EP2570200A2 - Appareil robotisé et procédé de traitement de surface de rouleaux et particularement de nettoyage de rouleaux métalliques - Google Patents
Appareil robotisé et procédé de traitement de surface de rouleaux et particularement de nettoyage de rouleaux métalliques Download PDFInfo
- 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
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 21
- 238000004381 surface treatment Methods 0.000 title claims description 10
- 239000002184 metal Substances 0.000 claims abstract description 21
- 238000001816 cooling Methods 0.000 claims description 34
- 239000000126 substance Substances 0.000 claims description 15
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 13
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 239000012809 cooling fluid Substances 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 6
- 239000000110 cooling liquid Substances 0.000 claims description 5
- 229910052757 nitrogen Inorganic materials 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 4
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 3
- 239000001569 carbon dioxide Substances 0.000 claims description 3
- 238000009413 insulation Methods 0.000 claims description 2
- 238000013021 overheating Methods 0.000 claims description 2
- 239000010453 quartz Substances 0.000 claims description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000000859 sublimation Methods 0.000 claims description 2
- 230000008022 sublimation Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims 2
- 238000004590 computer program Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 239000000047 product Substances 0.000 description 12
- 235000011089 carbon dioxide Nutrition 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 6
- 239000013598 vector Substances 0.000 description 5
- 239000012634 fragment Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 238000007669 thermal treatment Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 238000005496 tempering Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000003082 abrasive agent Substances 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000000137 annealing Methods 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 229910001651 emery Inorganic materials 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 239000002923 metal particle Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
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
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)
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 (fr) | 2013-03-20 |
EP2570200A3 EP2570200A3 (fr) | 2014-01-08 |
EP2570200B1 EP2570200B1 (fr) | 2019-01-16 |
Family
ID=44907951
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12184411.2A Not-in-force EP2570200B1 (fr) | 2011-09-14 | 2012-09-14 | Appareil robotisé et procédé de traitement de surface de rouleaux et particulièrement de nettoyage de rouleaux métalliques |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP2570200B1 (fr) |
IT (1) | ITMI20111654A1 (fr) |
Cited By (1)
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)
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 |
-
2011
- 2011-09-14 IT IT001654A patent/ITMI20111654A1/it unknown
-
2012
- 2012-09-14 EP EP12184411.2A patent/EP2570200B1/fr not_active Not-in-force
Non-Patent Citations (1)
Title |
---|
None |
Cited By (2)
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 |
---|---|
EP2570200A3 (fr) | 2014-01-08 |
EP2570200B1 (fr) | 2019-01-16 |
ITMI20111654A1 (it) | 2013-03-15 |
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