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Development of a multipurpose automatic spraymarker system

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Langue English
Poids de l'ouvrage 2 Mo

Commission of the European Communities
technical steel research
Measurements and analysis
DEVELOPMENT MULTI-PURPOSE AUTOMATIC
SPRAYMARKER SYSTEM
Report
EUR 10686 EN
Blow-up from microfiche original Commission of the European Communities
technical steel research
Measurements and analysis
DEVELOPMENT MULTI-PURPOSE AUTOMATIC
SPRAYMARKER SYSTEM
J.C. GROOTHUIZEN
HOOGOVENS
Postbus 10000
NL-1970CAIJMUIDEN
Contract No 7210-GF/601
(1.4.1982-31.3.1985)
FINAL REPORT
Directorate-General
Science, Research and Development
/, 1986 'EUR 10686 EN Published by the
COMMISSION OF THE EUROPEAN COMMUNITIES
Directorate-General
Telecommunications, Information Industries and Innovation
L-2920 LUXEMBOURG
LEGAL NOTICE
Neither the Commission of the European Communities nor any person acting
on behalf of then is responsible for the use which might be made of
the following information
' ECSC-EEC-EAEC, Brussels · Luxembourg, 1986 CONTENTS Page
1. INTRODUCTION '. 3
2. CONCLUSIONS 3
3 . BRIEF REVIEW , . . 4
4. TECHNICAL SYSTEM AND APPLICATION 6
5. PROGRESS UP TO MARCH 1985 7
6. CONTROL SYSTEM 10
7. DATA PREPARATION FOR SERIAL I/O-STRUCTURE 12
8. DATA COMMUNICATION FOR SERIALE3
9. DATAN FOR PARALLEL I/O-STRUCTURE 15
10. APPLICATION OF THE PAINTED MARK 16
11.N OF THE METALLIZED MARK8
12. BEHAVIOUR OF THE ROBOT 19
13. LECTURES 21
FIGURES :
APPENDICES SUMMARY
The experiences gained during this project have resulted in a
well defined advise for a future application within HOOGOVENS.
In 19 86 four electrical driven robot systems (ASEA) with metal
spray guns (METCO) and high pressure waterpump (WOMA) will be
installed to mark the slabs produced by the continous casters
No. 21 and No. 22 (both twin-casters).
Generally spoken a lot of knowledge about marking at high tem­
peratures, as well as paints and paint systems, became avail­
able.
Specially the practical knowledge of the possible connections
between a databank system and an industrial robot under on-line
conditions will be very helpfull to start flexible production
automation or so-called Computer Aided Manufacturing (CAM) in
the iron- and steelworld. - 2 -
RESUME
L'expérience acquise au cours de L'exécution du projet a conduit à La
formuLation d'un avis circonstancié pour une appLication future à
HOOGOVENS.
En 1986, quatre systèmes robotiques à commande éLectrique (ASEA) avec
pistoLets-puLvérisateurs métaLLiques (METCO) et pompes à eau à haute
pression (WOMA) seront instaLLés pour Le marquage des daLLes produites
par Les instaLLations de couLée continue numéros 21 et 22 (toutes deux
jumeLées).
D'une manière générale, des connaissances importantes concernant Le
marquage à haute tempérautre ainsi que Les peintures et systèmes de
peinture ont été acquises.
En particulier, La connaissance pratique en matière de connexions
possibLes entre un système de banque de données et un robot industrieL
en service sera très importante pour La mise en oeuvre de L'automati­
sation soupLe de La production, appelée aussi fabrication assistée par
ordinateur (FAO), dans L'industrie sidérurgique.
ZUSAMMENFASSUNG
Aufgrund der im Rahmen dieses Vorhabens gesammeLten Erfahrungen konnten
für die künftige Anwendung bei HOOGOVENS präzise Ratschläge gegeben wer­
den. So werden 1986 vier elektrische Robotersysteme (ASEA) mit Metall-
spritzpistoLen (METCO) und Hochdruckwasserpumpe (WOMA) installiert, mit
denen die auf den (zweisträngigen) Stranggießmaschinen Nr. 21 und Nr. 22
hergestellten Brammen markiert werden sollen.
Ganz allgemein konnten dabei viele Erfahrungen über Hochtemperaturmarkie­
rungen sowie über Anstrichstoffe und Anstreichverfahren gewonnen werden.
Vor allem die praktischen Erkenntnisse über mögliche Verbindungen zwischen
einem Datenbanksystem und einem Industrieroboter unter Produktionsbedin­
gungen werden bei der Einführung einer flexiblen Produktionsautomatisie­
rung bzw. der sogenannten computergestützten Fertigung (CAM) in der Eisen-
und Stahlindustrie sehr nützlich sein. 1. INTRODUCTION
In many steelworks, even in modern mills, unskilled workers
have to carry out operations under severe physical conditions.
Many of these repetitive tasks need a certain amount of versa­
tility, due to variations in the timing of the task and the
size, shape and position of the product.
Traditionally, these tasks have always been carried out manual­
ly. In other cases special purpose built mechanical manipula­
tors have been constructed. Nowadays there are re-programmable
manipulators, so-called industrial robots, applied on a large
scale in metalworking and automobile industries.
The general problem of achieving repetitive operation with ver­
satility can be solved by using such industrial robot. This
type of standard equipment should be of low basic cost since
the industrial robot itself can be mass-produced.
Combined with different types of spraymarkers a MULTI-PURPOSE
AUTOMATIC SPRAYMARKER SYSTEM may be developed. Such system may
be used for marking slabs, coils or sheets, with from certain
distance legible characters, without redesigning the mechanical
outfit of the system, see Figure 1.
2. CONCLUSIONS
Compared to marking on hot rolled coils or heavy plates the new
productions area, such as continuous casting, have established
the need for a new approach of marking.
The use of an industrial robot, as a re-programmable manipulator
increased the flexibility within this investigation. Different
marking methods are tested at which only the marking head has
been altered.
The robot itself has proofed to be a reliable equipment under
severe conditions of a steelplant.
The title of the project indicates the different aspects of the
investigations : 4-
MULTI-PURPOSE
• Versatile constructions to reach the different sides of the
object to be marked without redesigning.
• Fit for "hot" and "cold" conditons as well as the marking
material and the mechanical construction.
SPRAY-MARKER
• Any surface or contour; from the smooth surface of the outer
wrap of a cold rolled coil till the roughe of a slab
after oxygen cutting.
• Different marking materials covering the wide· range of temper­
ature for the different products.
• Different marking methods in relation to the marking material.
AUTOMATIC
• Remote control will be required for maintenance and test runs,
but will not justify the investment.
• Computer control under different data-communication systems
has been tested and will give substantial man-saving.
More detailed information is given in Appendix 1.
3. BRIEF REVIEW
In foregoing progress reports the interim results have been
described.
Progress report 1: April 1st - June 30th, 1982.
The Cincinnati Milacron HT-3 robot was bought and first
experience in programming was gained. Extra heat shields
and the marking system were mounted.
Progress report 2: July 1st - December 31st, 1982.
The complete system was installed next to the rollertable
of the continuous caster. The descaling and cooling
system of the robot configuration was used to prepare the
marking area of the slabs.
Progress report 3: January 1st - June 30th, 1983.
The slabs were marked by dot-matrix sprayed characters.
Most efforts have been spent on changing path co-ordinates
of the robot (on-line) to facilitate computer controlled
marking along a continuous path.