EP2570200B1 - 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
EP2570200B1
EP2570200B1 EP12184411.2A EP12184411A EP2570200B1 EP 2570200 B1 EP2570200 B1 EP 2570200B1 EP 12184411 A EP12184411 A EP 12184411A EP 2570200 B1 EP2570200 B1 EP 2570200B1
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EP
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Prior art keywords
robotic apparatus
speed
rotating rollers
advancement
abrasive
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EP12184411.2A
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English (en)
French (fr)
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EP2570200A2 (de
EP2570200A3 (de
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Paolo Franco Zanella
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Antil SpA
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Antil SpA
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    • B08B1/30—
    • B08B1/32—

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  • the present invention relates to a robotic apparatus and a method for surface treatment of rollers used in processing metal products, in particular for cleaning rollers in cramped environments or any way environments that are not reachable by humans, and/or in operating conditions that are intolerable for humans, particularly in high-temperature environments such as furnaces for heat-treating metal products.
  • rollers For processing products such as sheet metal or metal plates plants are used such as rolling mills, furnaces for heat treatment, etc, provided with rollers in direct contact with the surfaces of the aforesaid products.
  • Such rollers after a certain number of operating cycles, undergo surface wear caused by the repeated pressure that the rollers receive from the products in particular when the latter are of significant dimensions and thus have significant weight.
  • fragments, metal particles or other foreign bodies adhere to the surface of the rollers that jeopardize the degree of surface finish. This surface deterioration in turn adversely affects the quality of the product that is processed by the rollers.
  • US2008/216869 discloses a gutter-cleaning device comprising a housing containing an impeller drive facility, the housing configured to fit into a gutter, an impeller, disposed at an end of the housing and driven by the impeller drive facility, and a transport facility for transporting the housing along the gutter.
  • An object of the present invention is to provide an apparatus that enables the aforesaid drawbacks to be overcome, i.e. which enables cleaning and/or polishing and/or smoothing and/or finishing rotating rollers for cleaning metal products in any environment, in particular in cramped environments that are not accessible to humans, and/or in environments with a high temperature that is not bearable by persons, for example in a furnace for processing metal products.
  • a robotic apparatus and a method for surface treatment of rollers for cleaning metal products are provided as defined respectively in claim 1 and in claim 14.
  • a robotic apparatus 1 for surface treatment of rotating rollers 2 is shown, in particular of a train of rotating rollers 2 for cleaning metal products, in particular metal plates or sheet metal.
  • the rollers 2 to be processed having longitudinal axes X arranged parallel to one another, are spaced apart from one another in such a manner as to define a train of rollers 2 that rotate at a peripheral speed Vr, on which, in normal operating conditions of a plant such as a rolling mill or a furnace for thermal treatment, the metal products to be processed advance.
  • the robotic apparatus 1 is particularly suitable for removing dirt, metal fragments or other extraneous bodies and surface irregularities from the rollers 2, in particular in a rolling mill that has a very narrow inlet section, which is not accessible to humans, or in a furnace used for thermal treatments of metal products, for example annealing, hardening and tempering, tempering, normalizing, stress relieving, etc.
  • the robotic apparatus 1 is able to operate in environments that are not accessible to an operator, for example because of lack of available space.
  • the robotic apparatus 1 is able to operate in environments at temperatures that are intolerable for humans, for example in environments with temperatures that can reach and exceed 500 °C, as occurs, for example, in furnaces.
  • the robotic apparatus 1 can even operate for short periods even at a temperature of about 800°C. For this reason, the materials of which the apparatus 1 are made are very resistant to high temperatures.
  • Surface treatment that is performable by the robotic apparatus 1, in particular, comprises surface finishing of the rollers that is performed whilst the rollers are rotating, where the term “finishing” refers to any cleaning, smoothing, polishing, grinding, silking, lapping and other finishing operation achieved by abrasive elements, explained better below, such abrasive elements being moved and maintained in contact with the surface to be treated.
  • the robotic apparatus 1 comprises a supporting structure 3 adapted for supporting and/or containing various parts and/or components.
  • the robotic apparatus 1 comprises first 4a and second 4b advancement means that are drivable in a mutually independent manner.
  • a pair of tracked elements 4a, 4b for making the robotic apparatus 1 advance which are rotated by respective "brushless" motors.
  • the tracked elements 4a, 4b are arranged laterally and on mutually opposite sides with respect to the supporting structure 3. Owing to the tracked elements 4 that interact with an extended contact surface, the robotic apparatus 1 is able to move easily on a train of rollers 2 of a rolling mill or of a furnace for thermal treatment of the workpieces, in particular also whilst the rollers 3 are in operation, i.e. rotating.
  • the tracked elements 4 can be made of a material that resists high temperatures, for example steel or another suitable metal, thus enabling the robotic apparatus 1 to access even the hottest zones of the furnace.
  • the robotic apparatus 1 comprises abrasive elements 5 (shown in schematic shape) that are configured for removing dirt, detritus, metal fragments, other foreign bodies and surface irregularities from the rollers 2.
  • the abrasive elements 5 are able to provide a surface "finish", in other words they are able to clean, polish, and grind the rollers 2 according to particular needs.
  • the abrasive elements 5 are of rotating type and can comprise brushes, for example provided with blades or flexible portions on which crystalline granules of abrasive material are fixed, which material can be glass or emery.
  • the abrasive elements 5 can comprise abrasive discs, abrasive rollers, abrasive wheels or other equivalent means.
  • the abrasive brushes 5 are connected in an articulated and movable manner with respect to the supporting structure 3 so as to be able to adjust the position thereof and to be able to regulate the position and the force pressing on the rollers 2 according to need.
  • the robotic apparatus 1 in one embodiment, is suppliable with electric energy supplied from an external source and it is transmitted to the robotic apparatus 1 by a suitable removable connecting cable.
  • the abrasive elements 5 can be driven by electricity or by compressed air supplied from an external source of air by means of a suitable air conduit that is connectable to the robotic apparatus 1 and are drivable independently of one another.
  • the robotic apparatus in another embodiment, is self-supplied, i.e. it is provided with an incorporated energy source 6, i.e. an energy source which is, on board, in the robotic apparatus, and which enables the robotic apparatus to move easily without the constraints of an earth connection, so as to be able to reach also the zones that are most difficult to access.
  • the energy source 6 comprises a pack of rechargeable batteries, that can be recharged at a station 7 associated with the apparatus 1, which is positionable in a stationary position near a work zone in which the apparatus 1 has to operate.
  • the robotic apparatus 1 in one possible embodiment, comprises a cooling and thermal insulating device 8.
  • the cooling and thermal insulating device 8 is configured for protecting the apparatus 1 from possible overheating, thus enabling the apparatus 1 to operate even in environments that would not be accessible and tolerable to humans because of the high temperature.
  • the cooling and thermal insulating device 8 comprises a chamber 9 configured for containing a cooling substance 10 that is suitable for removing thermal energy from the apparatus 1. Thermal energy can be removed with or without a transitional thermodynamic step, depending on the configuration of the thermal and cooling insulating device 8, of the cooling substance 10 and of the operating circumstances.
  • the chamber 9 can be obtained inside a container 21 which is removable to enable the cooling substance 10 to be loaded and/or replaced.
  • the cooling substance 10 comprises solid-state carbon dioxide, commonly known as "dry ice", i.e. carbon dioxide cooled to a temperature of about -78 °C or less.
  • dry ice i.e. carbon dioxide cooled to a temperature of about -78 °C or less.
  • the dry ice is loaded into the chamber 9 before cleaning operations of the rollers 2 in the furnace.
  • the dry ice receives thermal energy removed from various zones of the apparatus 1 and undergoes a state change, in particular a process of sublimation from solid state to gaseous state.
  • the dry ice is substantially finished, i.e. is in gaseous state, it can be replaced with a further quantity of dry ice.
  • the cooling and thermal insulating device 8 is provided with forced circulation means 11 arranged for moving cooling fluid inside a cooling circuit 12.
  • the cooling circuit 12 comprises conduits that extend to several zones of the apparatus 1, in particular to the zones that are more sensitive to heat, such as the electrical or electronic parts disclosed below.
  • the cooling fluid 12 comprises air and the forced circulation means comprises a fan element 11.
  • the fan element 11 in operation, moves the air inside the cooling circuit 12 making the air interact with the "dry ice" 10 to undergo cooling.
  • the cooled air is made to flow by the fan element 11 along the various conduits of the cooling circuit 12 to reach various zones of the apparatus 1 from which it removes thermal energy, which is subsequently surrendered to the dry ice 10.
  • the operating fluid may comprise an operating cooling liquid, for example water or another liquid that is suitable and compatible with the cooling substance 10.
  • the forced circulation means 11 comprises a pump that makes the cooling liquid circulate along the conduits of the cooling circuit 12, thus acting on the various zones of the apparatus 1 to be cooled.
  • the cooling substance 10, in possible alternative embodiments of the apparatus comprises liquid nitrogen, i.e. nitrogen at about -195°C, or another substance that is suitable for remove thermal energy from the apparatus 1 to protect the apparatus 1 from high temperatures.
  • the liquid nitrogen is loaded into the chamber 9 of the apparatus 1, and once the refrigerating capacity has been exhausted it can be replaced with a further quantity of liquid nitrogen.
  • the cooling and thermal insulating device 8 is further provided with a temperature-control unit 13, which cooperated with the forced circulation means 11 to control the temperature of the apparatus 1, maintaining the temperature at suitable values.
  • the cooling and thermal insulating device 8 further comprises coating panels that are applied to various parts of the apparatus 1 for thermal insulation, in particular at least of the parts that are more sensitive to heat, such as electric/electronic components.
  • a control unit 14 is included, powered from the exterior or from the incorporated energy source 6, and configured for controlling one or more operating parameters such as: rotation speed of the abrasive elements 5, force of the abrasive elements 5 pressing on the rollers 2, advancement direction and speed of the tracked elements 4, and other parameters or functions of the apparatus 1.
  • the navigation device 15 comprises absolute position transducers, such as absolute encoders, for detecting the position of the robotic apparatus 1 with respect to a stationary external reference zone and thus for determining precisely the position of the robotic apparatus 1 on the train of rotating rollers 2.
  • the absolute encoders detect the position of the robotic apparatus 1 with respect to a stationary module 17 place on the ground in a fixed position, outside the robotic apparatus 1.
  • 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 navigation device 15 comprises a detection system that comprises two absolute encoders 30a, 30b of the wire type, arranged in an external fixed stationary position, then on the ground.
  • the two absolute encoders 30a, 30b are spaced apart in such a manner as to be substantially aligned on the two side zones of the train of rollers 2, as shown in Figures 12 to 14 , and comprise respective wires 31a and 31b, one end of which is connectable to the robotic apparatus 1.
  • the wires 31a and 31b are connected, in a removable manner, to the same attachment zone 32 of the robotic apparatus 1, defining in this manner a triangular configuration that comprises a fixed base and a summit opposite the fixed base and connected to the robot.
  • the triangular configuration thus comprises a base that is kept constant and stationary, and on two sides, defined respectively by the wires 31a and 31b, that vary in length and angular position according to the movement of the robotic apparatus 1.
  • the navigation device 15 comprises a movable module 16, placed on the apparatus 1, cooperating with the stationary module 17 placed on the ground in a fixed position, thus outside the apparatus 1.
  • the stationary module comprises in particular a transmission module 17 configured for emitting a laser beam 18 along a variable direction in a controlled and programmable manner.
  • the transmission module 17 can be incorporated into the station 7.
  • the movable module comprises a receiving module 16 that is suitable for receiving the aforesaid laser beam 18.
  • the receiving module 16 comprises an array of diodes covered by a layer of quartz for protecting from high temperatures and arranged horizontally alongside one another to intercept the aforesaid laser beam 18.
  • the navigation device 15 is configured for detecting the zone of incidence of the laser beam 18 on the array of diodes, in such a manner as to control accordingly the advancement of the apparatus 1.
  • 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.
  • the abrasive brushes 5 can polish a roller 2 by acting progressively from one end to another of the latter.
  • the navigation device 15 calibrates the advancing speed of the tracked elements 4 in such a manner that the apparatus 1, also whilst the rollers 2 rotate, is in a stable position near the respective roller 2 subjected to the polishing operation.
  • the navigation device 15 temporarily imposes a speed increase on the tracked elements 4 in such a manner that the apparatus 1, by overcoming the dragging effect of the rotating rollers 2, advances along a direction A that is orthogonal to the longitudinal axes X, so as to position itself at a subsequent roller 2 to be polished.
  • the apparatus 1 advances along a path P that comprises, alternately, portions parallel to the longitudinal axes X and portions that are orthogonal to the longitudinal axes X.
  • 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 robotic apparatus 1 is first located on the train of rollers 2.
  • the first tracked element 4a and the second tracked element 4b are driven by the control unit 14 and by the navigation device 15 in such a manner as o rotate both at the same speed, such a speed having a first value V1 which is equal to the value of the peripheral speed Vr of the rollers 2, but in an advancing direction opposite the latter: by so doing, the robotic apparatus 1 is maintained in a stationary position with respect to the earth.
  • This step is schematised in Figures 6 and 7 .
  • the vectors shown in the left part of Figure 7 refer respectively to the speed of the rotating rollers 2 (the lower vector) of the first tracked element 4a and of the second tracked element 4b (the higher vector).
  • the speed of the first tracked element 4a and of the second tracked element 4b is varied respectively to a second speed value V2 and to a third speed value V3 to cause a first rotation of the robotic apparatus 1 around a vertical axis.
  • the first tracked element 4a is driven for a suitable period of time at a speed V2 that is greater in value than the speed Vr of the rollers, in order to determine the rotation of the apparatus 1 by a set angular amount in function of the geometry, dimensions of the apparatus 1 and of the rollers 2, which are considered by the control unit 14 and by the navigation device 15.
  • the first tracked element 4a and second tracked element 4b are both driven at the same speed V4, as shown by the vectors shown in the left part of Figure 9 .
  • the speed V4 is such as to have a first speed component Vp, parallel to the conveying direction Dc, which is equal in value, but in an opposite direction, to the peripheral speed Vr, and a second speed component Vo orthogonal to the conveying direction Dc, so as to determine a transverse movement of the robotic apparatus 1 along the respective roller 2 from a first end to a second end of the latter.
  • the abrasive elements 5 are rotated and are in contact with the respective roller 2 so as to remove dirt and/or surface irregularities therefrom along the entire cylindrical surface thereof.
  • 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 speed of the first 4a and second 4b tracked element is further varied and set at the same speed, having a fifth value V5 that is greater than the peripheral speed Vr.
  • a longitudinal movement of the robotic apparatus 1 is achieved that is parallel to, but opposite, the conveying direction Dc so as to advance to a subsequent roller 2 to be cleaned, as shown in Figure 10 .
  • the speeds of the first 4a and of the second 4b tracked element are respectively taken to the third value V3 and to the second value V2 (already mentioned with reference to the step in Figure 8 in which, however, they are applied in the opposite direction to the two tracked elements 4a and 4b).
  • a second rotation of said robotic apparatus 1 around the vertical axis is thus determined that is similar to the first rotation of Figure 8 , but in an opposite direction, as shown in Figure 11 , and, at this point, the first 4a and second 4b tracked elements are both driven at the same speed V4 (similarly to what has been seen for the step shown in Figure 9 ).
  • the abrasive elements 5 thus intervene again to remove dirt and/or surface irregularities also from this further roller 2.
  • 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 apparatus 1 in one embodiment, is also provided with a manual remote control system comprising an incorporated receiving module and a portable control device 19, for example of the type provided with a "touchscreen", that is drivable by an operator 20 for the remote control of the advancement and operations of the apparatus 1.
  • a manual remote control system comprising an incorporated receiving module and a portable control device 19, for example of the type provided with a "touchscreen”, that is drivable by an operator 20 for the remote control of the advancement and operations of the apparatus 1.
  • the robotic apparatus 1 further comprises a telediagnosis device for the remote transmission of operating parameters and/or operating conditions of the apparatus 1.
  • the telediagnosis device communicates remotely the operating conditions of the cooling device 8, and signals if the cooling substance 10 has finished or signals an excessive ambient temperature that could damage the apparatus 1.
  • Sensors can be provided for detecting local parameters at the work zone in which the apparatus 1 operates, for example for the local temperature value, and cameras for inspecting remotely the surfaces of the rollers 2 treated and/or to be treated.
  • the robotic apparatus 1 disclosed above is able to operate in zones that are not reachable by an operator, owing to reduced dimensions, as occurs in rolling mills. Further, in the embodiment provided with a cooling and thermal insulating device 8, the robotic apparatus 1 is also able to operate in environments that are not accessible to an operator owing to the temperatures that are intolerable for humans, for example, as already mentioned above, in environments with temperatures that can be comprised between about 350°C and about 500 °C.
  • 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.

Claims (15)

  1. Robotervorrichtung zum Reinigen der Oberflächen eines Satzes von rotierenden Walzen (2) zum Bearbeiten von Metallprodukten, umfassend:
    - Schleifmittel (5) zum Entfernen von Schmutz und/oder Oberflächenunebenheiten von den rotierenden Walzen (2);
    - erste (4a) und zweite (4b) Vorschubmittel zum Vorschub auf dem Satz von rotierenden Walzen (2), und
    - Navigationsvorrichtung (15), die in einer Steuereinheit (14) enthalten ist, die Absolutwegaufnehmermittel zum Erfassen der Position der Robotervorrichtung (1) in Bezug auf eine stationäre externe Referenz (17) und damit der Position auf dem Satz der rotierenden Walzen (2) umfasst, wobei die Navigationsvorrichtung (15) ein Verarbeitungs- und Antriebsmodul umfasst, das, in Abhängigkeit von der durch die Absolutwegaufnehmermittel signalisierten Position und unter Berücksichtigung der Drehgeschwindigkeit der rotierenden Walzen (2), die ersten (4a) und zweiten (4b) Vorschubmittel in einer selektiven und voneinander unterschiedenen Weise antreibt, um einen gewünschten Vorschub der Robotervorrichtung (1) sowohl in Querrichtung als auch in Längsrichtung auf dem Satz der rotierenden Walzen (2) zu erzeugen, um es dem Schleifmittel (5) zu ermöglichen, die gesamte zylindrische Oberfläche jeder der rotierenden Walzen (2), die unterhalb sowie mögliche weitere Walzen, die oberhalb der Robotervorrichtung (1) angeordnet sind, zu behandeln, wobei das Schleifmittel eine Vielzahl von Schleifelementen (5) umfasst, die auf einer oder mehreren Seiten der Vorrichtung (1) verteilt sind und geeignet sind, auf Zonen unterhalb und oberhalb der Robotervorrichtung (1) einzuwirken, wobei die Schleifelemente (5) gelenkig verbunden sind, um zu ermöglichen, dass die Position der Schleifelemente (5) in Bezug auf die Walzen (2) eingestellt werden kann und die Kraft, die von den einzustellenden Schleifelementen (5) auf die Walzen (2) ausgeübt wird, eingestellt werden kann, wobei das Schleifmittel (5) vom rotierenden Typ ist und aus einer Gruppe ausgewählt ist, die umfasst: Schleifbürsten, Schleifscheiben, Schleifrollen, Schleifräder, die in der Lage sind, Oberflächenbehandlungen durchzuführen.
  2. Robotervorrichtung nach Anspruch 1, wobei die Absolutwegaufnehmermittel zwei Absolutwertgeber (30a, 30b) vom Seilzugtyp umfassen, die in einer stationären Position auf dem Boden angeordnet sind, die voneinander beabstandet und mit entsprechenden Seilen (31a und 31b) versehen sind, wovon jeweils ein Ende gemäß einer dreieckigen Konfiguration mit derselben Befestigungszone (32) der Robotervorrichtung (1) verbindbar ist, wobei die Navigationsvorrichtung (15) konfiguriert ist, um die Position der Robotervorrichtung (1) in Abhängigkeit von den Längen der Seile (31a und 31b) zu bestimmen, und weiter mit einer Software versehen ist, die in Abhängigkeit von den von den beiden Absolutseilzuggebern (30a, 30b) erfassten Werten und den Werten der Drehgeschwindigkeit der ersten (4a) und zweiten (4b) Vorschubmittel in der Lage ist, die Winkelausrichtung der Robotervorrichtung (1) in Bezug auf den Satz der rotierenden Walzen (2) zu schätzen.
  3. Robotervorrichtung nach Anspruch 1 oder 2, wobei das erste (4a) und das zweite (4b) Vorschubmittel an einander gegenüberliegenden Teilen angeordnet sind, und die Steuereinheit (14) eine Rechenvorrichtung beinhaltet und konfiguriert ist, um das erste (4a) und das zweite (4b) Vorschubmittel unabhängig voneinander anzutreiben, um eine Vorschubbewegung der Robotervorrichtung (1) sowohl orthogonal als auch parallel zu den Längsachse (X) der rotierenden Walzen (2) zu erhalten, wobei die Steuereinheit (14) konfiguriert ist, um als Reaktion auf ein Positionssignal, das von den Absolutwegaufnehmermitteln geliefert wird, das erste (4a) und das zweite (4b) Vorschubmittel mit unterschiedlichen Geschwindigkeiten zu antreiben, um die Vorrichtung (1) zu drehen und sie in einer gewünschten Weise in Bezug auf die rotierenden Walzen (2) auszurichten, um deren Vorschub mit einer Bewegungskomponente parallel und/oder quer zu den Längsachse (X) zu ermöglichen.
  4. Robotervorrichtung nach Anspruch 3, rückbezogen auf Anspruch 1, wobei die Navigationsvorrichtung (15) ein stationäres Modul umfasst, das mit einem Übertragungsmodul (17) versehen ist, das konfiguriert ist, um einen Laserstrahl (18) entlang einer variablen Richtung gesteuert und programmierbar auszusenden, wobei die Navigationsvorrichtung (15) an Bord der Robotervorrichtung (1) weiter ein bewegliches Modul umfasst, das ein Empfangsmodul (16) beinhaltet, das zum Empfangen des Laserstrahls (18) geeignet ist, wobei die Navigationsvorrichtung (15) konfiguriert ist, um der Bewegung des Laserstrahls (18) zu folgen, damit sich die Vorrichtung (1) auf den rotierenden Walzen (2) entlang eines programmierbaren gewünschten Pfades (P) bewegen kann.
  5. Robotervorrichtung nach Anspruch 4, wobei das Empfangsmodul (16) eine Anordnung von Dioden umfasst, die von einer Quarzschicht zum Schutz vor hohen Temperaturen bedeckt und horizontal nebeneinander angeordnet sind, um den Laserstrahl (18) abzufangen, wobei die Navigationsvorrichtung (15) zum Erfassen der Einfallszone des Laserstrahls (18) auf der Anordnung derart konfiguriert ist, dass sie die Einfallsbewegung der Robotervorrichtung (1) steuert.
  6. Robotervorrichtung nach einem der vorstehenden Ansprüche, weiter umfassend:
    - eine Energiequelle (6), die an Bord der Vorrichtung (1) vorgesehen ist, um die Vorschubmittel (4) und das Schleifmittel (5) mit Energie zu versorgen, wobei die Energiequelle wiederaufladbare Versorgungsbatteriemittel (6) beinhaltet, wobei eine entfernte Station (7) mit einer Anordnung zum Aufladen der Energiequelle (6) versehen ist,
    - eine Kühl- und Wärmeisoliervorrichtung (8), die konfiguriert ist, um die gesamte Vorrichtung (1) vor möglicher Überhitzung zu schützen und es der Vorrichtung (1) zu ermöglichen, in Hochtemperaturumgebungen zu arbeiten, die für Menschen nicht zugänglich sind, wobei die Kühl- und Wärmeisoliervorrichtung (8) umfasst
    - eine Kammer (9), die konfiguriert ist, um eine Kühlsubstanz (10) zu enthalten, die geeignet ist, Wärmeenergie aus der Vorrichtung (1) abzuleiten, so dass die Vorrichtung in Hochtemperaturumgebungen wie Öfen zur Behandlung von Metallprodukten betrieben werden kann, wobei die Kammer (9) in einem Behälter (21) erhalten wird, der abnehmbar ist, um das Einfüllen und/oder den Austausch der Kühlsubstanz (10) zu ermöglichen,
    - einen Kühlkreislauf (12), der entlang der gesamten Vorrichtung (1) verteilt ist und geeignet ist, einen Kühlfluidstrom durch diesen hindurch zu leiten, der zum Zusammenwirken mit der Kühlsubstanz (10) angeordnet ist, wobei der Kühlkreislauf Leitungen (12) umfasst, die sich bis zu mehreren Zonen der Vorrichtung (1) erstrecken, insbesondere in den wärmeempfindlicheren Zonen, wie elektrischen Teilen oder elektronischen Teilen, und
    - Zwangsumlaufmittel (11), die angeordnet sind, um das Kühlfluid innerhalb der Leitungen (12) zu bewegen, um die verschiedenen Zonen der Vorrichtung (1) zu erreichen, aus denen die Wärmeenergie abgeleitet werden soll, die auf die Kühlsubstanz (10) übertragen werden soll;
    - Thermobleche zur Wärmedämmung von mindestens Teilen der Vorrichtung (1), die wärmeempfindlicher sind.
  7. Robotervorrichtung nach Anspruch 6, wobei die Kühl- und Wärmeisoliervorrichtung (8) Temperatursteuerungsmittel (13) umfasst, die mit den Zwangsumlaufmitteln (11) zum Steuern der Temperatur der Vorrichtung (1) zusammenwirken, und wobei die Kühlsubstanz (10) aus einer Gruppe ausgewählt ist, die umfasst:
    - Festes Kohlendioxid, das während des Betriebs durch Sublimation während der Wechselwirkung mit dem Kühlfluid vom festen in den gasförmigen Zustand übergehen soll;
    - Flüssigstickstoff, der im Betrieb während der Wechselwirkung mit dem Kühlfluid vom flüssigen in den gasförmigen Zustand übergehen soll.
  8. Vorrichtung nach Anspruch 6 oder 7, wobei das Kühlfluid Luft umfasst, und die Zwangsumlaufvorrichtung Gebläsemittel (11) umfasst, um die Luft mit der Kühlsubstanz (10) in Wechselwirkung zu bringen und die Luft in der Vorrichtung (1) zirkulieren zu lassen.
  9. Robotervorrichtung nach Anspruch 6 oder 7, wobei das Kühlfluid eine Kühlflüssigkeit umfasst und die Zwangsumlaufvorrichtung eine Pumpeneinrichtung (11) umfasst, um die Kühlflüssigkeit zu bewegen und die Kühlflüssigkeit mit der Kühlsubstanz (10) in Wechselwirkung zu bringen.
  10. Robotervorrichtung nach einem der vorstehenden Ansprüche, wobei die Steuereinheit (14) zum Steuern eines oder mehrerer Betriebsparameter konfiguriert ist, einschließlich: Drehgeschwindigkeit des Schleifmittels (5), Presskraft durch das Schleifmittel (5) auf die rotierenden Walzen (2), Richtung und Vorschubgeschwindigkeit der ersten (4a) und zweiten (4b) Vorschubmittel.
  11. Robotervorrichtung nach einem der vorstehenden Ansprüche, weiter umfassend eine Ferndiagnosevorrichtung zur Fernübertragung von Betriebsparametern und/oder - bedingungen der Vorrichtung (1), Sensoren zum Erfassen lokaler Parameter in einem Arbeitsbereich, in dem die Vorrichtung (1) arbeitet, und Kameras zur Ferninspektion der Oberflächen der Walzen (2), und weiter umfassend ein integriertes Empfangsmodul, das einer Fernbedienung (19) zugeordnet ist, die von einem Bediener (20) zur Navigation und Fernsteuerung der Vorrichtung (1) verwendbar ist.
  12. Robotervorrichtung nach einem der vorstehenden Ansprüche, wobei die Vorschubmittel erste (4a) und zweite (4b) nachgeführte Mittel (4, 4a, 4b) umfassen.
  13. Verfahren zum Reinigen der Oberflächen eines Satzes von rotierenden Walzen (2) durch eine Robotervorrichtung (1) nach einem der vorstehenden Ansprüche, wobei die rotierenden Walzen (2) mit einer Umfangsgeschwindigkeit (Vr) rotieren und zum Bearbeiten von Metallprodukten und zum Fördern von Metallprodukten entlang einer Förderrichtung (Dc) geeignet sind, wobei das Verfahren die folgenden Schritte umfasst:
    a) Platzieren der Robotervorrichtung (1) auf dem Satz der rotierenden Walzen (2) und Antreiben der ersten (4a) und zweiten (4b) Vorschubmittel mit der gleichen Geschwindigkeit, die einen ersten Wert (V1) gleich dem Wert der Umfangsgeschwindigkeit (Vr), aber eine Richtung entgegengesetzt zu dieser aufweist, um die Robotervorrichtung (1) in einer stationären Position in Bezug auf eine feste externe Referenz zu halten,
    b) selektives Variieren der Geschwindigkeit der ersten (4a) und der zweiten (4b) Vorschubmittel jeweils bei einem zweiten Geschwindigkeitswert (V2) und bei einem dritten Geschwindigkeitswert (V3), die sich voneinander unterscheiden, um eine erste Drehung der Robotervorrichtung (1) um eine vertikale Achse zu bewirken,
    c) Einstellen der Geschwindigkeit der ersten (4a) und der zweiten (4b) Vorschubmittel auf einen gleichen vierten Geschwindigkeitswert (V4), so dass sie eine erste Geschwindigkeitskomponente (Vp) parallel zu der Förderrichtung (Dc), die gleich der Umfangsgeschwindigkeit (Vr) ist, und eine zweite Geschwindigkeitskomponente (Vo) orthogonal zu der Förderrichtung (Dc) aufweisen, um die Querbewegung der Robotervorrichtung (1) entlang der jeweiligen Walze (2) von einem ersten Ende zu einem zweiten Ende derselben zu bestimmen,
    d) Anordnen des Schleifmittels (5) während der Querbewegung in Rotation und in Kontakt mit der jeweiligen Walze (2), um Schmutz und/oder Oberflächenunebenheiten entlang der gesamten Zylinderfläche derselben zu entfernen,
    e) schrittweises Erfassen der absoluten Position der Robotervorrichtung (1), und
    f) beim Erreichen des zweiten Endes - signalisiert durch die in der Navigationsvorrichtung (15) enthaltenen Absolutwegaufnehmermittel - selektives Variieren der Geschwindigkeit der ersten (4a) und der zweiten (4b) Vorschubmittel zum winkligen Umsetzen der Robotervorrichtung (1) in einer Weise, die in Längsrichtung parallel zur Förderrichtung (Dc) ist,
    g) weiter Variieren der Geschwindigkeit der ersten (4a) und der zweiten (4b) Vorschubmittel bei gleicher Geschwindigkeit, mit einem fünften Wert (V5), der sich vom Wert der Umfangsgeschwindigkeit (Vr) unterscheidet, um eine Längsbewegung parallel zur Förderrichtung (Dc) der Roboteranordnung (1) zu bestimmen, bis das Schleifmittel (5) von der ersten Walze auf eine benachbarte zweite Walze übertragen wird,
    h) selektives Variieren der Geschwindigkeit der ersten (4a) und der zweiten (4b) Vorschubmittel jeweils auf den dritten Wert (V3) und auf den zweiten Wert (V2), um eine zweite Drehung der Robotervorrichtung (1) um die vertikale Achse entgegengesetzt zur ersten Drehung zu bewirken und ab dem Schritt c) zu wiederholen, um die Oberflächenbehandlung einer gewünschten Anzahl von rotierenden Walzen (2) oder des gesamten Satzes von rotierenden Walzen (2) abzuschließen.
  14. Verfahren nach Anspruch 13, wobei ein selektives Steuern der Geschwindigkeit der ersten (4a) und zweiten (4b) Vorschubmittel vorgesehen ist, um mögliche Änderungen der Drehgeschwindigkeit der rotierenden Walzen (2) automatisch zu kompensieren.
  15. Computerprogramm, umfassend Softwarecodeabschnitte zum Durchführen des Verfahrens nach Anspruch 13 oder 14, wenn das Programm auf der Rechenvorrichtung nach Anspruch 3 ausgeführt wird, die in der Steuereinheit (14) nach Anspruch 1 enthalten ist.
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)

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