially coaxial with said second grasping axis L2.
The first housing L1 is typically a housing with a circular cross-section, preferably cylindrical, enabling the first roll C1 to be inserted, with recessing clearance.
The first housing L2 is typically a housing with a circular cross-section, preferably cylindrical, enabling the first roll C2 to be inserted, with recessing clearance.
The two housings L1, L2 extend longitudinally, in the longitudinal direction X1, each from an entry opening (first entry opening O1, and second entry opening O2), and as far as a bottom. The first entry opening O1 and the second entry opening O2 are typically arranged at a distal end of the grasping tool. The fastening part 22 is typically arranged in the longitudinal direction X1 at the proximal end, opposite to the distal end.
In the figures, and in general, the first grasping axis AL1 and the second grasping axis AL2 are parallel and oriented in a longitudinal direction X1.
The first grasping axis AL1 and the second grasping axis AL2 are separated by a centre distance E, in a direction Y1 transverse to the first grasping axis AL1 and to the second grasping axis AL2, perpendicular to the longitudinal direction X1.
The grasping tool also preferably comprises means for adjusting said distance E including a slide system 25 between the first recessing system 23 and the second recessing system 24, allowing an adjustment of the separation between the first recessing system 23 and the second recessing system 24.
Such adjustment means advantageously make it possible to adapt the distance E between the two housings L1, L2, and in order to adapt it to the centre distance of the two rolls C1 C2 to be grasped simultaneously in the stand of the rolling mill.
Such a grasping tool is advantageously configured to allow a simultaneous grasping of the two rolls consisting of the first roll C1 and the second roll C2 disposed parallel to each other in a roll stand L, by moving the grasping tool 20, in a direction parallel to the two rolls during which an insertion of an end of the first roll C1 in the first housing L1 through the first entry opening O1 of said first housing L1 and an insertion of the end of the second roll C2 in the second housing L2 through a second entry opening O2 of said second housing are obtained simultaneously until recessings of the first roll C1 in the first housing L1 and of the second roll C2 in the second housing L2 are obtained.
Once the first and second rolls C1 C2 are respectively recessed in the first housing L1 and the second housing L2, the grasping tool according to the present disclosure allows the graspings of the rolls C1, C2 held cantilevered by their recessed end.
The grasping tool according to the present disclosure provides appreciable progress compared with the known prior art, in that it makes it possible to simultaneously extract two rolling rolls in a roll stand, by providing simultaneous grasping thereof, and preferably even when the centre distance between the two rolls is not constant. The cycle time necessary for extracting the first intermediate rolls is substantially reduced, by comparison with a cycle time according to the prior art for which the intermediate rolls are extracted from the stand by a robotic actuator, but only one after the other.
In general terms, and as illustrated in the figures:
The first housing L1 and the second housing L2 extend, overlapping in the longitudinal direction X1 of the grasping tool, parallel to the first grasping axis AL1 and to the second grasping axis AL2 of the first housing L1 and second housing L2.
In general terms, and as illustrated, the slide system 25 can include at least one (or even typically a plurality) guide rail 150 secured to the frame 21, oriented in the transverse direction Y1, and for example a plurality of guide rails.
The first recessing system 23 and the second recessing system 24 are mounted slidably along said at least one rail 250, movable with respect to the frame 21 on a limited travel, in the transverse direction Y1.
According to one embodiment, said means for adjusting said centre distance E can include a spring system 26 generating a return force constraining the first recessing system 23 and the second recessing system 24 moving on said slide system 25 in a median separation position between a maximum separation position and a minimum separation position between the first recessing system 23 and the second recessing system 24.
Such a spring system 26 makes it possible to ensure that, in the idle position, namely when the first system 13 and the second system 14 or not acted on, there always exists an available adjustment travel of the centre distance in both directions of the slide 25, namely not only with a view to reducing the centre distance but also with a view to increasing the centre distance.
The means for adjusting the centre distance can also include, in particular in synergy with this spring system, at least one first guide wall PG1, splayed or bevelled, at the rim of the first entry opening O1, the first guide wall PG1 being configured to guide the end of the first roll C1 when it is inserted in the first housing L1, and a second guide wall PG2, splayed or bevelled, at the rim of the second entry opening O2, the second guide wall PG2 being configured to guide the end of the second roll C2 when it is inserted in the second housing L2.
The guide walls PG1, PG2 cooperate, according to circumstances, to bring together, or on the other hand to separate, the first recessing system 23 and the second recessing system 24.
Such a grasping tool is then configured, in the course of said movement of the grasping tool 20 in a direction parallel to the two rolls, so that said at least one first guide wall PG1 cooperates in guidance with the end of the first roll C1 and said at least one second guide wall PG2 cooperates in guidance with the end of the second roll so as to provide forces resulting from the guidances automatically modifying said centre distance E to that of the two rolls to be grasped, counter to the return force of the spring system 26.
Such means for adjusting the centre distance E advantageously make it possible to automatically adapt the separation between the first recessing system 23 and the second recessing system 24, in the transverse direction, and without requiring an actuator specific to this adjustment.
According to one embodiment, the grasping tool 20 can also comprise a brake device, typically pneumatic, configured to pass from a non-braked position releasing the sliding of the slide system 25 so as to freely allow an adjustment of said centre distance E, to a braked position blocking the sliding of the first recessing system and of the second recessing system, locking said centre distance E. Such braking makes it possible to lock the first recessing system 23 and the second recessing system 24 on the frame 21, once the two rolls C1, C2 are grasped. In this way the uncontrolled movements of the rolls with respect to the frame, in the direction of the slide system, when the assembly comprising firstly the grasping tool and secondly the two rolls held by the grasping tool are moved by the robotic system, are avoided.
According to one embodiment, the first recessing system 23 can comprise a first locking member OV1 and a first actuator AT1 configured to move said first locking member OV1 from a first, retracted, position P1, allowing the insertion of the end of the first roll in the first housing L1 (or on the contrary extraction thereof), to a second position P2 for which the first locking member enters inside the first housing L1 while providing locking of the first roll C1, typically in abutment on the bottom of the first housing, by penetration of a locking groove G of the second roll.
Again, the second recessing system 24 can comprise a second locking member OV2 and a second actuator AT2 configured to move said second locking member OV2 from a first, retracted, position P1, allowing the insertion of the end of the second roll in the second housing (or on the contrary extraction thereof), to a second position P2 for which the second locking member OV2 enters inside the second housing while providing locking of the second roll C2, typically in abutment on the bottom of the second housing, by penetration of a locking groove G of the second roll.
The first locking member OV1 and the second locking member OV2 provide respectively lockings of the recessed ends of the first roll C1 in the first housing L1 and of the second roll C2 in the second housing L2. The rolls C1, C2 are prevented from emerging from the housings, once recessed in the housings L1, L2.
The first actuator AT1 and the second actuator AT2 may be pneumatic actuators.
In general terms, and as can be seen in
Said first locking member OV1 and said first actuator AT1 may comprise:
It should be noted that the first chamber CH1, in particular the bottom one, and the second chamber CH2, in particular the top one, machined in the first body, can be respectively closed by two plugs. In
Said second locking member OV2 and said second actuator AT2 may comprise:
It should be noted that the first chamber CH1, in particular the bottom one, and the second chamber CH2, in particular the top one, machined in the second body, can be respectively closed by two plugs. In
In general terms, for the first locking member OV2, or the second locking member OV2, the diameter of the first chamber CH1 and of the first piston may be greater than the diameter of the second chamber CH2 and of the second piston.
In particular with reference to
In
In general terms, and as visible in
The function of the scallops ECH1 and ECH2 is to reduce as far as possible the space requirement of the tool, on the first side of the virtual plane, at the distal end of the grasping tool, and with a view to limiting as far as possible the risks of mechanical interferences at this level during operations of insertion in of extraction from the stand of the rolling mill.
For example, and according to an application that is described in more detail below, such scallops ECH1, ECH2 can make it possible to operate the grasping tool through an opening in a gate PT, in a main door PP of the rolling mill, while limiting the risks of interference with the frame of the gate opening: in such a case the grasping tool is arranged so that the first side is directed upwards, and the second side downwards, the scallops ECH1 and ECH2, then upper, in line with a top cross member of the frame for grasping the first upper intermediate rolls 13. On the other hand, and in the case of the grasping of the first lower intermediate rolls, the grasping tool is turned through 180° so that the first side is directed downwards, the scallops ECH1 and ECH2, then lower, in line with a bottom cross member of the frame.
The grasping tool is then again preferably oriented so that the first side is towards the bottom of the scallops ECH1 and ECH2, then lower, during operations of placing the two rolls C1, C2 on a rack Rac, and with a view to limiting the risks of mechanical interferences between the grasping tool and the rack Rac.
The present disclosure also relates to an assembly comprising a grasping tool according to the present disclosure and a robotic system 1 suitable for performing operations of changing rolls of the rolling mill, by extracting worn rolls from the roll stand and/or inserting new or rectified rolls into the roll stand, comprising a robot provided with a grasping system 6 configured to provide locking of the fastening part 22 of the grasping tool 20.
The robot Ro can comprise a carriage comprising a first frame 2 equipped with wheels 200 cooperating with rails Ra1 arranged on the ground, extending in the transverse direction Y, at the access opening of the roll stand, said first frame 2 being configured to move in the direction Y along rails Ra1, from the action of first motor means M1 driving the wheels 200.
The robot can comprise:
The movement of the first frame 2, along the rails Ra1, in the transverse direction Y, of the second frame 3 relative to the second frame in the longitudinal direction X and of the third frame 4 relative to the second frame in the direction Z, allow translational movements of the grasping system in all three directions in space.
The robot may also comprise a fourth frame 5, and rotational guide means linking the fourth frame and the third frame around a vertical axis of rotation Av, configured to drive the rotation of the fourth frame 5 relative to the third frame 4, under the action of fourth motor means M4. Such robot kinematics are known from document WO2022223927 of the present Applicant for the extraction or insertion of rolls. The robot can further comprise a horizontal axis of rotation, disclosed by WO2022223927, making it possible to incline the axis of a grasped roll under the action of fifth motor means M5.
Said grasping system 6 is mounted on the fourth frame. Such a robotic system 1 is configured to extract a roll, after placing the roll laterally on the rails, after pivoting of the roll by rotation of the fourth frame with respect to the third frame 4 about the vertical axis of rotation Av.
According to one embodiment, the grasping system 6 can comprise a quick-coupling system 7, comprising a first mechanical coupling part 71, motorised M7, configured to move from a coupled position configured to mechanically lock a second mechanical coupling part 72 forming the fastening part 22 of the grasping tool, to an uncoupled position allowing the release of the second mechanical coupling part.
Again, the robotic system 1 can incorporate at least one controllable pneumatic power source, the quick-coupling system comprising, in addition to the first mechanical coupling part 71, a first pneumatic coupling part 71′, configured to move from a coupled position for locking a second pneumatic coupling 72′ part.
The grasping tool is equipped with the second pneumatic coupling part 72′, and said in particular aforementioned pneumatic actuators configured to be actuated by said at least one pneumatic energy source in particular to provide the locking or unlocking of the first roll and of the second roll by the first and second locking member OV1 OV2 and/or again to provide the braking of the first recessing system 23 and of the second recessing system 24.
Notably also, the grasping system 6 can comprise a motor M6 configured to pivot the first coupling part 71 about an axis of rotation A6, typically parallel to the longitudinal direction X1 of the grasping tool 20.
Such a motorised axis of rotation A6 makes it possible for example to turn the grasping tool through 180°.
Said grasping system 6 can thus be configured to enable the grasping tool 20 to be turned over through 180° between in particular:
The second position of the grasping tool can also typically be used for depositing the extracted rolls, in particular on a rack Rac.
According to one embodiment, illustrated in
The present disclosure relates to a rolling installation for a metal strip comprising a rolling mill L, having a roll stand and a set of rolls, inside the stand, having:
According to the present disclosure, said installation comprises said assembly according to the present disclosure, configured to allow simultaneous grasping of the two first intermediate rolls 13, lower or upper, by moving the grasping tool by said robotic system 1, in a direction parallel to the two rolls until an insertion of the end of the first roll C1 in the first housing L1 through the first entry opening O1 of said first housing L1 and an insertion of the end of the second roll C2 in the second housing L2 through a second entry opening O2 of said second housing L2 are obtained simultaneously.
Generally, and as illustrated in
The rack Rac resting on the support frame Cha can have housings, oriented in the direction X. The robotic system is configured to deposit the roll on the loading/unloading rack Rac resting on the support frame Cha, typically after pivoting said grasping system about said vertical axis of rotation Av, and as disclosed per se by WO2022223927 of the present Applicant.
According to one embodiment, a tool change magazine MAG can be arranged, in the transverse direction Y between the roll stand and the support frame Cha, preferably in the vicinity of the support frame Cha relative to the roll stand. The tool change magazine MAG can comprise a structure, in particular substantially vertical, comprising a plurality of storage pockets typically placed one above the other for various grasping tools specific to the grasping of the various types of roll, including the grasping tool according to the present disclosure specific to the grasping of the first intermediate rolls.
As illustrated in
According to the kinematics of the robot, the robotic system can be configured to ensure the coupling of one of the tools stored in the magazine, and in particular the grasping tool according to the present disclosure, by:
The present disclosure also relates to a method for changing rolls of a rolling mill using a grasping tool according to the present disclosure, or a set according to the present disclosure, the rolling mill having a roll stand and a set of 20 rolls, internal to the stand, having:
According to the change method, a simultaneous grasping is provided of the two first intermediate rolls 13, lower and upper, in the roll cage, by moving the grasping tool in a direction parallel to the two rolls while providing, simultaneously, firstly, an insertion of the end of the first roll in the first housing through a first entry opening O1 of said housing L1 and secondly an insertion of the end of the second roll in the second housing L2 through a second entry opening O2 of said housing, until recessings are obtained of the first roll in the first housing and of the second roll in the second housing allowing graspings of the rolls by their recessed ends.
According to one embodiment of the method, the first intermediate rolls 13 have peripheral locking grooves G. The method can then comprise the locking of the first roll in the first housing L1 by penetration of the first locking member OV1 in the locking groove G of the first roll C1, and locking of the second roll C2 in the second housing L2 by penetration of the second locking member OV2 in the locking groove of the second roll C2, once the ends of the first and second rolls C1, C2 are recessed in the first and second housings L1, L2.
According to one embodiment, the method can comprise an adjustment of the centre distance E, in the course of said movement of the grasping tool 20 in the direction parallel to the two rolls, said at least one first guide wall PG1 cooperating in guidance with an end of the first roll C1 and said at least one second guide wall PG2 cooperating in guidance with an end of the second roll so as to generate forces resulting from the guidances modifying said centre distance E, counter to the return force of the spring system 26.
According to one embodiment, using the grasping tool comprising the pneumatic breaking device, the pneumatic brake device is switched from the non-braked position to the braked position blocking the sliding of the first recessing system and of the second recessing system, prior to a movement by the robotic system of the rolls held by the grasping tool.
In general terms, the roll stand has, on the same side as a window giving access to a door system comprising:
An example of a 20-roll rolling mill including a main door and a gate is for example known from the document WO2015071608 of the present Applicant. Opening the gate makes it possible to proceed with the replacement of the work rolls, and of the first intermediate rolls, without having to open the main door, which procures the advantages set out in the document WO2015071608.
According to one embodiment, the grasping system proceeds with the grasping of the first intermediate rolls in the stand, advantageously by positioning the grasping tool 20 through the opening in the gate PT, and without needing to open the main door PP, and preferably:
| Number | Date | Country | Kind |
|---|---|---|---|
| 2306921 | Jun 2023 | FR | national |
