EP2570200A2 - Robotervorrichtung und Verfahren zur Oberflächenbehandlung von Rollen insbesondere zur Reinigung von Metallrollen - Google Patents

Robotervorrichtung und Verfahren zur Oberflächenbehandlung von Rollen insbesondere zur Reinigung von Metallrollen Download PDF

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Publication number
EP2570200A2
EP2570200A2 EP12184411A EP12184411A EP2570200A2 EP 2570200 A2 EP2570200 A2 EP 2570200A2 EP 12184411 A EP12184411 A EP 12184411A EP 12184411 A EP12184411 A EP 12184411A EP 2570200 A2 EP2570200 A2 EP 2570200A2
Authority
EP
European Patent Office
Prior art keywords
robotic apparatus
rotating rollers
speed
advancement
abrasive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12184411A
Other languages
English (en)
French (fr)
Other versions
EP2570200B1 (de
EP2570200A3 (de
Inventor
Paolo Franco Zanella
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Antil SpA
Original Assignee
Antil SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Antil SpA filed Critical Antil SpA
Publication of EP2570200A2 publication Critical patent/EP2570200A2/de
Publication of EP2570200A3 publication Critical patent/EP2570200A3/de
Application granted granted Critical
Publication of EP2570200B1 publication Critical patent/EP2570200B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B08B1/34—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members rotating about an axis parallel to the surface

Definitions

  • the navigation device 15 includes a processing and driving module that, depending on the position indicated by the absolute transducer means and, taking account of the angular speed or of the peripheral speed Vr of the rotating rollers 2, accordingly drives the first 4a and second 4b advancement means in a selective and mutually differentiated manner to generate a desired advancement of the robotic apparatus 1 both in a transverse direction and in a longitudinal direction on the train of rotating rollers 2, so as to enable the abrasive elements 5 to treat the entire cylindrical surface of each underlying rotating roller 2 and/or possible further upper rollers 2a placed above the robotic apparatus 1 (as shown in Figure 6 ).
  • the suitably programmed transmission module 17 emits a laser beam 18 varying in a controlled manner the direction thereof, as indicated by the arrow F in Figures 1 and 2 .
  • the laser beam 18 is moved in a direction parallel to the longitudinal axes X of the rollers 2, in a manner alternating first in one direction and then in the other.
  • the navigation device 15 by detecting the variation in the direction of the laser beam 18 hitting the receiving module 16, adjusts the driving speed of each of the tracked elements 4 in an appropriate manner, in such a manner as to rotate the apparatus 1 and orientate it relative to the rollers 2.
  • an operating method is disclosed for cleaning the rotating rollers 2 by the robotic apparatus 1 disclosed above.
  • the description that follows applies both to the laser navigation device 15 embodiment and to the laser navigation device 15 embodiment with absolute transducers of the wire type.
  • the continuous variation of the absolute position of the robotic apparatus 1 is detected and controlled by the navigation device 15 and the control unit 14, which by means of the processing and driving module, act on the tracked elements 4a and 4b to compensate for possible variations in speed of the rotating rollers 2.
  • Reaching the second end of the roller 2 subjected to cleaning is signalled by the absolute transducer means of the navigation device 15.
  • the speed of the first 4a and second 4b tracked element is again selectively varied to angularly reposition the robotic apparatus 1 in a longitudinally aligned manner, i.e. parallel to the conveying direction Dc.
  • the speed of the second tracked element 4b is increased for a set interval of time, as the vectors on the right in Figure 9 show.
  • the aforesaid steps are repeated cyclically until the surface treatment of the entire train of rotating rollers 2 or possibly of only a desired number of rotating rollers 2 is completed.
  • the robotic apparatus 1 can already operate when the temperature, following the preliminary switching off of the furnace, is decreased to a value falling within the aforesaid value, without necessarily waiting for this temperature to fall further, as is, on the other hand, necessary with prior art-cleaning systems.
  • the robotic apparatus 1 thus enables cleaning time to be significantly shortened, the production cycle to be restored more quickly, thus also saving several days, and this enables operators 20 to be spared unpleasant and dangerous cleaning operations.

Landscapes

  • Cleaning In General (AREA)
  • Cleaning Or Drying Semiconductors (AREA)
EP12184411.2A 2011-09-14 2012-09-14 Robotervorrichtung und Verfahren zur Oberflächenbehandlung von Rollen insbesondere zur Reinigung von Metallrollen Not-in-force EP2570200B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT001654A ITMI20111654A1 (it) 2011-09-14 2011-09-14 Apparato robotico per il trattamento superficiale di rulli per la lavorazione di manufatti metallici

Publications (3)

Publication Number Publication Date
EP2570200A2 true EP2570200A2 (de) 2013-03-20
EP2570200A3 EP2570200A3 (de) 2014-01-08
EP2570200B1 EP2570200B1 (de) 2019-01-16

Family

ID=44907951

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12184411.2A Not-in-force EP2570200B1 (de) 2011-09-14 2012-09-14 Robotervorrichtung und Verfahren zur Oberflächenbehandlung von Rollen insbesondere zur Reinigung von Metallrollen

Country Status (2)

Country Link
EP (1) EP2570200B1 (de)
IT (1) ITMI20111654A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220134387A1 (en) * 2019-03-11 2022-05-05 C.F. Lamiere Di Fantini Claudio Duranti S. Zanni M. & C. S.A.S. Machine for the removal of waste from work benches of work machines

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4475260A (en) * 1983-01-31 1984-10-09 Beck Richard D Pipeline servicing tool
US7886399B2 (en) * 2006-08-15 2011-02-15 Umagination Labs, L.P. Systems and methods for robotic gutter cleaning along an axis of rotation
KR20100132891A (ko) * 2009-06-10 2010-12-20 삼성광주전자 주식회사 청소장치 및 이를 이용한 먼지 포집 방법

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220134387A1 (en) * 2019-03-11 2022-05-05 C.F. Lamiere Di Fantini Claudio Duranti S. Zanni M. & C. S.A.S. Machine for the removal of waste from work benches of work machines
US11919047B2 (en) * 2019-03-11 2024-03-05 C.F. Lamiere Di Fantini Claudio Durante S. Zanni M.. & C.S.A.S. Machine for the removal of waste from work benches of work machines

Also Published As

Publication number Publication date
ITMI20111654A1 (it) 2013-03-15
EP2570200B1 (de) 2019-01-16
EP2570200A3 (de) 2014-01-08

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