A continuous casting platform large bag robot enclosure safety defense system and defense method

Abstract

The present invention relates to a robot enclosure safety defense system for large bags on a continuous casting platform, the defense system comprising a fixed enclosure, a movable door, a door lock, a display panel, a key operation panel, and signal detection and logic program processing, wherein the fixed enclosure surrounds the robot action area to ensure that outsiders cannot enter the robot action area, and a movable door is provided on the fixed enclosure, and a door lock, a display panel, a key operation panel, and a signal detection system are provided on the movable door. The technical solution can realize two-step door opening and has signal detection feedback. Once it is found that a person unlocks the door at an inappropriate time, an alarm is issued in time to play a warning and preventive role.

Description

Technical Field

[0001] The invention relates to a defense system, in particular to a large-bag robot enclosure safety defense system for a continuous casting platform, and belongs to the technical field of continuous casting process. Background Art

[0002] The robot on the continuous casting platform of the steel plant mainly completes the functions of installing and disassembling the nozzle, measuring temperature, sampling, and determining hydrogen. The platform where the robot is installed is equipped with a fence, and there is an entrance and exit door on each side of the east and west. There is a door lock with complex functions on the door (the door lock has three buttons of "open request", "close confirmation", and "emergency stop" and indicator lights such as "allow opening", "door lock closed", and "alarm". It is connected to the robot system through a signal line to exchange various data and generate a chain.) Only when the two doors are closed can the robot automatically complete various operations. Therefore, it is extremely important for the robot's door lock system to be normal. Since the operator has to complete other operations during the robot operation interval, the door lock has a very high frequency of operation, and the door lock has to be opened and closed more than 30 times a day. The on-site working conditions are also high in temperature and dust. Therefore, the failure rate of the lock remains high, and the internal parts are easily damaged and difficult to repair. The cost of the new lock is very high, resulting in a large cost of the door lock. Therefore, a new solution is urgently needed to solve the above technical problems. Summary of the invention

[0003] The present invention is aimed at the problems existing in the prior art and provides a continuous casting platform large bag robot enclosure safety defense system. This technical solution can realize two-step door opening and has signal detection feedback. Once it is found that a person unlocks the door at an inappropriate time, an alarm will be issued in time to serve as a warning and prevention. When the door is opened, the action of the robot can also be stopped to avoid accidents in which the robot hurts people; the robot can be prevented from making an emergency stop during the action. An emergency stop of the robot during the action will cause great damage to the robot. If the stop position is inappropriate, it will also affect the production rhythm. At the same time, the cost of door lock consumption can be reduced.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a robot enclosure safety defense system for large bags on a continuous casting platform, the defense system includes a fixed enclosure, a movable door, a door lock, a display panel, a key operation panel, and signal detection and logic program processing, wherein the fixed enclosure surrounds the robot action area to ensure that outsiders cannot enter the robot action area, and a movable door is provided on the fixed enclosure, and the movable door is provided with a door lock, a display panel, a key operation panel, and a signal detection system. When the robot is in action, the door lock must be closed. When the robot is in action, if an outsider attempts to unlock the door (the first step of unlocking the door), an audible and visual warning is issued. When the door lock is found to be opened, the robot operation is immediately interrupted.

[0005] As an improvement of the present invention, the door lock has a signal detection proximity switch, and the display panel and the key operation panel are provided with

[0006] The two buttons of "Safety Confirmation" and "Emergency Stop", the two indicator lights of "Door Opening Allowed" and "Door Opening Forbidden" and the "Alarm Speaker" communicate with the PLC control system of the robot body through signal cables. There are various signal interlocks in the robot system.

[0007] A defense method for a continuous casting platform large-bag robot enclosure safety defense system, the method comprising the following steps:

[0008] Step 1: Design a new type of special door lock, which is installed on the enclosure movable door. The door lock has the characteristics of two-step unlocking. The two steps cannot be performed at the same time. The second step can only be opened after the first step is opened;

[0009] Step 2: Install a metal proximity switch at a suitable position of the door lock, which can detect whether the door lock is opened in step 1 and whether the door lock is opened in step 2, and lead out the signal line;

[0010] Step 3: Design an indicator light panel, which contains two signal indicators: one is the "Door opening allowed" indicator light, which is green and triggered by an external dry contact signal; the other is the "Door opening prohibited" indicator light, which is red and triggered by an external dry contact signal; a speaker, which stores a pre-recorded audio signal "Door opening prohibited, the robot is moving, danger!" triggered by an external dry contact signal. When the trigger signal is on, the audio signal plays in a loop, and the sound is not less than 80 decibels;

[0011] Step 4: Design a key operation panel, which contains 2 keys, a green inching button ("safety confirmation") and a red mushroom head button (emergency stop);

[0012] Step 5: Wiring Processing:

[0013] a. All proximity switches and buttons are connected to the robot PLC control system.

[0014] b. The robot outputs dry contact signals of “door opening allowed”, “door opening prohibited” and “speaker control”.

[0015] c. The robot system provides 24VDC power to the door lock system.

[0016] Step 6: Signal processing and chaining in the program,

[0017] a. When the proximity switch of the door lock step 1 detects that the door lock step 1 is opened, it will delay for 2 seconds, and when the robot is not in the original position, the speaker will be activated to sound, reminding the operator not to open the door lock. In this case, if the operator continues to open the door lock step 2, the system detects that the door lock step 2 is opened, and if the robot is moving, it will stop immediately.

[0018] b. When the robot is in the original position, it can accept automatic command control only when the two proximity switches of the door lock detect that both step 1 and step 2 are closed.

[0019] c. When the robot is in its original position, the "Door Opening Allowed" indicator light is on and the "Door Opening Forbidden" indicator light is off. When the robot is operating automatically, the "Door Opening Allowed" indicator light is off and the "Door Opening Forbidden" indicator light is on.

[0020] d. When an abnormal situation occurs, press the "Emergency Stop" button to stop the robot immediately. When the robot is working and both door locks are opened, the result is the same as when the "Emergency Stop" button is pressed. When the door lock is closed, press the "Safety Confirmation" button before the robot can continue to work.

[0021] Compared with the prior art, the present invention has the following advantages: when the operator mistakenly opens the door, the technical solution can promptly issue an audible and visual alarm to remind the operator, thereby reminding and preventing the operator from making erroneous operations, avoiding misoperations, ensuring the operation of the robot, avoiding interruptions to the robot's operations, and avoiding the occurrence of production accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the control flow of the present invention;

[0023] Figure 2 Display a schematic diagram for the panel;

[0024] Figure 3 This is a schematic diagram of the lock closed state;

[0025] Figure 4 This is a schematic diagram of the lock opening state;

[0026] In the figure: 1. indicator light panel, 2. button operation panel, 3. second step lock tongue, 4. lock body A, 5. lock tongue pin, 6. proximity switch, 7. proximity switch, 8. lock body B, 9. first step lock cover, 10. magnet, 11. safety confirmation button, 12. emergency stop mushroom head button, 13. door opening permission indicator light, 14. door opening prohibition indicator light, 15. speaker. DETAILED DESCRIPTION

[0027] In order to deepen the understanding of the present invention, the present embodiment is described in detail below with reference to the accompanying drawings.

[0028] Example 1: See Figure 1-Figure 4 , a robot enclosure safety defense system for large bags on a continuous casting platform, the defense system includes a fixed enclosure, a movable door, a door lock, a display panel, a key operation panel, and signal detection and logic program processing, wherein the fixed enclosure surrounds the robot action area to ensure that outsiders cannot enter the robot action area, and a movable door is provided on the fixed enclosure, and the movable door is provided with a door lock, a display panel, a key operation panel and a signal detection system. When the robot is in action, the door lock must be closed. When the robot is in action, if an outsider attempts to unlock (the first step of unlocking), an audible and visual warning is issued. When the door lock is found to be opened, the robot operation is immediately interrupted. The door lock has a signal detection proximity switch, and the display panel and the key operation panel are provided with two buttons of "safety confirmation" and "emergency stop", two indicator lights of "allow door opening" and "prohibit door opening" and an "alarm speaker". At the same time, signal communication is carried out with the PLC control system of the robot body through a signal cable. There are various signal interlocks in the robot system. The outstanding feature of this system is that it has the characteristics of two-step unlocking. The two-step operation cannot be performed at the same time. The second step can only be opened after the first step is opened. After the second step is opened, the door can be opened. The first and second steps of the operation have corresponding signal detection. When the robot system finds signs of the door opening when the door is not allowed to be opened, it will issue an early warning to remind the operator not to enter the robot area. This can not only remind the door opener but also ensure the continuous operation of the robot, avoid emergency parking during the robot's operation, and reduce damage to the robot. If the robot is not parked properly, it may also affect production.

[0029] Example 2: See Figure 1-Figure 4 , a defense method for a continuous casting platform large bag robot enclosure safety defense system, the method comprising the following steps:

[0030] Step 1: Design a new type of special door lock, which is installed on the enclosure movable door. The door lock has the characteristics of two-step unlocking. The two steps cannot be performed at the same time. The second step can only be opened after the first step is opened;

[0031] Step 2: Install a metal proximity switch at a suitable position of the door lock, which can detect whether the door lock is opened in step 1 and whether the door lock is opened in step 2, and lead out the signal line;

[0032] Step 3: Design an indicator light panel, which contains two signal indicators: one is the "Door opening allowed" indicator light, which is green and triggered by an external dry contact signal; the other is the "Door opening prohibited" indicator light, which is red and triggered by an external dry contact signal; a speaker, which stores a pre-recorded audio signal "Door opening prohibited, the robot is moving, danger!" triggered by an external dry contact signal. When the trigger signal is on, the audio signal plays in a loop, and the sound is not less than 80 decibels;

[0033] Step 4: Design a key operation panel, which contains 2 keys, a green inching button ("safety confirmation") and a red mushroom head button (emergency stop);

[0034] Step 5: Wiring Processing:

[0035] a. All proximity switches and buttons are connected to the robot PLC control system.

[0036] b. The robot outputs dry contact signals of “door opening allowed”, “door opening prohibited” and “speaker control”.

[0037] c. The robot system provides 24VDC power to the door lock system.

[0038] Step 6: Signal processing and chaining in the program,

[0039] a. When the proximity switch of the door lock step 1 detects that the door lock step 1 is opened, it will delay for 2 seconds, and when the robot is not in the original position, the speaker will be activated to sound, reminding the operator not to open the door lock. In this case, if the operator continues to open the door lock step 2, the system detects that the door lock step 2 is opened, and if the robot is moving, it will stop immediately.

[0040] b. When the robot is in the original position, it can accept automatic command control only when the two proximity switches of the door lock detect that both step 1 and step 2 are closed.

[0041] c. When the robot is in its original position, the "Door Opening Allowed" indicator light is on and the "Door Opening Forbidden" indicator light is off. When the robot is operating automatically, the "Door Opening Allowed" indicator light is off and the "Door Opening Forbidden" indicator light is on.

[0042] d. When an abnormal situation occurs, press the "Emergency Stop" button to stop the robot immediately. When the robot is working and both door locks are opened, the result is the same as when the "Emergency Stop" button is pressed. When the door lock is closed, press the "Safety Confirmation" button before the robot can continue to work.

[0043] Working principle:

[0044] The lock body of the special door lock is divided into two parts. The lock body B 8 and the lock body A 4 are respectively installed on the fixed part of the fence and the movable door. When the door is closed, the second-step lock tongue 3 can be placed in the groove of the lock body B 8, the first-step lock cover 9 covers the lock body B 8, and the magnet 10 is firmly combined with the lock body B 8 through magnetic force. When the second-step lock tongue 3 is placed in the groove of the lock body B 8, the signal of the proximity switch 6 is set to "1", and when the first-step lock cover 9 covers the lock body B 8, the signal of the proximity switch 7 is set to "1". When the door is opened, the first-step lock cover 9 must be opened first, and the signal of the proximity switch 7 is set to "0" at this time, before the second-step lock tongue 3 can be opened, and the signal of the proximity switch 6 is set to "0" at this time.

[0045] When installed, the indicator panel 1 and the key operation panel 2 are as close to the lock body A 4 as possible to facilitate the operator to operate the keys and observe various information.

[0046] Door lock open status Figure 4 Down:

[0047] The normal shutdown steps are as follows:

[0048] 1. Put the second step lock tongue 3 down into the middle groove of the lock body B8. The signal of sensor 6 is "1"

[0049] 2. Partially close the first step lock cover 9 and magnet 10, covering the top of the lock body B 8. The signal of sensor 7 is "1". The door lock closed state is as follows:

[0050] The normal opening steps are as follows:

[0051] 1. Open the first step lock cover 9 and magnet 10 partially, and the signal of sensor 7 is "0"

[0052] 2. Lift the second step lock tongue 3, and the signal of sensor 6 is "0"

[0053] As can be seen from the figure, when unlocking, the second step can only be performed after the first step is completed. When the operator opens the door by mistake, the signal of sensor 6 changes from "1" to "0" when the first step is completed. When the system detects this change, it will send out an audible and visual alarm to prevent the operator from continuing the operation while ensuring that the robot's operation is not interrupted.

[0054] If the operator continues to complete the first step, the robot in operation will immediately stop working and keep the current position unchanged. It should be noted that the above embodiment is not intended to limit the protection scope of the present invention, and equivalent changes or substitutions made on the basis of the above technical solution fall within the scope of protection of the claims of the present invention.

Claims

1. A robot enclosure safety defense system for large bags on a continuous casting platform, characterized in that: The defense system includes a fixed enclosure, a movable door, a door lock, a display panel, a key operation panel, a signal detection and a logic program processing, wherein the fixed enclosure surrounds the robot action area to ensure that outsiders cannot enter the robot action area, the fixed enclosure is provided with a movable door, the movable door is provided with a door lock, a display panel, a key operation panel and a signal detection system, and the door lock is provided with a signal detection proximity switch, The display panel is equipped with two indicator lights for door opening permission and door opening prohibition, as well as an alarm speaker. The key operation panel is equipped with two buttons: safety confirmation and emergency stop. At the same time, the signal cable communicates with the PLC control system of the robot body, and there are various signal interlocks in the robot system; The defense method using the continuous casting platform large bag robot enclosure safety defense system includes the following steps: Step 1: Design a new type of special door lock, which is installed on the enclosure movable door. The door lock has the characteristics of two-step unlocking. The two steps cannot be performed at the same time. The second step can only be opened after the first step is opened; Step 2: Install a metal proximity switch at a suitable position of the door lock, which can detect whether the door lock is opened in step 1 and whether the door lock is opened in step 2, and lead out the signal line; Step 3: Design a display panel with two indicator lights, one is a green indicator light for allowing the door to be opened, and the other is a red indicator light for prohibiting the door from being opened, which is triggered by an external dry contact signal; an alarm speaker, which stores a pre-recorded audio signal for prohibiting the door from being opened, the robot is in motion, and the danger is triggered by an external dry contact signal. When the trigger signal is on, the audio signal is played in a loop, and the sound is not less than 80 decibels; Step 4: Design a key operation panel, which contains 2 buttons, a green inching button, which is the safety confirmation button, and a red mushroom head button, which is the emergency stop button; Step 5: Wiring process: Details are as follows: a. All proximity switches and buttons are connected to the robot PLC control system; b. The robot outputs the indicator light for allowing the door to be opened, the indicator light for prohibiting the door to be opened, and the dry contact signal controlled by the alarm speaker; c. The robot system provides 24VDC power to the door lock system; Step 6: Signal processing and interlocking in the program; the details are as follows: Signal processing and interlocking in the program, as follows: a. When the proximity switch of the first step of the door lock detects that the first step is opened, there is a delay of 2s. If the robot is not in the original position, the speaker is activated to sound, reminding the operator not to open the door lock. In this case, if the operator continues to open the second step of the door lock, the system detects that the second step of the door lock is opened. If the robot is in motion, it will stop immediately. b. When the robot is in the original position, it will accept automatic command control only when the two proximity switches of the door lock detect that both step 1 and step 2 are closed; c. When the robot is in the original position, the indicator light for allowing the door to be opened is on, and the indicator light for prohibiting the door to be opened is off. When the robot is operating automatically, the indicator light for allowing the door to be opened is off, and the indicator light for prohibiting the door to be opened is on. d. When an abnormal situation occurs, press the emergency stop button to stop the robot immediately. When the robot is working and both door locks are opened, the result is the same as when the emergency stop button is pressed. When the door lock is closed, press the safety confirmation button before the robot can continue to work.

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