CN116511443A - Escape method and system for continuous casting machine platform robot - Google Patents
Escape method and system for continuous casting machine platform robot Download PDFInfo
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- CN116511443A CN116511443A CN202310495109.6A CN202310495109A CN116511443A CN 116511443 A CN116511443 A CN 116511443A CN 202310495109 A CN202310495109 A CN 202310495109A CN 116511443 A CN116511443 A CN 116511443A
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- 238000009749 continuous casting Methods 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000002159 abnormal effect Effects 0.000 claims abstract description 147
- 230000009471 action Effects 0.000 claims abstract description 123
- 238000012544 monitoring process Methods 0.000 claims abstract description 37
- 238000005266 casting Methods 0.000 claims description 20
- 238000012545 processing Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 12
- 238000005070 sampling Methods 0.000 claims description 9
- 230000001960 triggered effect Effects 0.000 claims description 7
- 208000012661 Dyskinesia Diseases 0.000 claims description 5
- 238000009529 body temperature measurement Methods 0.000 claims description 4
- 230000005764 inhibitory process Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 abstract description 13
- 239000010959 steel Substances 0.000 abstract description 13
- 238000013461 design Methods 0.000 abstract description 5
- 239000003795 chemical substances by application Substances 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000035515 penetration Effects 0.000 description 3
- 238000001931 thermography Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000009628 steelmaking Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a continuous casting machine platform robot escape method and system. The escape method comprises the steps of monitoring an abnormal working condition of a continuous casting machine platform, and enabling a robot to execute escape actions after the abnormal working condition occurs; acquiring the position of an abnormal working condition on a continuous casting machine platform, and comparing the position of the abnormal working condition with the position of the robot on the continuous casting machine platform to determine the escape action executed by the robot; if the robot is positioned below the abnormal working condition, controlling the robot to exit the working state, automatically returning and prohibiting the action; and if the robot is positioned above the abnormal working condition, controlling the robot to return automatically and prohibiting the action. According to the invention, when abnormal working conditions such as steel ladle, middle ladle passing through and leakage and the like occur, a person presses the emergency button or is monitored by the continuous casting machine platform, so that the robot executes escape action according to a design mode and returns automatically, and the problems that the abnormal working conditions further influence the robot to expand the accident range and influence the personal safety of operators are avoided.
Description
Technical Field
The invention relates to the technical field of continuous casting robots, in particular to a continuous casting machine platform robot escape method and system.
Background
In the continuous casting process in the steelmaking production process, a lot of critical repetitive operations exist, and robots are involved in the continuous casting process, including robots at casting positions for disassembling and assembling long water gaps and measuring temperature in tundish; the robot is used for disassembling and assembling the slide plate cylinder. While automated intelligent robots have become a standard configuration, operators still have to stay in the hazardous area of the production site for a period of time. With the running of robots on a continuous casting machine platform, when emergency abnormal conditions such as abnormal threading and leakage of a ladle and a tundish occur, the robots still continue to execute automatic actions according to a set program also bring about a certain danger. Therefore, the robot on the continuous casting machine platform is required to have the functions of identifying abnormality and immediately taking corresponding measures, so that the condition that the robot is damaged due to abnormal working conditions in the continuous casting production process is prevented, and meanwhile, the personal safety of operators is ensured.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a method and a system for escaping a robot of a continuous casting machine platform, wherein when abnormal working conditions such as ladle penetration and tundish leakage occur, a person presses an emergency button or is monitored by the continuous casting machine platform, so that the robot performs escaping actions according to a design mode, and automatically returns, thereby avoiding the problems that the abnormal working conditions further affect the robot to expand the accident range and affect the personal safety of operators.
The invention provides a continuous casting machine platform robot escape method, which comprises the following steps:
monitoring an abnormal working condition of the continuous casting machine platform, and enabling the robot to execute escape action after the abnormal working condition occurs;
acquiring the position of the abnormal working condition on the continuous casting machine platform, and comparing the position of the abnormal working condition with the position of the robot on the continuous casting machine platform to determine the escape action executed by the robot;
if the robot is positioned below the position of the abnormal working condition, controlling the robot to exit from a working state, and automatically returning to a forbidden action;
and if the robot is positioned above the position of the abnormal working condition, controlling the robot to return automatically and prohibiting the action.
In an embodiment of the present invention, before the step of monitoring the abnormal working condition of the continuous casting machine platform and enabling the robot to execute the escaping action after the abnormal working condition occurs, the method includes respectively presetting an emergency button of a tundish car and a ladle turret of the continuous casting machine platform, and adopting a hard wire connection between the emergency button and a power box programmable logic controller PLC of the robot, so that the emergency button is pressed down and then the abnormal working condition is triggered to enable the robot to execute the escaping action.
In an embodiment of the present invention, the step of monitoring the abnormal condition of the continuous casting machine platform and enabling the robot to execute the escaping action after the abnormal condition occurs includes: monitoring whether abnormal actions occur to the tundish car and the ladle turret, and determining whether the abnormal working conditions are triggered so that the robot can execute escape actions.
In an embodiment of the present invention, the step of monitoring whether the tundish car and the ladle turret perform abnormal actions, and determining whether to trigger the abnormal working condition to enable the robot to perform escape actions includes: if the action instructions executed by the tundish car and the ladle turret are out of back with the action instructions executed by the continuous casting process, judging that the abnormal actions occur on the tundish car and the ladle turret, triggering the abnormal working conditions, and enabling the robot to execute the escaping actions.
In an embodiment of the present invention, the step of monitoring the abnormal condition of the continuous casting machine platform and enabling the robot to execute the escaping action after the abnormal condition occurs includes: monitoring whether ladle leakage occurs on the continuous casting machine platform, whether abnormal movement occurs on the tundish car and whether abnormal rotation occurs on the ladle turret; and determining that any working condition of the ladle penetrating leakage, the abnormal movement of the tundish car and the abnormal rotation of the ladle turret occurs on the continuous casting machine platform so as to enable the robot to execute corresponding escaping actions.
In an embodiment of the present invention, the step of obtaining the position of the abnormal condition on the continuous casting machine platform and comparing the position of the robot on the continuous casting machine platform to determine the escape action performed by the robot includes: monitoring whether the emergency buttons of the tundish car and the ladle turret are pressed or not so as to trigger the abnormal working condition; determining that the abnormal working condition triggers the robot to execute a tundish escape action or a ladle escape action based on the upper and lower position relation between the abnormal working condition and a tundish cover plate of the continuous casting machine platform; and determining whether the robot needs to exit the working state to execute escape action or not based on the upper-lower position relation between the robot and the tundish cover plate.
In an embodiment of the present invention, the step of determining that the abnormal working condition triggers the robot to execute the tundish escape action or the ladle escape action based on the upper and lower positional relationship between the abnormal working condition and the tundish cover plate of the continuous casting machine platform includes:
monitoring the position of the abnormal working condition on the continuous casting machine platform, if the abnormal working condition occurs in a middle ladle of the continuous casting machine platform, enabling the robot to execute a middle ladle escape action, and if the abnormal working condition occurs in a ladle of the continuous casting machine platform, enabling the robot to execute the ladle escape action;
if the robot is in a casting position of the continuous casting machine platform and is in a working state of disassembling/assembling a long nozzle, determining whether the robot needs to exit the working state and put down a disassembling tool of the long nozzle according to the upper-lower position relation of the robot and the tundish cover plate, and then automatically resetting and prohibiting actions;
if the robot is in the casting position of the continuous casting machine platform and is in a working state of measuring temperature/sampling/adding covering agent, determining whether the robot needs to exit the working state and immediately lift according to the upper-lower position relation between the robot and the tundish cover plate, and then automatically resetting and prohibiting actions;
if the robot is in the packed position of the continuous casting machine platform and is in the working state of disassembling/assembling the slide plate cylinder, determining whether the robot needs to exit the working state and put down the slide plate cylinder according to the position of the abnormal working condition on the continuous casting machine platform, and then automatically resetting and prohibiting the action.
In an embodiment of the present invention, if the robot is in a casting position of the continuous casting machine platform and is in a working state of disassembling/assembling a long nozzle, determining whether the robot needs to exit the working state and put down a disassembling tool of the long nozzle according to an up-down position relationship between the robot and the tundish cover plate, and then automatically resetting and prohibiting the operation includes: if the robot cannot normally disassemble/assemble the long nozzle through the disassembling tool within the set time, automatically resetting and prohibiting the action; if the abnormal working condition occurs when the robot takes the dismounting tool, the dismounting tool is directly put down, and the robot returns automatically and prohibits the action.
In an embodiment of the present invention, if the robot is in a casting position of the continuous casting machine platform and is in a working state of measuring temperature/sampling/adding a covering agent, determining whether the robot needs to exit the working state and lift immediately according to an up-down position relationship between the robot and the tundish cover plate, and then returning automatically and prohibiting the operation includes: and if the robot is positioned below the tundish cover plate, controlling the robot to withdraw from the working state, completing lifting and returning in 2S, and prohibiting the action.
In an embodiment of the present invention, if the robot is in the pack position of the continuous casting machine platform and is in the working state of disassembling/assembling the slide cylinder, determining whether the robot needs to exit the working state and put down the slide cylinder according to the position of the abnormal working condition on the continuous casting machine platform, and then automatically returning to the idle state and prohibiting the operation includes: if the abnormal working condition occurs in the middle ladle of the continuous casting machine platform, the robot positioned at the ladle receiving position is directly prohibited from acting; if the abnormal working condition occurs in the ladle of the continuous casting machine platform, the robot positioned at the ladle receiving position is led to exit the working state, the slide plate oil cylinder is put down, and then the automatic return and the action inhibition are carried out.
In an embodiment of the present invention, when the robot executes the tundish escape method, the working state of the casting position robot is monitored:
when the robot is disassembling/assembling the long nozzle, if the robot is positioned below the tundish cover plate: the robot is overloaded and then the clamp is put down, automatically returns, and the actions are forbidden. If the robot is above the tundish cover plate: the robot is automatically returned to the prohibiting operation.
When the robot is measuring temperature, sampling and adding covering agent, if the robot is positioned below the tundish cover plate: the robot is automatically returned (lifting time: 2S) to the prohibiting operation after lifting. If the robot is above the tundish cover plate: the robot is automatically returned to the prohibiting operation.
Monitoring the working state of the robot at the packaged position;
when the robot is detaching/installing the slide cylinder, the robot is disabled.
When the robot executes the ladle escape method, the working state of the casting position robot is monitored:
and enabling the casting position robot to execute actions according to the tundish escape method.
Monitoring the working state of the robot at the packaged position;
when the robot is disassembling/installing the slide plate cylinder, the robot is enabled to put down the cylinder, automatically returns and prohibits the action.
The invention also provides a continuous casting machine platform robot escape system, comprising:
the monitoring module comprises a sensor and an emergency button, wherein the sensor is arranged on the continuous casting machine platform and is used for acquiring temperature information of the continuous casting machine platform, and the emergency button is connected with a tundish car and a ladle turret of the continuous casting machine platform;
the processing module receives the input information of the monitoring module and performs judgment processing to generate output information;
and the execution module receives the output information and controls the robot of the continuous casting machine platform to execute escape actions.
The processing module judges the change of the temperature information in the input information and the triggering state of the emergency button, and when the thermal imaging is performed with local high-temperature imaging or the emergency button is triggered, the processing module defines the input information as an abnormal working condition, generates the output information enabling the robot to execute escape action and sends the output information to the execution module.
In an embodiment of the present invention, the processing module obtains a position of the abnormal working condition corresponding to the continuous casting machine platform in the input information, and determines an up-down positional relationship between the position of the abnormal working condition and the position of the robot, so as to generate the output information, so that the robot exits the working state when executing the escape action.
The invention has the beneficial effects that: when abnormal working conditions such as steel ladle, middle ladle penetration and the like occur, a person presses an emergency button or is monitored by a continuous casting machine platform, so that the robot executes escape action according to a design mode and returns automatically, the abnormal working conditions are prevented from further affecting the robot to enlarge the accident range, and personal safety is ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 is a flow chart of a method of escape of a continuous caster platform robot of the present invention;
FIG. 2 is a logic flow diagram of a caster platform robot performing an escape action in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of a continuous caster platform robotic escape system of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. It is also to be understood that the terminology used in the examples of the invention is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the invention. The test methods in the following examples, in which specific conditions are not noted, are generally conducted under conventional conditions or under conditions recommended by the respective manufacturers.
Please refer to fig. 1 to 3. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are intended to fall within the spirit and scope of the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
Referring to fig. 1, the present invention provides a method for escaping a continuous casting machine platform robot, comprising:
monitoring an abnormal working condition of the continuous casting machine platform, and enabling the robot to execute escape actions after the abnormal working condition occurs;
acquiring the position of an abnormal working condition on a continuous casting machine platform, and comparing the position of the abnormal working condition with the position of the robot on the continuous casting machine platform to determine the escape action executed by the robot;
if the robot is positioned below the position of the abnormal working condition, controlling the robot to exit the working state, automatically returning and prohibiting the action;
and if the robot is positioned above the position of the abnormal working condition, controlling the robot to return automatically and prohibiting the action.
When abnormal working conditions occur on the continuous casting machine platform, such as emergency abnormal conditions of abnormal threading and leakage of a ladle or a tundish, the position of the abnormal working conditions of the continuous casting machine platform is compared with the position of the robot, and the robots positioned above and below the abnormal working conditions are controlled to respectively execute different escape actions so as to return to a safe position as soon as possible and inhibit the actions. And further, the robot which still executes the operation according to the automatic program on the production site is prevented from being damaged due to the influence of abnormal working conditions, so that when the abnormal working conditions occur on the continuous casting machine platform, the expansion degree of accidents is controlled, and the personal safety of operators is ensured.
In one embodiment, before monitoring an abnormal condition of the continuous casting machine platform and enabling the robot to execute the escape action after the abnormal condition occurs, the method includes:
the method comprises the steps of respectively presetting an emergency button of a tundish car and a ladle turret of a continuous casting machine platform, and adopting hard wire connection between the emergency button and a power box Programmable Logic Controller (PLC) of the robot, so that after the emergency button is pressed, an abnormal working condition is triggered to enable the robot to execute escape actions.
In the workshop of continuous casting machine platform, each operation equipment has emergency stop button, can regard as the emergency button of tundish car and ladle revolving platform respectively, when the on-the-spot operating personnel of workshop was earlier the detecting instrument discovery abnormal condition of continuous casting machine platform, can make the robot directly carry out the escape action through pressing emergency button, faster keep on the safe position to ensure on-the-spot security.
It should be noted that, because the steel ladle or the middle ladle in the continuous casting machine platform workshop is leaked in an invisible manner, compared with the internet connection, the hard wire connection mode may have network delay, communication failure and the like, so that the robot cannot act, the method has better reliability, and meanwhile, the hard wire connection circuit bypasses the dangerous area of abnormal leakage, such as a low topography in the workshop, on the moving path of the steel ladle and the middle ladle.
In one embodiment, monitoring an abnormal condition of the continuous casting machine platform, and after the abnormal condition occurs, causing the robot to execute the escaping action includes:
monitoring whether abnormal actions occur on the tundish car and the ladle turret, and determining whether to trigger abnormal working conditions so as to enable the robot to execute escape actions.
If the action command executed by the tundish car and the ladle turret is contrary to the action command executed by the continuous casting process, the abnormal actions of the tundish car and the ladle turret are judged, and the abnormal working conditions are triggered, so that the robot executes the escape actions.
Monitoring whether a ladle on a continuous casting machine platform leaks, whether a tundish car moves abnormally and whether a ladle turret rotates abnormally;
based on any working condition of ladle leakage, abnormal movement of a tundish car and abnormal rotation of a ladle turret on a continuous casting machine platform, determining the abnormal working condition to enable the robot to execute corresponding escaping actions.
In the process of executing the continuous casting process, the continuous casting machine platform rotates the ladle turret or starts the tundish due to misoperation of operators, so that the robot directly executes escape action for preventing the robot from being crashed. Similarly, when the continuous casting process is not performed by the continuous casting machine platform, for example, when equipment maintenance is performed, when an operator does not notice a movement path of the tundish car or the ladle turret possibly collides with the robot during rotation, an abnormal working condition is triggered to enable the robot to perform escape action to avoid, and the situation similar to the situation that the robot is likely to interfere with the gesture of the robot is treated as the abnormal working condition, which is not repeated herein.
In one embodiment, the step of obtaining the position of the abnormal condition on the continuous casting machine platform and comparing the position of the robot on the continuous casting machine platform to determine the escape action performed by the robot comprises:
monitoring whether emergency buttons of the tundish car and the ladle turret are pressed to trigger abnormal working conditions;
determining that the abnormal working condition triggers the robot to execute the tundish escape action or the ladle escape action based on the upper and lower position relation between the abnormal working condition and the tundish cover plate of the continuous casting machine platform;
based on the upper-lower position relation between the robot and the tundish cover plate, whether the robot needs to exit the working state or not is determined so as to execute escape action.
On the one hand, the abnormal working condition on the continuous casting machine platform is automatically identified through the set corresponding instrument, for example, an infrared sensor can be installed on the continuous casting machine platform, whether the temperature of the infrared image or the tundish of heat radiation and the outer surface of the ladle reach the ultrahigh temperature of molten steel or not is monitored, and the abnormal leakage through condition is indicated, so that the robot automatically executes the escape action. Similarly, the emergency escape action of the robot can be immediately implemented by pressing the emergency button by an operator, and whether the position of the robot is affected by abnormally leaked molten steel or not is judged according to the upper and lower position relation between the robot and the tundish cover plate, so that the escape action of the robot is optimized and the robot is completed more quickly.
Referring to fig. 2, in an embodiment, the step of determining that the abnormal condition triggers the robot to execute the tundish escape action or the ladle escape action based on the upper and lower position relationship between the abnormal condition and the tundish cover plate of the continuous casting machine platform includes:
monitoring the position of the abnormal working condition on the continuous casting machine platform, if the abnormal working condition occurs in the middle ladle of the continuous casting machine platform, enabling the robot to execute the middle ladle escaping action, and if the abnormal working condition occurs in the ladle of the continuous casting machine platform, enabling the robot to execute the ladle escaping action;
if the robot is in a casting position of the continuous casting machine platform and is in a working state of disassembling/assembling the long nozzle, determining whether the robot needs to exit the working state and put down a disassembling tool of the long nozzle according to the upper and lower position relation of the robot and the tundish cover plate, and then automatically resetting and prohibiting the action;
if the robot is in the casting position of the continuous casting machine platform and is in the working state of measuring temperature/sampling/adding covering agent, determining whether the robot needs to exit the working state and immediately lift according to the upper and lower position relation between the robot and the tundish cover plate, and then automatically returning and prohibiting the action;
if the robot is in a packaged position of the continuous casting machine platform and is in a working state of disassembling/assembling the slide plate cylinder, determining whether the robot needs to exit the working state and put down the slide plate cylinder according to the position of the abnormal working condition on the continuous casting machine platform, and then automatically resetting and prohibiting the action.
When the robot executes the middle ladle escape method, the working state of the casting position robot is monitored: when the robot is disassembling/assembling the long nozzle, if the robot is positioned below the tundish cover plate: the robot is overloaded and then the clamp is put down, automatically returns, and the actions are forbidden. If the robot is above the tundish cover plate: the robot is automatically returned to the prohibiting operation. When the robot is measuring temperature, sampling and adding covering agent, if the robot is positioned below the tundish cover plate: the robot is automatically returned (lifting time: 2S) to the prohibiting operation after lifting. If the robot is above the tundish cover plate: the robot is automatically returned to the prohibiting operation. Monitoring the working state of the robot at the packaged position; when the robot is detaching/installing the slide cylinder, the robot is disabled.
When the robot executes the ladle escape method, the working state of the casting position robot is monitored: and enabling the casting position robot to execute actions according to the tundish escape method. Monitoring the working state of the robot at the packaged position; when the robot is disassembling/installing the slide plate cylinder, the robot is enabled to put down the cylinder, automatically returns and prohibits the action.
In an embodiment, if the robot is in a casting position of the continuous casting machine platform and is in a working state of disassembling/assembling the long nozzle, determining whether the robot needs to exit the working state and put down a disassembling tool of the long nozzle according to an up-down position relation between the robot and the tundish cover plate, and then automatically resetting and prohibiting the operation comprises the steps of:
if the robot cannot normally disassemble/assemble the long nozzle through the disassembling tool within the set time, automatically resetting and prohibiting the action;
if the robot has abnormal working conditions when taking the dismounting tool, the dismounting tool is directly put down, automatically returns and prohibits the action.
When the robot is used for loading and unloading and fixing the long nozzle of the casting position through a disassembly tool such as an oil cylinder in the operation process of executing the continuous casting process, the situation that the long nozzle is not loaded and unloaded successfully exists, the robot also executes escape action at the moment, and the robot can be used for loading and unloading again according to a program set by the robot in a continuous casting machine platform, or simultaneously, corresponding prompt is carried out on the continuous casting machine platform, so that an operator can check and remove faults. Similarly, when the robot takes the dismounting tool and does not enter the working state of dismounting/mounting the long nozzle, the abnormal working condition is monitored at the moment, and the robot is directly caused to execute the escaping action.
In one embodiment, if the robot is in a casting position of the continuous casting machine platform and is in a working state of measuring temperature/sampling/adding a covering agent, determining whether the robot needs to exit the working state and lift immediately according to an upper-lower position relationship between the robot and a tundish cover plate, and then automatically returning and prohibiting the steps include:
if the robot is positioned below the tundish cover plate, the robot is controlled to be in a working state, lifting and returning are completed in 2S, and actions are forbidden.
When the robot is in a working state of temperature measurement/sampling/adding the covering agent, the robot needs to stay in the tundish for a period of time, for example, when the robot is inserted into the tundish for temperature measurement, the temperature measurement is required to be carried out for 6-8 seconds under normal conditions, so that the robot needs to immediately exit the working state, and is controlled to return in 2S for a certain time, so that the robot is ensured to return to a safe position quickly under abnormal working conditions.
In an embodiment, if the robot is in a packaged position of the continuous casting machine platform and is in a working state of disassembling/assembling the slide plate cylinder, determining whether the robot needs to exit the working state and put down the slide plate cylinder according to a position of the abnormal working condition on the continuous casting machine platform, and then automatically resetting and prohibiting the actions comprises the steps of:
if the abnormal working condition occurs in the middle ladle of the continuous casting machine platform, the robot positioned at the ladle receiving position is directly prohibited to act;
if the abnormal working condition occurs in the ladle of the continuous casting machine platform, the robot positioned at the ladle receiving position is led to be out of working state, the slide plate oil cylinder is put down, and then the robot is automatically returned and the action is forbidden.
The robot in the ladle receiving position loads and unloads the ladle on the ladle turret through the loading and unloading slide oil cylinder, and in the continuous casting process design of the continuous casting machine platform, the ladle is higher than the middle ladle, so when the abnormal working condition occurs in the middle ladle, the ladle turret does not need to act, and the robot can directly inhibit the action. When the abnormal working condition occurs in the steel ladle, the steel ladle is required to rotate to the loading platform due to the leakage of the steel ladle, and the robot is in a working state at the moment, the oil cylinder is required to be put down, and the oil cylinder is required to return automatically and is prohibited from acting.
Referring to fig. 3, the invention further provides a continuous casting machine platform robot escape system, which comprises a monitoring module, a processing module and an executing module. The monitoring module comprises a sensor and an emergency button, wherein the sensor is arranged on the continuous casting machine platform and is used for acquiring temperature information of the continuous casting machine platform, and the emergency button is connected with a tundish car and a ladle turret of the continuous casting machine platform; the processing module receives the input information of the monitoring module and judges and processes the input information to generate output information; the execution module receives the output information and controls the robot of the continuous casting machine platform to execute escape actions.
In this embodiment, the processing module determines the change of temperature information in the input information and the triggering state of the emergency button, for example, the sensor may adopt a temperature sensor for detecting the position of the tundish and the ladle, and when a leakage accident occurs, the detected temperature value of the molten steel is obviously increased, so that the detected temperature value is identified by the processing module. Similarly, the sensor can also adopt a thermal imaging device, when the local high Wen Chengxiang appears in the image information of the thermal imaging device, the high temperature corresponds to the temperature of molten steel, namely, the molten steel leakage accident happens correspondingly. After the operator on the continuous casting machine platform site finds the abnormal working condition, the emergency button is pressed, the processing module can be a Programmable Logic Controller (PLC) of the robot power box, the input information is processed and identified through a set program to be used as output information of the abnormal working condition, the robot is controlled to execute escape action through the PLC according to a set instruction, and at the moment, the execution module is a driving component of the robot controlled by the PLC.
In an embodiment, the processing module obtains a position of the abnormal working condition in the input information, which corresponds to the continuous casting machine platform, and determines an upper-lower position relationship between the position of the abnormal working condition and the position of the robot, so as to generate output information, so that the robot exits the working state when executing the escape action.
In the PLC of the robot power box, judging logic for processing input information can be further set, after abnormal working conditions occur, the occurrence position of the corresponding abnormal working conditions in the input information and the position of the robot are identified, the upper and lower position relations between the two are judged, and then whether the robot needs to exit from the current working state when executing escape actions or not is determined, and then the automatic return and action prohibition instructions are executed, so that the escape step of the robot is optimized according to the actual conditions of the abnormal working conditions on the continuous casting machine platform.
In summary, according to the escape method and system for the continuous casting machine platform robot, when abnormal working conditions such as steel ladle, tundish penetration and leakage occur, a person presses an emergency button or is monitored by the continuous casting machine platform, so that the robot executes escape actions according to a design mode and returns automatically, the abnormal working conditions are prevented from further affecting the robot to enlarge the accident range, and personal safety is ensured.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (12)
1. A continuous casting machine platform robot escape method and system are characterized by comprising the following steps:
monitoring an abnormal working condition of the continuous casting machine platform, and enabling the robot to execute escape action after the abnormal working condition occurs;
acquiring the position of the abnormal working condition on the continuous casting machine platform, and comparing the position of the abnormal working condition with the position of the robot on the continuous casting machine platform to determine the escape action executed by the robot;
if the robot is positioned below the position of the abnormal working condition, controlling the robot to exit from a working state, and automatically returning to a forbidden action;
and if the robot is positioned above the position of the abnormal working condition, controlling the robot to return automatically and prohibiting the action.
2. The escape method according to claim 1, wherein, before said step of monitoring an abnormal condition of said continuous casting machine platform and causing said robot to perform an escape action after said abnormal condition occurs, comprising:
the method comprises the steps of respectively presetting an emergency button of a tundish car and a ladle turret of the continuous casting machine platform, and adopting hard wire connection between the emergency button and a power box Programmable Logic Controller (PLC) of the robot, so that the robot can execute escape action by triggering the abnormal working condition after the emergency button is pressed.
3. The escape method according to claim 2, wherein the step of monitoring the abnormal condition of the continuous casting machine platform and causing the robot to perform the escape action after the abnormal condition occurs comprises:
monitoring whether abnormal actions occur to the tundish car and the ladle turret, and determining whether the abnormal working conditions are triggered so that the robot can execute escape actions.
4. A method of escaping as in claim 3, wherein said step of monitoring whether abnormal actions occur on said tundish car and said ladle turret and determining whether to trigger said abnormal conditions to cause said robot to perform an escaping action comprises:
if the action instructions executed by the tundish car and the ladle turret are out of back with the action instructions executed by the continuous casting process, judging that the abnormal actions occur on the tundish car and the ladle turret, triggering the abnormal working conditions, and enabling the robot to execute the escaping actions.
5. The escape method of claim 3, wherein the step of monitoring the continuous caster platform for abnormal conditions, and causing the robot to perform an escape action after the abnormal conditions occur comprises:
monitoring whether ladle leakage occurs on the continuous casting machine platform, whether abnormal movement occurs on the tundish car and whether abnormal rotation occurs on the ladle turret;
and determining that any working condition of the ladle penetrating leakage, the abnormal movement of the tundish car and the abnormal rotation of the ladle turret occurs on the continuous casting machine platform so as to enable the robot to execute corresponding escaping actions.
6. The escape method of claim 2, wherein the step of obtaining the location of the abnormal condition on the caster platform and comparing the location of the robot on the caster platform to determine an escape maneuver performed by the robot comprises:
monitoring whether the emergency buttons of the tundish car and the ladle turret are pressed or not so as to trigger the abnormal working condition;
determining that the abnormal working condition triggers the robot to execute a tundish escape action or a ladle escape action based on the upper and lower position relation between the abnormal working condition and a tundish cover plate of the continuous casting machine platform;
and determining whether the robot needs to exit the working state to execute escape action or not based on the upper-lower position relation between the robot and the tundish cover plate.
7. The escape method according to claim 6, wherein the step of determining that the abnormal condition triggers the robot to perform a tundish escape action or a ladle escape action based on the upper and lower positional relationship between the abnormal condition and a tundish cover plate of the continuous casting machine platform comprises:
monitoring the position of the abnormal working condition on the continuous casting machine platform, if the abnormal working condition occurs in a middle ladle of the continuous casting machine platform, enabling the robot to execute a middle ladle escape action, and if the abnormal working condition occurs in a ladle of the continuous casting machine platform, enabling the robot to execute the ladle escape action;
if the robot is in a casting position of the continuous casting machine platform and is in a working state of disassembling/assembling a long nozzle, determining whether the robot needs to exit the working state and put down a disassembling tool of the long nozzle according to the upper-lower position relation of the robot and the tundish cover plate, and then automatically resetting and prohibiting actions;
if the robot is in the casting position of the continuous casting machine platform and is in a working state of measuring temperature/sampling/adding covering agent, determining whether the robot needs to exit the working state and immediately lift according to the upper-lower position relation between the robot and the tundish cover plate, and then automatically resetting and prohibiting actions;
if the robot is in the packed position of the continuous casting machine platform and is in the working state of disassembling/assembling the slide plate cylinder, determining whether the robot needs to exit the working state and put down the slide plate cylinder according to the position of the abnormal working condition on the continuous casting machine platform, and then automatically resetting and prohibiting the action.
8. The escape method according to claim 7, wherein if the robot is in a casting position of the continuous casting machine platform and is in a working state of disassembling/assembling a long nozzle, determining whether the robot needs to exit the working state and put down a disassembling tool of the long nozzle according to an up-down positional relationship between the robot and the tundish cover plate, and automatically resetting and prohibiting the operation comprises:
if the robot cannot normally disassemble/assemble the long nozzle through the disassembling tool within the set time, automatically resetting and prohibiting the action;
if the abnormal working condition occurs when the robot takes the dismounting tool, the dismounting tool is directly put down, and the robot returns automatically and prohibits the action.
9. The escape method according to claim 7, wherein if the robot is in a casting position of the continuous casting machine platform and is in a working state of temperature measurement/sampling/adding of a covering agent, determining whether the robot needs to exit the working state and lift immediately according to an up-down positional relationship between the robot and the tundish cover plate, and automatically returning to the working state and prohibiting the action comprises:
and if the robot is positioned below the tundish cover plate, controlling the robot to withdraw from the working state, completing lifting and returning in 2S, and prohibiting the action.
10. The escape method according to claim 7, wherein if the robot is in the pack position of the continuous casting machine platform and is in a working state of disassembling/assembling a slide cylinder, determining whether the robot needs to exit the working state and put down the slide cylinder according to a position where the abnormal working condition occurs on the continuous casting machine platform, and automatically resetting and prohibiting the operation comprises:
if the abnormal working condition occurs in the middle ladle of the continuous casting machine platform, the robot positioned at the ladle receiving position is directly prohibited from acting;
if the abnormal working condition occurs in the ladle of the continuous casting machine platform, the robot positioned at the ladle receiving position is led to exit the working state, the slide plate oil cylinder is put down, and then the automatic return and the action inhibition are carried out.
11. A continuous caster platform robotic escape system comprising:
the monitoring module comprises a sensor and an emergency button, wherein the sensor is arranged on the continuous casting machine platform and is used for acquiring temperature information of the continuous casting machine platform, and the emergency button is connected with a tundish car and a ladle turret of the continuous casting machine platform;
the processing module receives the input information of the monitoring module and performs judgment processing to generate output information;
and the execution module receives the output information and controls the robot of the continuous casting machine platform to execute escape actions.
12. The escape system of claim 11, wherein the processing module obtains a position of the abnormal condition in the input information corresponding to the continuous casting machine platform, and determines an upper-lower positional relationship between the abnormal condition position and the robot position, so as to generate the output information to enable the robot to exit a working state when the escape action is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310495109.6A CN116511443A (en) | 2023-05-04 | 2023-05-04 | Escape method and system for continuous casting machine platform robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310495109.6A CN116511443A (en) | 2023-05-04 | 2023-05-04 | Escape method and system for continuous casting machine platform robot |
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| CN116511443A true CN116511443A (en) | 2023-08-01 |
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| CN202310495109.6A Pending CN116511443A (en) | 2023-05-04 | 2023-05-04 | Escape method and system for continuous casting machine platform robot |
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| Country | Link |
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| CN (1) | CN116511443A (en) |
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- 2023-05-04 CN CN202310495109.6A patent/CN116511443A/en active Pending
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