WO2010049162A1

WO2010049162A1 - Automation concept for a metallurgical plant or rolling mill

Info

Publication number: WO2010049162A1
Application number: PCT/EP2009/007764
Authority: WO
Inventors: Christian Plociennick; Hans-Wilhelm Schöck; Mark Moors
Original assignee: Sms Siemag Ag
Priority date: 2008-10-29
Filing date: 2009-10-29
Publication date: 2010-05-06
Also published as: TW201023998A; DE102009051145A1; WO2010049161A2; WO2010049161A3; TW201033372A; DE102009051146B4; DE102009051146A1

Abstract

The invention relates to a device in a metallurgical plant and/or rolling mill, comprising a robot (1, R7) having a robot controller with operating types and operating modes which influence an associated man-robot interface and are designed to be or are adapted to different automation degrees of the robot (1, R7). A solution is to be created, which allows a flexible adaption of a robot or robot system to different degrees of a man-robot interaction and a flexible use of a robot within the scope of work activities and work processes of a large-scale plant, particularly a metallurgical plant. This is achieved by a device of a metallurgical plant and/or rolling mill, comprising a robot (1, R7) having a robot control with operating types and operating modes which influence an associated man-robot interface and are adapted and/or are designed to be adapted to different automation degrees of the robot (1, R7) and/or to different temporal and/or local positions of the interaction partners, these being man and the robot, in a work space, wherein the robot (1, R7), particularly industrial robot, is associated with at least one protective region which is detected by detection elements interacting with the robot (1, R7), particularly industrial robot, and which in regard to the extension and functionality thereof is designed in a varying and/or variable way relating to the robot activity and/or robot working position and wherein the robot (1, R7), particularly industrial robot, is arranged on or at a displacement unit (72) that can be displaced on a path (70).

Description

Automation concept for a metallurgical or rolling mill

The invention is directed to an apparatus of a metallurgical plant and / or rolling mill comprising a robot with a robot control with an associated man-robot interface influencing modes and operating modes that are adapted to different degrees of automation of the robot and / or adapted.

It is known from the prior art to equip metallurgical plants or rolling mills as well as metallurgical and / or rolling plant-technical plants with manipulators or robots, in particular industrial robots. For example, for a long time there have been manipulators for coupling a shadow tube to a tundish or for transporting heavy stones when lining a converter. Fully automatic robots are also used, for example for coating coils or for spraying an electric arc furnace. Most of these applications have in common that the respective robot is adapted to the respective specific task and aligned with it.

As is known, for example, from WO 2005/118182 A1, the use of multifunction robots carrying out more than one task is also known, in which state of the art the robotic system is designed in such a way that it perceives several different activities on a casting platform can. A robotic system comprising a multi-function robot waiting for the bottom of a ladle within a ladle maintenance stand is known from WO 2008/025562 A1.

The robots known from the prior art, in particular multi-functional robots, can in principle perform different tasks. However, their functionality is usually directed towards fully automatic use.

At best, alternatively, the human being in his function as worker or worker can intervene in his work activity and functionality by means of a telemanipulation operating mode of the multifunction robot. During operation and in the operating state of the multifunction robot, the working space and the movement space of the robot and the person must remain separate at all times so that the robot does not endanger the person. However, fully automated solutions require a certain degree of necessary sensor technology or perception, dexterity and / or decision-making capability for the proper functionality of the respective robot in order to be able to carry out a work process. For complex work processes, such systems therefore reach their limits with regard to the costs necessary for their implementation, with regard to system stability and with regard to process reliability. Especially in metallurgical and rolling mill equipment, the need to make a qualified and quick decision about the further course of action on the basis of observation by the human being, ie the worker or the work staff working in the respective work area, often occurs during certain manual work. For example, during maintenance work on a ladle, decisions must be made as to which parts should continue to be used and which should be replaced. This requires not only the recognition of each state but also requires a certain degree of decision-making ability to make the right decision. In the solutions known hitherto in the prior art, the industrial robots are then exposed or locked or locked in such a case, and a worker enters the movement space and working area of the robot surrounded by protective fences in order to make the necessary inspection and decision. In work processes that are affected by a frequent change of work activities and observation or inspection activities, such a solution is unsatisfactory because the robot often must be shut down. Also, certain simple manual tasks make both for a fully automatic and a teleoperierten manipulator as technically disproportionately expensive or are characterized by an unfavorable cost-benefit ratio, because to replace the simple manual human activity, the robot system would have to be equipped with a highly complex sensors , Thus, the simple removal of a small security element such as a sapwood for humans is a simple manual activity, because he can visually detect the position of the sapwood and easily pull out by hand. In order to have the same task done by a robot, however, it must be provided with a complex sensor system which makes it possible to detect the position of the element, in this case the cotter pin. Only then can the robot remove the split pin. If this is done, for example with the help of a telemanipulator, this activity is also complex, unreliable and slow.

One way to alleviate this problem is to adapt the workstation and associated work equipment to automation. Thus, WO 2008/025562 A1 proposes a concrete implementation for a slide mechanism of a steel pan, which is then interchangeable with the aid of a robot. A disadvantage of this system is that the effort to make such an adjustment, causing significant costs and thus reduces the efficiency of a system equipped with it due to the associated investment costs. Thus, in the example described in WO 2008/025562 A1, each ladle must be equipped with the corresponding slide system and an associated attachment.

Another significant disadvantage of known systems is that, if necessary, the accessibility of the respective system is impaired in their application. In the case of manipulators, safety is the result of the responsible operation by humans, ie the respective operating per- In addition, in the case of conventional, fully automated industrial robots, it is necessary, by virtue of legal provisions (in Europe, for example, Directive 2006/42 / EC), to provide for separation of the working and moving range of the robot from the location of persons, ie operators.

Finally, it is known from WO 2007/057061 A1 to swivel out the active working robot from the actual working area, so that then the accessibility of the work area for operating personnel is possible. However, the pivoting away of the robot requires a certain period of time, so that in dangerous moments, if necessary, valuable time passes until operating personnel can enter the danger area and counteract the danger there.

In addition, work activities in large-scale installations, in particular in custodian plants, such as a metalworks or steel mills, as well as work activities on or in the vicinity of blast furnaces or reduction furnaces and rolling mills, are generally often associated both with an increased risk for the operating personnel operating there, and often with the connected to human body debilitating loads, which are classified as particularly questionable from an ergonomic point of view for humans. In particular, this applies to work activities that take place in environments subject to heat or emissions, or to activities involving heavy physical activity such as lifting weights.

For this reason, there are increasing considerations to automate such work activities. Industrial robots, preferably articulated robots, are particularly suitable for this purpose. These then take on dangerous or stressful activities for humans and partially perform the respective work processes in full or in cooperation with humans. Here- This reduces the risk to workers or operators.

Since industrial robots in their turn pose dangers for human operators, humans must be protected from the robots in large-scale installations. The respective regulatory framework to be followed is laid down in relevant industry standards, for example ISO 10218-1: 2006 and ISO 10218-2: 2008. Among other things, it is stated here that protective areas are defined around the respective industrial robot, which are separated from the area outside the protected areas by permanent protective fences or other permanently separating safety devices. In large-scale facilities, such as metal huts o- steelworks, but is not everywhere given the opportunity to establish such permanent security facilities, such as fences. For example, on a casting platform of a continuous casting plant, within the scope of the various work activities taking place there, areas can also be entered by the operating personnel who are otherwise designed as a protective area surrounding the industrial robot in a work activity to be performed by an industrial robot.

With regard to the equipment of robots with protective areas, it is known to assign a robot different protection areas. It is known from the field of welding technology, for example, that a robot cooperates with a worker and in this case the robot first supplies the worker with the prepared material for manual welding. During the welding process, the robot is in a fixed position. Upon completion of welding, the operator steps back and triggers a switch that moves the robot to the next welding position. The process continues until all welding spots have been set. The robot then places the final product on a pallet. Throughout the work process, the worker is completely protected. Because the robot only exploits its potential for speed, if the operator is outside the protection zone defined as the danger zone. On the other hand, if the worker maintains himself in a pre-protection zone defined as a warning zone, a detection element causes a reduced speed of the robot. If the worker enters the immediate area of protection, ie the welding zone, the robot stops immediately. If the worker leaves the protection area again, the robot continues to work. Regardless of this, pallets can be transported in and out by another worker with a forklift truck. However, so that no one is in danger, there are also floating shelters set up. If a person enters the danger area here, for example due to carelessness, the robot also stops. For this state of the art known from practice, it is thus known to associate a robot with areas of protection of different functionality, namely a warning zone and the immediate area of protection. A disadvantage of this prior art, however, is that here or the detection element (s) are assigned to a defined area as a protection area. If a robot now has to carry out various work activities at different work positions and thus different work spaces must be covered by the respective protection area at the work positions, either a correspondingly large protection space must be defined or several protection areas must be defined. In particular, the problem then remains that in the interaction of industrial robots and humans there are operations that make it necessary that the protected around the industrial robot protection area must be entered in the context of certain work activities by the operator.

The invention has for its object to provide a solution that allows a more flexible adaptation of a robot or robot system to different degrees of human-robot interaction and a more flexible use of an industrial robot in the context of work activities and workflows a large-scale plant, in particular metallurgical plant allows.

This object is achieved by a device comprising a robot with a robot controller with an associated human-robot interface influencing modes and modes of operation, the different degrees of automation of the robot and / or to different temporal and / or local positioning of the interaction partners man and robot in adapted to a work space and / or adapted, wherein the robot, in particular industrial robots, at least one of the robot, in particular industrial robots, cooperating detection elements detected protected area is assigned, which in terms of its extent and functionality robot activity-related and / or robot is formed working position related and / or variable and wherein the robot, in particular industrial robot, is arranged on or on a traveling on a roadway moving device.

The invention provides a flexible solution for the design of a robot system, its movement and work area and its mode of operation, a division of tasks task with temporal and spatial task division in interaction with human operators, created so that multiple tasks can be performed quickly and efficiently without being limited or limited by a fully automatic or remote-controlled design of the robot system. According to the invention, it is thus achieved that the possibilities of modern industrial robots can be combined with human perception and decision-making capability. For this purpose, in particular in metallurgical or rolling mill equipment or systems, a robotic system is assigned to a respective workstation, which can be flexibly adapted to several different activities within the respective work environment. The flexibility of the robot system is achieved by virtue of the fact that the system has different operating modes, which various forms of cooperation between a human worker or the operator and the robot system, as well as extended modes of operation. The robot control has been expanded to include these operating modes. For this purpose, various forms of interaction are introduced for the robot system, which enable a work-sharing task execution between the interaction partners robot and human in the form of workers or operating personnel with different characteristics temporal and spatial division of tasks. The various forms of interaction define the levels of temporal and spatial separation between the interacting partners robot and worker, within the movement or working space of the robot system. For example, a direct collaboration of workers and robots working together on the same work piece without their temporal and spatial separation would be one form of interaction commonly referred to as collaboration. This form of interaction also includes the process of direct observation, in which the robot autonomously carries out a work and is watched by the human being, who is in the robot's range of motion. Another interaction would be the sole working of the robot while remotely controlled by a human at a safe distance. Here then there is a local and temporal separation of the interaction partners in the workroom.

Here, the device forms a robot interaction system characterized by a plurality of robotic modes which, in addition to the usual (fully) automated operation, preferably add new and further modes of operation to the robot interaction system and the robot controller allowing for greater interaction with the operator or operator.

Such a new mode is the manipulation operation in which the

Robot is in the so-called manual mode. In manipulation mode, the robot is operated via a manual control, which gives the worker / worker the direct control of the axes and / or a Cartesian control of the end effector allows. In manipulation operation, a distinction is made between three modes with different functionality, which are differentiated according to the distance between the robot and the human operator.

In a first mode, the robot is operated as a hand-held robot. In this mode, human operators can guide the robot directly with their hands. This is achieved by force-moment sensors, which are arranged on the robot and measure the pressure which the respective worker exerts on the robot, preferably the end effector or a part of the robot to be moved.

Another mode is to guide the robot via a hand control. In this mode, the respective worker stands next to the robot, in particular within the movement space of the robot, and actuates the robot via a control, which is designed as a control panel in the form of a joystick or a combination of joysticks or as a space mouse.

Another mode relates to the teleoperated guidance of the robot via a hand control in which the human operator / operator stands outside the movement and working space of the robot, for example in a control room, and watches the robot remotely or through cameras, then the Manual control as may be performed in the above second mode. In manipulation mode, the operator / worker has the possibility of controlling the axes and / or direct control of the gripper / tool of the respective robot.

Another robot mode is the semi-automatic mode in which the

Robot sequences of a robot program automatically departs. In automatic mode, the robot provides the operator with a series of programming sequences that correspond to individual partial work steps of the respective work task associated with the robot and the robot interaction system. The operator can select individual work sequences and stop or start them as desired. In this operating mode, individual work steps are essentially carried out in the change between robot and human / operator. For example, the worker opens a door, steps aside, and then starts a short sequence of robot control, placing a heavy object in the opening. After the end of the automatically executed sequence, the human can close the flap again. The starting, stopping or selection of sequences can be done via an easy-to-use input device, a voice control or sensory detected gestures of the worker / operator. The semi-automatic mode also serves the intervention of the operator in a fully automatic program sequence if, for unforeseen reasons, it encounters problems or abnormalities are detected during the operating sequence in automatic mode. In this case, the operator can interrupt fully automatic operation and switch to semi-automatic mode, which allows him to repeat individual sequences or jump to another step within the program. The functions in semi-automatic mode are, for example, "pause", "dodge", "gripper off / closed", "play" (= reset in automatic mode) or "step forward / backward".) In semi-automatic mode, too to be changed the manipulation operation.

Furthermore, by virtue of the variability of a protected area provided according to the invention, both in terms of its extent and functionality, it is possible to assign each robot its own protected area or security area, which can vary depending on the work activity. It is no longer necessary to cover the working area with a protected area swept by a robot as a whole under various working positions. Rather, it is possible to assign a protection area to every work position. with the various protection areas not even having to overlap. It is also possible within the scope of the invention to assign different functionalities to a protected area. So it may be possible that in one case the protection area is assigned the function immediate shutdown of the robot, whereas in another working position the protection area is assigned only the function reduction of the working speed of the robot.

On the whole, this flexible design of the protected area and space or security area assigned to a robot or industrial robot and, consequently, the shelters of a large-scale plant equipped with several industrial robots, in particular a metallurgical plant, can be used to provide a holistic, complete safety and security system Assign protection concept.

In an embodiment, the invention provides that the operating modes and / or the operating modes can be switched on and off and the robot can be adapted to different functionalities and / or work activities by means of the operating modes and / or operating modes.

In all operating modes, it is ensured by appropriate design of the device and of the robot interaction system that the necessary safety of the worker / worker is ensured at all times. A robot system and the associated and associated work area are designed such that the different operating modes, such as Telemanipu- lationsbetrieb, collaboration mode or fully automatic operation, without complex conversion or retrofitting, especially the robot, can be operated in any change.

Likewise, the design is such that the accessibility of the metallurgical or rolling mill technology equipped with an inventive device Plant is maintained and escape routes in the case of sudden and dangerous events are not blocked by bars. This is achieved above all by the fact that the robot interaction system can be designed to a large extent without separating protective devices when using the robot interaction system according to the invention, so that no obstructing and / or separating grids are in the way if operating personnel / workers occupy the working space or working area of the robot must enter. The machine safety of the metallurgical or rolling plant system equipped with the robot interaction system according to the invention is realized by sensory monitoring of the working area and the use of safe controls and / or a safety sensor system instead of separating protective devices of the type described above.

The above-described flexible and / or universal robot interaction system formed by the device preferably consists at least of the components robot, safety sensor system, safe control and human-robot interface, which may be in the form of a hand control or voice control.

The robot used in this robot interaction system is preferably a universal, preferably freely programmable, industrial robot. Of course, the robot interaction system may also comprise more than one robot, for example two robots cooperating in terms of work robots and assist robots. Preferably, the robot (s) are six-axis movable, whose working or handling arm is equipped with a changing system for holding various tools, grippers or measuring devices. Preferably, the robot or robots should be designed for use in extreme working environments, ie in the hot and / or hazardous area of metallurgical or rolling mill technical or metallurgical plants. Such equipment will marketed commercially today under the name "foundry" equipment, whereby the grippers and tools are of course to be designed accordingly.

The invention is therefore also characterized in an embodiment in that the robot is arranged in particular industrial robot, at a metallurgical or rolling plant technical plant and assigned there a workplace or work area.

In a further embodiment, the invention finally provides that the robot, in particular industrial robots, is assigned a safety sensor system comprising a sensor or a combination of sensors, which detects the presence of a human in a safety area and / or entrance area and / or detection area assigned to the robot working area.

The safety sensor system preferably consists of a combination of various sensors suitable for detecting human presence. The sensor system is designed in such a way that human presence, for example entering the work area, is detected with a degree of safety, so that the overall system meets the requirements of statutory regulations and guidelines such as the Machinery Directive 2006/42 / EC.

To achieve this, the safety sensor system comprises individual sensors, but as a rule a combination of sensors, whereby the different sensor types can also be present multiple times and also redundantly. For example, laser scanners, light curtains, light barriers, cameras with depth detection, infrared cameras, ultrasonic sensors, step mats, RFID (radio frequency identification), scanners or force-moment sensors are suitable for use as sensor in the safety sensor system. Also, door contacts or switches that allow a worker to enter the robot interaction system. To indicate to the safety sensor system that the work area will be entered are suitable elements for use in the safety sensor system. The elements of the safety sensor system, such as the sensors used, are selected to suit hulk or mill environment operational conditions and to operate safely despite the high levels of dust and heat exposure there. In this case, in the design of the safety sensor system resulting from the work environments lower reliability and life, as may occur, for example, in optical sensors in the field of application with high dust levels, taken into account. A further task of the safety sensor system is to monitor the assigned workstation or work area with regard to dangerous conditions, in particular system conditions that are not necessarily immediate and primarily due to the movements or activities of the robot, but rather from the condition of the system or the workplace conditions originate. Thus, for example, temperature-sensing sensors are provided, which are not only suitable to perceive human presence, but are also able to detect hot surfaces or liquid steel, so that dangers can be detected in production accidents or failure of equipment. The system also increases the safety of operating personnel and workers in the respective work area with messages about potential danger zones. In addition, sensors for detecting toxic or harmful process gases, for example carbon monoxide, may also be integrated in the safety sensor system in the sense of ergonomic and / or occupational safety monitoring. The signals determined and / or processed by the sensors and the safety sensor system are then fed to the robot controller or also assigned safety system, which then possibly trigger an alarm in the event of danger and / or shut down the robot, for example, or drive it out of the danger zone in the case of a mobile robot , The very essential element of the robot interaction system formed by the device is the robot control, which on the one hand enables the different forms of interaction between human and robot and on the other hand ensures that the human is not endangered or in particular injured by the robot. The robot controller is equipped with the following functional features and functionalities that they control and / or influence: the robot controller generates and / or monitors a safe limitation of the robot speeds (Cartesian and axis-related);

a safe limitation of the range of motion, for example by virtual walls, that is to say a protective area for the robot, which can change in relation to work place and / or work activity;

a safe operating stop of the robot in any position

and safe braking ramp monitoring.

Another component of the robot interaction system is the human-robot interface, which enables different interaction forms between human and machine / robot. In the case of an interaction form in which there is no temporal and spatial separation of the interaction partners, ie if both interaction partners are located in the work and / or protection area of the robot, the human-robot interface allows the worker to operate the robot system, directly observing the plant states from the next Proximity, preferably within the range of movement of the robot, and, if necessary, the intervention in the process, the robot interaction system is then equipped in particular with an operator, the human, to be operated consent device or an electromechanical approval switch. An enabling switch is understood here to mean a switching device which must be constantly actuated, so that control signals for dangerous states can become effective. Approval devices or electromagnetic approval switches can be designed as a universal 6D input device, for example a so-called space mouse. But it is also possible to form this as mounted in the robot hand or the robot end effector force-moment sensor, which allows an intuitive guidance of the robot while maintaining the required safety. But it is also a version with built-in voice control possible. This has the further advantage that the respective worker or operator can move freely in the working space of the robot. In all embodiments, the consent device is an essential part of the control, as well as a recognizable and detectable for the respective operator or worker visualization or visualized representation of the next planned step, so that the temporal next movements of the robot for the worker is not surprising.

In an advantageous embodiment, the invention further provides that the robot, in particular industrial robot, which performs at least one of a hot and / or hazardous area having metallurgical plant or rolling mill operating equipment assigned in the context of a metallurgical plant or rolling work in the hot and / or danger area , This is the operating personnel and the workers are relieved of activities in the hot and / or danger area. In particular, the respective robot forms an interface to the hot and / or danger area, so that the invention further provides that the robot, in particular industrial robot, is arranged such that during the operation of the mill or rolling mill of task forces / workers in connection with the work activities of the robot, in particular industrial robot, manually to be performed activities, in particular Zuarbeittätigkeiten, at least substantially outside the hot and / or danger area are feasible. In order to increase the radius of action of the robot this is equipped with his working space magnifying means. These means include roadways and / or moving devices and / or chassis, which allow mobility of the robot. In an embodiment, the invention in this context provides that the robot, in particular industrial robot, is arranged on or on the movable displacement device relative to this movable.

Due to the fact that according to the invention not only the traversing device can be moved, but is also movably arranged or mounted on the traversing device or on the traversing device of the robots, in particular industrial robots, a 2-axis or as robot gantry or overhead crane robot is now a 3-axle one Movement of the robot possible with the help of the track. This increases the radius of action of the robot that can be moved with it. In particular, it is possible to arrange the three axes orthogonal to one another, which is realized in the case of a gantry crane robot or overhead crane robot.

A particularly expedient and easy to implement possibility of the design of the traversing device or unit is that it is designed in the form of a moving on a running rail as a roadway carrier in the manner of a crane carrier and with a movable relative to this carrier chassis of the industrial robot in the manner of a Crane trolley is provided. The invention therefore provides, in an embodiment, that the traversing device comprises a crane carrier-type carrier which can be moved on the roadway and on which a running gear mounted on the robot, in particular an industrial robot, is movably arranged in the manner of a crane trolley.

With the aid of the invention, it is thus also possible to position the robot or industrial robot or a charging device or a handling machine at a location remote from the actual place of use or area of operation during the period of non-use, and then to place it in the working mode. position to proceed. By this combination of the moving device with the robot or the Hantiereinrichtung or machine innumerable combinations of such devices or devices are possible. Here, the traversing device may be part of the robot or part of a casting or casting platform or the metallurgical, metallurgical or walzwerkstech ni plant, but also be completely separate from the actual casting machine or system built. It is also possible to retrofit existing systems using such a combination of carriageway and traversing device and robot.

The robot can be moved into a rest position arranged outside its at least one working area. In order to be able to flexibly and variably position the robot in relation to the chassis, the traversing device may comprise a device or telescopic device which supports the industrial robot or forms part of the industrial robot. The industrial robot is associated with a controller that makes it possible to use it flexibly. It is thus possible to expand the control by programming additional tasks and to thereby supply the industrial robot to further fields of application and areas of activity, or to have other activities carried out by the latter. In this case, the controller can also be designed such that variable or fixed program sequences are executed by it or by means of it. It is also possible to create the tasks to be performed by the industrial robot variably by, in particular, freely programmable or parameterizable process sequences. In this case, it can furthermore be provided that the displacement device and the industrial robot are or are assigned a common or separate control device (s). It may also be advantageous if the industrial robot process-controlled and / or automated in the workflow of metallurgical, metallurgical or rolling mill plant is integrated. Depending on the place of use, the roadway and thus the intended travel path of the industrial robot can be adapted flexibly to the respective local conditions and along the travel path or the roadway the most diverse functional and activity areas for an industrial robot can be formed and arranged. The industrial robot can therefore be assigned or assigned along the travel path along the roadway one or more rest positions and / or work activity positions and / or supply, equipment and / or maintenance positions. In the rest positions, the industrial robot can remain while its use is not necessary. Such rest positions are expediently so far outside the other peculiar lent production or danger area that the industrial robot in this rest position, the other production that takes place in the respective metallurgical, metallurgical or rolling plant technical facility, does not bother. In addition to the operating positions of the industrial robot can then be provided along the track and special supply or equipment items. In these positions, for example, the robot is equipped with special tools, or tools are changed at these positions or, for example, samples taken by the robot are taken from these. Finally, maintenance positions can also be provided on the track, in which the robot is subjected to an inspection or even repaired, for example. Since, according to the invention, the traversing direction can be designed in the manner of a crane with a trolley, it is finally also possible that lifting operations can be carried out by means of the traversing device. It is therefore also possible to use the traversing device of the industrial robot in the manner of a hall crane for carrying out lighter lifting activities.

The robot is then particularly advantageously designed as a gantry crane robot or bridge crane robot, for which reason the invention furthermore provides for the robot, in particular industrial robot, to be designed as gantry crane robot or overhead crane robot. Along the route, the abovementioned rest positions and / or working position and / or supply, equipment and / or maintenance positions can be arranged at any point along the formed track.

The invention also encompasses the aspect of equipping a large-scale plant as a whole as well as the individual industrial robots or robots arranged therein such that an identification and definition of different protection areas or safety areas within the plant take place dynamically to the respective working activity of the robot which is used in each case Automation systems and / or the respective state of the large-scale plant are adaptable or adapt themselves by varying the protection or security area, if desired, automatically and automatically. Such an adjustment may be due to the state of the system, possibly determined by the respective production and / or process state or an emergency situation, for example, depending on the state whether just steel is shed or not, even if take place at the work activity the robot has not changed anything.

Within the scope of these variable design options, the invention provides in an embodiment that the robot or industrial robot, in particular associated protection area or security area in a method of the robot, in particular industrial robot, is carried by the latter.

The particular variability and flexibility of the device results according to a further embodiment of the invention by a plurality of their respective working position associated protection areas of different dimensions and functionality. It is therefore envisaged that the extent and mode of action (functionality) of a protected area or security area may change or at least change depending on the working position of the robot or industrial robot. An expedient further refinement then also consists in that a protection area comprises a main protection area, upon entering of which the robot is immediately immobilized, and a preassembly area, on whose entry the working speed of the robot is immediately reduced.

In order to take account of the particular risks associated with a process, in particular a self-contained motion on a robot or industrial robot, the use or the use of manual control to carry out the process or other movement of the industrial robot in the industrial scale can be used Plant be provided. But it is also possible that the robot is automatically moved, which is possible, for example, when it is arranged on a roadway or on a crane runway, in which case the protection area is traversed and it thereby possibly changes in terms of its spatial extent.

In the context of the design of a protective or security area, it is also possible that a protective or security area can be unlocked by manual operation of a robot control release device by an operator while maintaining the, preferably slowed performed, Arbeitstä- activity of the robot for entry by an operator.

Overall, four categories of protection or security areas can be provided in the design of an industrial large-scale plant, for example. These can be divided into the following categories: areas of permanent danger.

Areas with acute high risk (main protection areas)

Areas in close proximity to the main protected areas (pre-protection areas)

Area without acute danger. The areas of permanent danger should be as completely inaccessible to operators as possible, for example, completely fenced. The main protection area is the immediate working area of the industrial robot.

The areas may be monitored and optionally defined by single or different detection elements cooperating in combination. As detection elements a variety of sensors such as contact mats, laser scanners, photoelectric sensors, RFID (RFID = Radio Frequency Identification) scanner, cameras or the like in question. In addition, the protection areas can also be marked and visualized by markings as well as by so-called augmentation reality projections in screens or control panels. In this case, on the screens or image panels the operator virtual (e) additional information about the possibly software technically limited working space of the robot at its current activity in the real environment can be displayed. In this case, the combination and combination of the various sensors forms an overall monitoring system, possibly including special visualization systems, which ensures a reliable and stable effect and development of the protection area variably associated with the respective industrial robot.

With regard to the main protection areas, it is provided in a known manner that in the event that a person penetrates a main protection area defined by a fixed or steadily positioned industrial robot while the robot is moving at full speed in an automatic mode, for example Robot immediately shut down or shut down. If, on the other hand, a human being enters a defined pre-protection area of the fixed robot, the maximum speed of the robot is reduced. The main protection area itself can only be entered without a shutdown of the industrial robot, if a manual approval device or a manual actuation of a robot control device by an operator takes place. If there is no such manual operation, once again an immediate shutdown or shutdown of the industrial robot takes place.

The process of the industrial robot from one working position or station to another can also be controlled and carried out manually by an operator who has the industrial robot in view at all times. During such a journey, the axes of the industrial robot itself are secured so that there is no risk for an operator due to unexpected movements of the industrial robot.

Industrial plants equipped with the described industrial robots or robotic systems, in particular metallurgical plants, comprise all workplaces in metalworking or smelting plants of steel works, on blast furnaces or reduction furnaces as well as on all types of rolling mills and their finishing and inspection lines. It also covers all workplaces that are operated in foundries and in forging presses and continuous casters. All kinds of jobs in continuous casting plants in a steel mill for the production of metal strands of any cross-section of liquid metal, in particular of liquid steel, are to be subsumed under it. The latter are, in particular, single-strand or multi-strand casting plants for the production of metal strands with slab, thin slab, billet and billet cross sections and of metal strands with any profile cross sections.

A working area to be equipped with a device according to the invention is, for example, the pan receiving area associated with a casting machine. In the ladle receiving area, it is possible to work with a static protection area of the category permanent endangerment, as all work involved in this case, such as changing cylinders or connecting fully automatic can be siert so that there is no need for intervention by operating personnel. It therefore makes sense to equip this protection area with a possibly movable, but permanently installed, separating safety device, for example a mobile fence. The industrial robot located in the fenced-in protection area does not overlap at any point with respect to its work activities to be carried out and the associated work positions with a zone or an area in which operating personnel can be located. The protection of this protection area can be done via a closing contact on the safety device, preferably the fence.

In the actual casting area of a continuous casting plant, various areas can be provided.

In the field of ladle, a number of activities are to be carried out, such as the coupling of the shadow tube, the free running of the pan, the activation of the ladle, which serve industrial robots with a great functionality and a wide field of application, which may make it appropriate that some of the activities or by the operator. For this reason, a two-part protection concept is provided. On the one hand, a main protection area is defined, which is covered by sensory area monitoring by means of a detection element, so that it is possible to determine whether an operator is located within the main protection area and thus the working robot's working space covered by this. If no person is in the main protection area, the industrial robot operates at full speed. If the presence of operating personnel in the main protection area is ascertained or at least suspected, the robot is only operated with a "manually low speed" works council using a manually operable consent device. In the area of the distributor, there are a number of activities in the casting area which require an industrial robot with a small operating radius. The field of application or the working space of the robot is such that operating personnel can not stay in this area and may, for example due to the high temperatures prevailing there. An additional risk due to the activity of the robot is therefore not given to the operating personnel at this point.

In the area of the mold of the casting area several work activities have to be performed, which can be done by an industrial robot with a small, small working space. Here, however, there is the problem that in this area are also required to be performed by the operator work activities, in which case the working space of the industrial robot overlaps with the work space to be entered by the operator. Here, in turn, the two-part protection concept, consisting of a main protection area and a preassembly area, as described above for the area of the pan, is used. The work of the industrial robot at full speed is in this case only possible if it is ensured that no operating personnel is in the main protection and / or Vorschutzbereich.

Another field of application for industrial robots is in the field of continuous casting plants in there to be performed manipulations and / or sensory measurements on the strand or the slab. Since the space problem in this area is negligible, in contrast to the conditions on a casting platform of the casting machine, conventional areas such as protective fences can be used to delineate the protection areas in these areas. Protective fences may also be provided in the area of the tundish workshop, which belongs to the area of a continuous casting plant. In addition to masonry and surveying activities, the refractory material is poured into masonry, with all the activities of industrial can be done or supported. Since these individual or individual steps in the area of a tundish workshop do not have to take place in parallel and do not have to take place under time pressure, conventional working techniques can also be used here.

In order to adapt the robot interaction system, which has been described in greater detail above and below, to the respective work station or work area to which the robot having the robot interaction system is assigned and to determine the respective operating modes and operating modes required for the specific task, the procedure is as follows: First, a detailed analysis of the work processes and individual activities taking place at the respective workplace or work area is carried out. Individual activity steps that build up and assemble the individual activities or work processes are evaluated individually according to whether they are more suited to robot-based activities or to human-related activities. Ergonomically and safety-friendly activities are assigned to humans, while dangerous or heavy activities fall to the robot. Furthermore, sensorially complex and harmless work are assigned to humans. Another group is activities that pose both high exposure or high risk, as well as an inspection and subsequent human assessment. In this group, the robot and the human then work together in direct interaction in the same working space of the work area or work station of the robot.

The respective mappings can be easily stored in a respective operating mode, such that a plurality of operating modes or operating modes, which then comprise forms of interaction and derived operating modes, in the robot controller or stored on a memory cooperating therewith, so that the robot interaction system thereon Has access. The implementation of the individual human-robot interactions in an operating mode or an operating mode now forms in each case the sequence in which the human-robot team solves the task in question together, wherein pure robot activities can be carried out in the absence of humans, which is a higher operating speed of the robot is allowed, since the safety controller must then take no account of the presence of operators in the working area and / or protection of the robot. Likewise, the robot may be shut down when human activity to be performed by the operator or the operator is to be performed at a given time over a certain period of time.

Furthermore, the operating modes are designed so flexible that it is always possible for an operator of the respective robot or robot interaction system to intervene in the given, programmed workflow and make manual intervention, if depending on the individual case for unforeseen reasons, the continuation of the programmed fully or partially automated Solution seems inappropriate from the operator's point of view.

Furthermore, it is also possible to connect the robot interaction system to the higher-level process control system which is assigned to the respective metallurgical or rolling mill plant, so that the current operating mode of the respective robot, in particular industrial robot, is the work progress to be performed on the respective workstation or working area of the robot Activity and / or sensory detected detection results that provide sensors arranged on the respective robot or in the environment of the robot are signal forwarded to the higher-level process control system and reported.

Overall, a system is created using the robot interaction system that makes it possible to use a robot universally, but not only for operation in an operating mode or a mode of operation "fully automatic operation", but also in operating modes or operating modes in which an interaction of human / worker / operator and robot takes place, wherein the human and the robot are temporally and spatially together in the working and movement area of the Robot and humans are temporally one after the other in the same spatial area of the movement or work area of the robot or where the robot and man spatially in separate positions and possibly also temporally in the sense of at different times present or active and yet interact in interaction to accomplish a common task, unlike the prior art whereby either the robots are programmed for particular activities and both temporal and local separation of robot activities and human T activities in the field of metallurgical or rolling technology

Plants takes place. In known metallurgical plants, according to the current state of the art, no simultaneous interaction of robot and human takes place. As soon as a human enters the working area of the robot, the robot is shut down. Then the human being can carry out his inspection or maintenance work. Then the human leaves the working or moving area of the robot again before the robot reacts. In contrast, the robot interaction system according to the invention makes it possible for human beings and robots to enter into work-related interaction without temporal separation and / or without local separation. For example, it is possible that both, ie human and robot, in the same work area, in particular in the working area of the robot, although different handles or activities, but this run simultaneously, so that no temporal separation between the robot activity and human activity is present. In addition, it is possible to perform an interaction in this working or moving area of the robot in such a way that, for example, the human carries out a first activity and the robot then takes up and further processes the work result. In this sense There is no local separation between human activity and robot activity. The further possibility consists in the complete cancellation of a local and temporal separation, which is given, for example, when, in a movement or working area of the robot, the human being and the robot virtually work hand in hand, that is, if the human hands the robot, for example, a workpiece, which takes this and then further processed. With the aid of this flexible robot interaction system, it is possible to increase the possible applications of robots in the field of metallurgical, metallurgical or rolling mill technology. This leads to an increase in occupational safety, an improvement in the ergonomics situation for the workers / operators, but also to a quality improvement. This is achieved with the aid of the robot interaction system, which further develops the robot equipped with it into a flexible automation system for handling the most varied forms of interaction between human and robot, and which enables work-sharing tasks, executions and implementations with temporal and spatial division of tasks between human and robot. With the aid of the robot interaction system, the robot is equipped with a multitude of possible functions, operating modes and operating modes, so that it has not only the basic function of an automated handling operations or operations analogous to the cutting function of a knife performing function comparable to a so-called Swiss knife, but about it In addition, similar to the Swiss knife further tools in the form of operating modes or operating modes includes. Such a flexible or universal robot interaction system comprises at least the components robot, safety sensor system with the functions of detecting human presence and monitoring the workplace for dangerous conditions, robot control and human-robot interface, for example in the form of a hand control or voice control. The flexibility of the robot interaction system is achieved by the system having different modes of operation and / or modes of operation, each providing different forms of cooperation and interaction. mimic and tolerate the interaction between a human worker and robotic operation, as well as extended modes of operation. The various operating modes and / or operating modes are either stored directly in the robot controller or stored in memory elements interacting with the robot controller.

In order to make the system particularly flexible, it is possible to arrange the robot movably on roadways, these roadways can also be designed in the form of crane runways. This makes it possible to further increase the range of motion and the associated possible uses of the robot equipped with a robot interaction system.

This is further supported by the fact that the robot is assigned depending on its task dynamically changing protection areas or shelters, which can be robotic workplace related or robot activities related training or training.

Since the cooperation of human and robot, ie a human-robot interaction, is provided within the scope of the invention, the respective industrial robots can be equipped with a scalable degree of automation that is different depending on the application. Scalability ranges from a robot that is almost completely human-controlled, to the one endpoint of scalable automation, to a robot that performs its tasks without any human control, as the other end of the automation scale. Here, the degree of mechanization / automation of a robot increases with increasing degree of automation, while at the same time reducing the human operating effort. At the lower end, scalable automation stages are, for example, a tele robot, which is controlled as a pure telemanipulator by the emergency personnel / worker. The next step is the combination of the teleroboter, which performs teleoperations, with manual work, which a worker without hands-on performing facilities. A next step, for example, is that a semi-automated assistance or work robot independently carries out subtasks and, in interaction with this, carries out manual work steps for the worker. The next step can then consist of a combination of teleworking with a telerobot, with partially automated steps performed by a robot, and with manual steps performed by the operator. In this case, the robot is expediently designed in such a way that it can be switched both as a (freely) programmable industrial robot and partially automated processes as well as in the pure telemanipulator mode as a telerobot. The highest level is then the complete automation of the entire work occurring at a metallurgical plant or a metallurgical or rolling mill technical plant, which were previously carried out for example by a worker. Various robots can then work together fully automatically so that an assistance or working robot can perform work activities in combination with a service robot.

Likewise, it is possible to equip the respective industrial robot scalably with the respectively required "machine intelligence." The corresponding "machine intelligence" is determined by the sensory capabilities with which the particular robot, in particular industrial robot, is equipped. While an industrial robot with no sensory abilities as a "blind" robot remains limited to tasks that only exploit the power and lifting capacity of the robot, a robot with sensors and associated "machine intelligence" can handle significantly more and more complex work activities. However, an increase in "machine intelligence" is also associated with an increasingly complex control, but this is accompanied by the increased number of possible work activities and thus possible applications. "For example, levels of scalable" machine intelligence "are exclusively coordinate driven at the lower end "Blind" robot without sensors The next stage could be represent an industrial robot formed with a simple sensor, such as a light barrier, followed by a stage of an industrial robot with simple, external environment sensory sensing that is under at least partial human control and handling. The next step could be a robot with a complex sensor system, for example a camera system, which is able to perceive and assess the external environment and to act in a situation-dependent manner. The highest level would then be a robot with a comprehensive, complex, superior to humans sensor technology, such as an industrial robot, which is equipped with high-resolution cameras, such as thermal imaging cameras, and processes the signals received in an associated evaluation and control unit. In particular, this relates to so-called autonomous robots or cognitive robotic systems.

These industrial robots, equipped with a scalable "machine intelligence" and a scalable degree of automation, are used in the field of metallurgical, metallurgical or rolling mill technology in such a way and in combination with each other, but also in combination with manual human activity, that the basic idea and basic concept of an ergonomic and safe Working at the respective metallurgical plant facility.

In this case, it can then also be provided that each robot is assigned one or more protection areas which are designed to be different in size, dimensioned and varying depending on the robot's work activity or the robot's work position. This idea also supports the basic concept of ergonomic and safe working in the field of a metallurgical plant at the individual metallurgical plant facilities. In order to be able to have the transfer of activities or the continuation of activities by humans outside the hot and / or hazardous area of the respective installation carried out in the human-robot interaction, it can also be provided that the respective industrial robot can be moved in the area of The plant of the industrial robot can be flexibilized and enlarged and the safe transfer of activities or workpieces or the like to the worker outside the hot and / or danger zone of the respective metallurgical plant facility or the work or work area.

The invention is explained in more detail below by way of example with reference to a drawing. This shows in

1 is a schematic representation of a first interaction form of robot and operator,

FIG. 2 is a schematic representation of a second interaction form of FIG

Robots and operators,

Fig. 3 shows a third interaction form of robot and operator and in

4 shows a schematic representation of an application area of a robot in connection with a bridge crane.

FIGS. 1-3 show the modes of action of a device according to the invention forming a robot interaction system on the basis of a pan stand 7 of a metallurgical plant during inspection and maintenance of a pan slide 8 on a steel pan 9. the work activities. 1 schematically shows the work activity of the firing of the pouring channel, FIG. 2 shows schematically the activity of opening the pusher box and FIG. 3 shows schematically the activity of inserting a new pusher plate.

The pan stand 7 represents a device of a metallurgical plant or rolling mill in the sense of the invention, which is equipped with a protected area or security area 4, which is detected by detection elements. In a manner not shown, the protective or security area 4 is formed in terms of its extent and functionality robot activity-related and / or robot working position related varying and / or variable. In addition, the robot 1, in particular industrial robot, arranged in a manner not shown on or on a traveling on a roadway moving device. The robot 1 may be assigned a roadway in the form of a crane track consisting of two T-profiles, wherein then a movable driving device in the form of a moving device is arranged on the roadway and thus on the crane runway. This movable driving device can be designed in the form of a movable crane carrier-like carrier, which is guided and moved along the roadway or the crane runway. On such a crane carrier-like support a chassis in the manner of a crane trolley can then also positioned and arranged movable. The chassis is thus arranged transversely and orthogonal to the running direction of the movable carrier. An industrial robot or robot 1 or a handling machine is fastened and arranged on the chassis. The robot 1 then preferably comprises a telescopic device having two telescoping arm sections arranged at right angles to one another, the arm sections being rotatable on the one hand and retractable and extendable on the other hand so that a height-adjustable positioning of the arm section is made possible by means of an arm section. As a handling tool, one of the telescopic arm sections is equipped with a gripper tool, so that the robot 1 has the desired functionality. By the Order of the robot 1 on the relative to the movable on the roadway crane carrier-like carrier also movable chassis, he is not only by the rotation and retraction and extension of his telescopic arms or arm sections, but also biaxial once along the road and once across the road movable and movable. This opens up a greater variability with regard to the movement and travel possibilities of the robot 1. The roadway can be designed as a circular track guided crane system, but also as a rail-guided circular path or partial circular path. Along the thus extending roadway, a plurality of working-work positions are arranged and formed, at which the robot 1 performs respective defined work activities.

The work activities to be performed take place in an interaction of human / worker / operator 2 and robot 1. The robot 1 is equipped with a robot controller having an associated human-robot interface, which together form part of a robot interaction system that includes modes and modes of operation that affect the human-robot interface. These different operating modes and operating modes are adapted and / or adapted to different degrees of automation of the robot and / or to different temporal and / or local positioning of the interaction partner human 2 and robot 1 in a work space.

In the exemplary embodiment according to FIGS. 1 to 3, the robot 1 is further associated with a monitored protective or security area 4, which is delimited by two monitored entrance areas 5 and a wall section 6 and the area of the steel pan 9 to be machined. Both the security area 4 and the monitored entrance areas 5 are controlled via the robot control in dependence on a respectively selected one with the aid of sensors which each form a safety sensor system and in particular react when a worker or operator 2 enters the security area 4 Operating mode and depending on the active mode corresponding robot actions trigger. These may be that the robot 1 enters into an interaction with the entering worker or operator 2, that the robot 1 slows its operating speed, that the robot 1 is stopped and / or that the robot 1 is returned to a rest position. But other actions can be triggered by the safety sensors.

FIG. 1 shows a first interaction form of the human-robot interaction in which a local and temporal separation of the two components human 2 and robot 1 is present and the robot interaction system is in a fully automatic or telemanipulation operating mode, with the operator 2 being the latter Manually controls the robot 1 using an operator console 3. In the work activity of burning the pouring channel shown in FIG. 1, the robot 1 carries out this burning operation, since this activity is assigned to the robot 1 due to the associated risk potential. The robot 1 burns the pouring channel completely autonomously, in the absence of the operator 2, ie while the operator 2 is outside the monitored safety area 4. In exceptional cases, a burning of the pouring channel by telemanipulation is conceivable. In this case, the operator 2, which is still positioned outside the security area 4, then controls the robot 1 by means of his operator console 3. In this interaction form, the worker / operator 2 is outside the movement and working space - and thus the monitored security area 4 - of the robot 1 , the controller, in particular in the form of the above-mentioned safe control or safety control, can move the robot 1 at full operating speed. This happens until the sensor security system monitoring the security area 4 and / or the entrance area 5 or the security sensor system assigned to it detects the presence of persons. If a person, for example a worker 2, enters the monitored security area 4 or passes through the monitored security area 4 The input area 5 thus leaves the robot 1 sufficient time to carry out the setting of the firing process brought about by the robot control and to shut down or the current work process.

FIG. 2 shows, as a second form of interaction, the time separation of robot 1 and worker / operator 2, wherein there is no local separation, since both the robot 1 and the worker / operator 2 are located in the monitored security area 4. In this position, the robot 1 is preferably operated in the semi-automatic mode. In this positioning, the operation of opening a pusher box is performed. This work activity is neither ergonomically stressful nor dangerous for the operator 2; on the other hand, the sensory outlay to be operated in order to equip a robot 1 in such a way that it could carry out this work activity fully automatically would be very great. According to the philosophy underlying the robot interaction system and explained above, therefore, an operation mode in which the operator or worker 2 performs this work while the robot 1 is safely stopped is selected for this work.

FIG. 3 shows, as a third form of interaction, the temporally and spatially joint cooperation between robot 1 and operator 2, so that there is no local or temporal separation between robot 1 and operator 2. In this form of interaction is in the embodiment, the mode of operation semi-automatic or manual operation, by means of which the work activity of the insertion of a new slide plate is carried out in the bottom of a steel pan 9. Since a pusher plate has a considerable weight, this process of inserting a new pusher plate for a human operator 2 would be problematic from an ergonomic point of view. On the other hand, however, the insertion of the slide plate in the bottom of the steel pan 9 requires a precise perception of local conditions. Due to these conditions is in this case by means of Robot interaction system now performed a human-robot interaction such that the robot 1 in the presence of the worker 2 in its movement space, the slide plate transported in the immediate vicinity of the steel pan 9 and then controls the operator 2 by means of its operator console 3, the robot 1, so that controlled by the operator 2, the slide plate is used to terminate this work or this operation in the valve body at the bottom of the steel pan 9.

The robot 1 can be designed as a stationary robot with a singular work area for recurring, repetitive activities. However, it is also possible to provide embodiments in which several robots work together and each perform different activities or interventions on a metallurgical plant or a metallurgical or rolling mill plant or device, such as a continuous casting in a steel plant, then in particular as mobile Multifunction robot are formed.

On the whole, the invention accordingly provides, in particular by means of the moving unit, a working space widening device on which handling devices, preferably robots, can be or can be arranged in a different design, axle number, carrying capacity and control mode. Exemplary of the usable design and embodiment of the handling devices are cable pull robots, Scara- and articulated robots or parallel kinematics and their combinations named.

The (robot) working space expanding device can be designed for example in bridge crane or gantry crane form and their combination.

Special types, such as combinations of industrial robots with a gantry or overhead crane, combine the advantages of a workspace-expanding portal cranes and bridge cranes with the enormous potential of modern industrial robots.

In the embodiment as a bridge crane, elevated areas are erected above a respective area comprising several workplaces (ie supporting structures such as racks or supports are connected to the floor) or corridor-free (ie fixed to the ceiling or wall) on which at least one crane bridge equipped with trolleys is arranged, on which in turn is also equipped with trolleys trolley, which in turn has a guide column with drives for vertical movement and at the end of a handling device, preferably an articulated robot is attached. The handling device can be upright, overhead or laterally mounted. Depending on the design of the movement axes and joints of the handling device, work spaces of different shapes, such as cuboidal or cylindrical, result up to spatially, e.g. with the rope pull robot

In the bridge crane design, various embodiments can be used: The arrangement as a linear bridge crane, which spans its working area like a line (line portal) or the arrangement as a jib bridge crane is possible. For short distances an additional movement is orthogonal to the crane longitudinal axis feasible with a boom portal and in an embodiment as a surface bridge crane, the handling device can be positioned anywhere on a large area (area portal).

Advantageously, a conventional hoist winch may be mounted on the same crane bridge to the handling device.

In the execution as gantry crane, floor-mounted rails for the supporting structure / frame are installed above an area comprising several workstations in each case, so that they can run on a floor-level rail. the rail track / track career of the gantry crane can be moved. Alternatively, it is possible in the context of a trackless variant to move the gantry crane on wheels or equipped with a crawler chassis. The further construction of the gantry crane corresponds to that of the bridge crane superstructure.

Depending on the selected design of the working space widening device (linear boom and surface gantry) arise corresponding line or surface-shaped or spatial workspace extensions.

In the (robot) working space expanding device in a design as a combination of bridge and gantry crane rails are both mounted on supporting structures (elevated construction) and additionally arranged on the ground to allow the method of the support structure / the frame. This can also be done in the two variants as described above

Due to the multi-workstation spanning design of the device, the rails can be arranged in the rail and track-mounted design outside of areas at risk from leaking liquid steel.

The requirements for the construction of the proposed device for use in metallurgical and rolling mill equipment (hot areas, handling and transport of several hundred kilograms to tons heavy parts in the immediate vicinity, use for large and heavy machinery) are very complex, so that each executed construction is designed to be stable and robust.

The advantageously so chosen embodiment makes it possible, every point within the working space widening device given by the working space reach a robot and thus allocate an arbitrarily large number of workstations.

If this so selected design is additionally provided with a dynamic security concept, i. Combined with a protected area that moves along with the robot, all the advantages of an automated system can be fully exploited with regard to ergonomics, occupational safety, process optimization and increased production.

The embodiment thus advantageously selected makes it possible to reach every point within the working area given by the portal and thus to arrange an arbitrarily large number of workplaces, in particular even if these are located at different heights. It is also advantageous from this embodiment that the floor area can remain free, so that a worker can also work barrier-free in the immediate vicinity of the (temporarily immobilized) robot, i. without hindering his path (barrier-free indoor floors and working platforms). In an embodiment as a flexible automation solution of the handling device, which allows the direct cooperation between robot and worker, the work space expanding device is of additional advantage, since the handling device, in particular robot, but also manipulator, are kept as far as possible out of the common room of the person can (worker on hall floor level, handling device above).

Optionally, the system can also be linked to the process control system of the respective system so that the current operating mode, work progress as well as sensory observations can be reported further.

In this context, it is also possible within the scope of the invention to use a method which provides a method for operating the respective system area, including at least one handling device on the work space. ternden device is formed, which is characterized in that by a process computer or a central control device control signals to the working space expanding device and / or the handling device, in particular robots are given.

A working space-expanding device in bridge crane design is shown in FIG. In this case, the bridge crane covers the entire width of the casting platform 73. Advantageously, in this exemplary embodiment, two crane bridges 86 each having a trolley 71 and in each case a universal robot R7 are arranged.

If the distributor channel 75 is in the pouring position, it is assigned the right crane bridge 86 in FIG. 4 with the trolley 71 and the robot R7. This crane bridge with the trolley and the robot can then perform necessary work on the distribution trough 75.

In the present example, the work areas are sometimes even outside the space enclosed by the work space widening device. Due to the design as an articulated robot, in this example the robot R7 can also carry out activities outside the area bounded by the support structure.

By way of example, the following work can be carried out in the area of the casting platform 73 of a metallurgical plant:

Shadow tube change immersion tube change

Temperature measurement and sampling in the distributor

Add covering powder into the distributor

Adding casting powder into the mold

Setting compound baskets or separating plates during sequence casting Removing caking in the mold Another example of the application of the device according to the invention is a Pfannenplatz running with several tilting chairs, on which maintenance work on ladles in the steelworks are carried out.

Claims

claims

1. Apparatus of a metallurgical plant and / or rolling mill comprising a robot (1, R7) with a robot controller with an associated

Human-robot interface influencing modes and operating modes that are adapted to different degrees of automation of the robot (1, R7) and / or to different temporal and / or local positioning of the interaction partners man and robot in a workspace adapted and / or customizable, wherein the robot (1, R7), in particular industrial robot, at least one of the robotic (1, R7), in particular industrial robots, cooperating detection elements detected protection area is assigned, the terms of its expansion and functionality robot activity related and / or robot working position related varying and / or can be varied, and wherein the robot (1, R7), in particular industrial robot, is arranged on or on a traversing device (72) which can be moved on a roadway (70).

2. Device according to claim 1, characterized in that the operating modes and / or operating modes can be switched on and switched off and the robot (1, R7) by means of the operating modes or operating modes to different functionalities and / or work activities is adaptable.

3. Apparatus according to claim 1 or 2, characterized in that the robot (1, R7) is arranged on a metallurgical or rolling plant technical facility or device and assigned there a workplace or work area.

4. Device according to one of the preceding claims, characterized in that the robot (1, R7), in particular industrial robots, a sensor or a combination of sensors comprehensive safety sensor system is associated with the presence of a human (2) in a robot working area assigned Safety range (4) and / or input range (5) and / or detection range detected.

5. Device according to one of the preceding claims, characterized in that the robot (1, R7), in particular industrial robots, in the context of a metallurgical plant or rolling mill at least one of a hot and / or danger area having metallurgical plant or rolling mill operation associated work activities in the hot - and / or danger zone.

6. Device according to one of the preceding claims, characterized in that the robot (1, R7), in particular industrial robot, is arranged such that during the metallurgical or rolling mill operation of emergency services / workers in connection with the work activities of the robot (1, R7 ), in particular industrial robots, manually to be performed activities, in particular Zuarbeittätigkeiten, at least substantially outside the hot and / or danger area are feasible.

7. Device according to one of the preceding claims, character- ized in that the robot (1, R7), in particular industrial robot, is arranged on or on the movable traversing relative to this movable.

8. Device according to one of the preceding claims, character- ized in that the traversing a on the road (70) movable crane carrier-like carrier (76), on which a robot (1, R7) arranged thereon, in particular industrial robots, having running gear in the manner of a crane trolley (71) is arranged movable.

9. Device according to one of the preceding claims, characterized in that the robot (1, R7), in particular industrial robot, is designed as gantry crane robot or overhead crane.

10. Device according to one of the preceding claims, character- ized in that the robot (1, R7), in particular industrial robot, associated protection area or security area (4) in a method of the robot (1, R7) is carried by this.

11. Device according to one of the preceding claims characterized by several her assigned in their respective working position

Protection areas or security areas (4) of different extent and functionality.

12. Device according to one of the preceding claims, character- ized in that a protective area or security area (4) a

Main protection area, upon entering the industrial robot is stopped immediately, and a Vorschutzbereich, upon entering the working speed of the robot (1) is immediately reduced, includes.