A continuous casting machine platform robot escape method and system

Abstract

The application provides a continuous casting machine platform robot escape method and system. The escape method comprises monitoring abnormal conditions of the continuous casting machine platform, making the robot execute escape actions after the abnormal conditions occur; obtaining the positions of the abnormal conditions on the continuous casting machine platform, and comparing the positions with the position of the robot on the continuous casting machine platform to determine the escape actions executed by the robot; if the robot is below the abnormal conditions, controlling the robot to exit the working state, automatically return and be prohibited from moving; and if the robot is above the abnormal conditions, controlling the robot to automatically return and be prohibited from moving. When the ladle and tundish leakage and other abnormal conditions occur, the personnel press the emergency button or the continuous casting machine platform is monitored, so that the robot executes the escape actions according to the design mode, automatically returns, avoids the abnormal conditions from further affecting the robot and expanding the accident range, and affects the personal safety of the operators.

Description

Technical Field

[0001] This invention relates to the field of continuous casting robot technology, and in particular to a method and system for a robot to escape from a continuous casting machine platform. Background Technology

[0002] In the continuous casting process of steelmaking, there are many crucial repetitive operations. Robots have been introduced into this process, including those at the casting station for installing and removing long nozzles and measuring the temperature inside the tundish; and those at the receiving station for installing and removing slide gate cylinders. Although automated intelligent robots have become standard equipment, operators still need to remain in hazardous areas of the production site for a period of time. With the operation of robots on the continuous casting machine platform, the continued execution of automated actions according to the programmed sequence during emergency situations such as leaks in the ladle or tundish poses a certain danger. Therefore, robots on the continuous casting machine platform need to have the ability to identify anomalies and take immediate action to prevent further damage to the robots caused by abnormal conditions during continuous casting, while ensuring the personal safety of operators. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the present invention provides a method and system for robot escape on a continuous casting machine platform. When abnormal working conditions such as ladle or tundish leakage occur, the robot can perform an escape action according to the design and automatically return to its original position when personnel press the emergency button or the continuous casting machine platform detects the abnormal working conditions. This avoids the abnormal working conditions from further affecting the robot and expanding the scope of the accident, thus affecting the personal safety of the operators.

[0004] This invention provides a method for a robot to escape from a continuous casting machine platform, comprising:

[0005] Monitor abnormal operating conditions of the continuous casting machine platform, and cause the robot to perform an escape action after the abnormal operating conditions occur;

[0006] The location of the abnormal working condition on the continuous casting machine platform is obtained and compared with the position of the robot on the continuous casting machine platform to determine the escape action performed by the robot;

[0007] If the robot is located below the position of the abnormal working condition, then the robot is controlled to exit the working state, automatically return to its original position, and is prohibited from moving.

[0008] If the robot is located above the position of the abnormal working condition, the robot is controlled to automatically return to its original position and is prohibited from moving.

[0009] In one embodiment of the present invention, before the step of monitoring the abnormal working conditions of the continuous casting machine platform and causing the robot to perform an escape action after the abnormal working conditions occur, the method includes pre-setting emergency buttons for the tundish car and the ladle turret of the continuous casting machine platform, and using a hard wire connection between the emergency buttons and the programmable logic controller (PLC) of the robot's power supply box, so that pressing the emergency button triggers the abnormal working conditions and causes the robot to perform an escape action.

[0010] In one embodiment of the present invention, the step of monitoring the abnormal operating conditions of the continuous casting machine platform and causing the robot to perform an escape action after the abnormal operating conditions occur includes: monitoring whether the tundish car and the ladle turret have abnormal movements, determining whether the abnormal operating conditions are triggered so that the robot can perform an escape action.

[0011] In one embodiment of the present invention, the step of monitoring whether the tundish car and the ladle turret have abnormal movements and determining whether to trigger the abnormal working condition so that the robot can perform an escape action includes: if the action instructions executed by the tundish car and the ladle turret contradict the action instructions for executing the continuous casting process, then it is determined that the tundish car and the ladle turret have abnormal movements, and the abnormal working condition is triggered so that the robot can perform an escape action.

[0012] In one embodiment of the present invention, the step of monitoring abnormal operating conditions of the continuous casting machine platform and causing the robot to perform an escape action after the abnormal operating condition occurs includes: monitoring whether a ladle leak occurs on the continuous casting machine platform, whether the tundish car moves abnormally, and whether the ladle turret rotates abnormally; determining that the abnormal operating condition has occurred based on any one of the operating conditions of a ladle leak, an abnormal movement of the tundish car, or an abnormal rotation of the ladle turret on the continuous casting machine platform, so as to cause the robot to perform a corresponding escape action.

[0013] In one embodiment of the present invention, the step of obtaining the position of the abnormal working condition on the continuous casting machine platform and comparing it with the position of the robot on the continuous casting machine platform to determine the escape action performed by the robot includes: monitoring whether the emergency button of the tundish car and the ladle turret is pressed to trigger the abnormal working condition; determining, based on the vertical positional relationship between the abnormal working condition and the tundish cover plate of the continuous casting machine platform, whether the abnormal working condition triggers the robot to perform a tundish escape action or a ladle escape action; and determining, based on the vertical positional relationship between the robot and the tundish cover plate, whether the robot needs to exit the working state to perform the escape action.

[0014] In one embodiment of the present invention, the step of determining whether the abnormal working condition triggers the robot to perform a ladle escape action or a steel ladle escape action based on the vertical positional relationship between the abnormal working condition and the tundish cover plate of the continuous casting machine platform includes:

[0015] The location of the abnormal working condition on the continuous casting machine platform is monitored. If the abnormal working condition occurs in the tundish of the continuous casting machine platform, the robot is made to perform a tundish escape action. If the abnormal working condition occurs in the ladle of the continuous casting machine platform, the robot is made to perform a ladle escape action.

[0016] If the robot is in the casting position of the continuous casting machine platform and is in the working state of disassembling / assembling the long nozzle, then based on the vertical position relationship between the robot and the tundish cover plate, it is determined whether the robot needs to exit the working state and put down the disassembly / assembly tool of the long nozzle, and then automatically return to its position and prohibit movement.

[0017] If the robot is in the casting position of the continuous casting machine platform and is in the working state of temperature measurement / sampling / adding covering agent, then based on the vertical position relationship between the robot and the tundish cover plate, it is determined whether the robot needs to exit the working state and be lifted immediately, then automatically return to its original position and prohibit movement.

[0018] If the robot is in the receiving position of the continuous casting machine platform and is in the working state of disassembling / assembling the slide cylinder, then based on the location of the abnormal working condition on the continuous casting machine platform, it is determined whether the robot needs to exit the working state and lower the slide cylinder, then automatically return to its original position and prohibit movement.

[0019] In one embodiment of the present invention, if the robot is in the casting position of the continuous casting machine platform and is in the working state of disassembling / assembling a long nozzle, the step of determining whether the robot needs to exit the working state and put down the disassembly / assembly tool of the long nozzle, and then automatically return to its original position and prohibiting further action, based on the vertical positional relationship between the robot and the tundish cover plate, includes: if the robot cannot normally disassemble / assemble the long nozzle using the disassembly / assembly tool within a set time, it automatically returns to its original position and prohibits further action; if the abnormal working condition occurs when the robot picks up the disassembly / assembly tool, it directly puts down the disassembly / assembly tool and automatically returns to its original position and prohibits further action.

[0020] In one embodiment of the present invention, if the robot is in the casting position of the continuous casting machine platform and is in the working state of temperature measurement / sampling / adding covering agent, the step of determining whether the robot needs to exit the working state and immediately lift it up, then automatically return to its original position and prohibit its movement according to the vertical position relationship between the robot and the tundish cover plate includes: if the robot is below the tundish cover plate, then control the robot to exit the working state and complete the lifting and return to its original position within 2 seconds, and prohibit its movement.

[0021] In one embodiment of the present invention, the step of determining whether the robot needs to exit the working state and lower the sliding plate cylinder, and then automatically return to its original position and prohibit movement, based on the location of the abnormal working condition on the continuous casting machine platform, if the robot is in the receiving position of the ladle on the continuous casting machine platform and is in the working state of disassembling / assembling the sliding plate cylinder, includes: if the abnormal working condition occurs in the tundish of the continuous casting machine platform, the robot located in the receiving position is directly prohibited from movement; if the abnormal working condition occurs in the ladle of the continuous casting machine platform, the robot located in the receiving position exits the working state and lowers the sliding plate cylinder, then automatically returns to its original position and prohibits movement.

[0022] In one embodiment of the present invention, when the robot executes the package escape method, the working status of the casting station robot is monitored:

[0023] When the robot is removing / installing long sprue nozzles, if the robot is below the tundish cover plate: the robot will be overloaded and the clamp will be lowered → it will automatically return to its original position → operation will be stopped. If the robot is above the tundish cover plate: the robot will automatically return to its original position → operation will be stopped.

[0024] When the robot is measuring temperature, taking samples, or adding covering agent, if the robot is below the tundish cover plate: the robot will be raised and then automatically return to its original position (lifting time: 2 seconds) → movement will be prohibited. If the robot is above the tundish cover plate: the robot will be automatically returned to its original position → movement will be prohibited.

[0025] Monitor the working status of the robot receiving the package;

[0026] The robot is prohibited from moving when it is disassembling / installing the hydraulic cylinder of the skateboard.

[0027] When the robot executes the ladle escape method, the working status of the robot at the casting position is monitored:

[0028] The casting robot is instructed to perform actions according to the ladle escape method.

[0029] Monitor the working status of the robot receiving the package;

[0030] When the robot is disassembling / installing the hydraulic cylinder, the robot will lower the cylinder → automatically return to its original position → stop operation.

[0031] The present invention also provides a robot escape system for a continuous casting machine platform, comprising:

[0032] The monitoring module includes sensors arranged on the continuous casting machine platform and an emergency button. The sensors are used to acquire temperature information of the continuous casting machine platform, and the emergency button is connected to the tundish car and ladle turret of the continuous casting machine platform.

[0033] The processing module receives the input information from the monitoring module, performs judgment processing, and generates output information.

[0034] The execution module receives the output information and controls the robot on the continuous casting machine platform to perform an escape action.

[0035] The processing module determines the changes in the temperature information in the input information and the triggering state of the emergency button. When the thermal imaging shows local high temperature imaging or the emergency button is triggered, the processing module defines the input information as an abnormal working condition and generates the output information that causes the robot to perform an escape action, which is then sent to the execution module.

[0036] In one embodiment of the present invention, the processing module obtains the position of the abnormal working condition corresponding to the continuous casting machine platform in the input information, and determines the vertical position relationship between the abnormal working condition position and the robot position, so as to generate the output information to determine whether the robot exits the working state when performing the escape action.

[0037] The beneficial effects of this invention are: when abnormal working conditions such as ladle or tundish leakage occur, personnel can press the emergency button or the continuous casting machine platform can detect the problem, causing the robot to perform an escape action according to the design and automatically return to its original position, thus preventing the abnormal working conditions from further affecting the robot and expanding the scope of the accident, and ensuring personal safety.

[0038] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0040] Figure 1 This is a flowchart of the continuous casting machine platform robot escape method of the present invention;

[0041] Figure 2 This is a flowchart illustrating the logic of an escape action performed by a robot on a continuous casting machine platform in one embodiment of the present invention.

[0042] Figure 3 This is an architectural diagram of the robot escape system for the continuous casting machine platform of the present invention. Detailed Implementation

[0043] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of the present invention is for describing specific implementation schemes and not for limiting the scope of protection of the present invention. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0044] Please see Figures 1 to 3 It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness or purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0045] Please see Figure 1 This invention provides a method for a robot to escape from a continuous casting machine platform, comprising:

[0046] Monitor abnormal operating conditions of the continuous casting machine platform and enable the robot to perform an escape action after an abnormal operating condition occurs;

[0047] The location of the abnormal working condition on the continuous casting machine platform is obtained and compared with the position of the robot on the continuous casting machine platform to determine the escape action performed by the robot;

[0048] If the robot is located below the position of the abnormal working condition, control the robot to exit the working state, automatically return to its original position, and prohibit any further actions;

[0049] If the robot is located above an abnormal operating condition, control the robot to automatically return to its original position and prohibit any further movement.

[0050] When an abnormal situation occurs on the continuous casting machine platform, such as an emergency like an abnormal leak in the ladle or tundish, the platform compares the location of the abnormal situation with the robot's position and controls the robots located above and below the abnormal situation to perform different escape maneuvers to quickly return to a safe position and cease further movement. This prevents damage to robots still operating according to automated programs on the production floor due to the abnormal situation, thus controlling the escalation of accidents and ensuring the safety of operators.

[0051] In one embodiment, before the step of monitoring abnormal operating conditions of the continuous casting machine platform and causing the robot to perform an escape action after the abnormal operating conditions occur, the method includes:

[0052] Emergency buttons are preset for the tundish car and ladle turret of the continuous casting machine platform, and a hard wire is used to connect the emergency buttons to the programmable logic controller (PLC) in the robot's power supply box, so that pressing the emergency button will trigger an abnormal working condition and cause the robot to perform an escape action.

[0053] Inside the continuous casting machine platform workshop, each piece of equipment is equipped with an emergency stop button, which can be used as an emergency button for the tundish car and the ladle turret respectively. When the operators on site detect abnormal conditions before the detection instruments on the continuous casting machine platform, they can press the emergency button to make the robot directly perform an escape action and stay in a safe position more quickly, thereby ensuring the safety of the site.

[0054] It should be noted that, since there are no visible factors in the leakage of steel ladles or tundishes in the continuous casting machine platform workshop, the use of hard wire connection is more reliable than Internet connection, which may be subject to network latency, communication failures, etc., which may cause the robot to be unable to move. At the same time, the hard wire connection allows the lines to bypass dangerous areas with abnormal leakage, such as low-lying areas in the workshop, and the movement paths of steel ladles and tundishes.

[0055] In one embodiment, the step of monitoring abnormal operating conditions of the continuous casting machine platform and causing the robot to perform an escape action after an abnormal operating condition occurs includes:

[0056] Monitor whether the intermediate ladle car and ladle turntable exhibit abnormal movements, determine whether abnormal working conditions are triggered, and enable the robot to perform an escape action.

[0057] If the motion commands executed by the tundish car and ladle turret contradict the motion commands executed by the continuous casting process, it is determined that the tundish car and ladle turret have performed abnormal actions, triggering an abnormal working condition and causing the robot to perform an escape action.

[0058] Monitor whether there is ladle leakage on the continuous casting machine platform, whether the tundish car moves abnormally, and whether the ladle turret rotates abnormally;

[0059] Based on any of the following working conditions on the continuous casting machine platform: ladle leakage, abnormal movement of the tundish car, or abnormal rotation of the ladle turret, an abnormal working condition is determined so that the robot can perform the corresponding escape action.

[0060] During the continuous casting process, if operator error causes the ladle turret to rotate or the tundish car to start, the robot will immediately perform an escape maneuver to prevent damage. Similarly, when the continuous casting platform is not performing a continuous casting process, such as during equipment maintenance, if the operator fails to notice the tundish car's movement path or the ladle turret's rotation potentially colliding with the robot, an abnormal condition will be triggered, causing the robot to perform an escape maneuver to avoid collisions. All situations that may cause interference with the robot's posture are treated as abnormal conditions and will not be elaborated upon here.

[0061] In one embodiment, the step of obtaining the location of the abnormal working condition on the continuous casting machine platform and comparing it with the position of the robot on the continuous casting machine platform to determine the escape action performed by the robot includes:

[0062] Monitor whether the emergency buttons on the tundish car and ladle turret are pressed to trigger abnormal operating conditions;

[0063] Based on the relationship between the abnormal working conditions and the vertical position of the tundish cover plate of the continuous casting machine platform, it is determined that the abnormal working conditions trigger the robot to perform the tundish escape action or the ladle escape action.

[0064] Based on the vertical positional relationship between the robot and the intermediate package cover, it is determined whether the robot needs to exit the working state to perform an escape action.

[0065] Abnormal operating conditions on the continuous casting machine platform are automatically identified through appropriate instruments. For example, infrared sensors can be installed on the platform to monitor infrared images of thermal radiation or whether the temperature of the tundish and ladle's outer surface reaches excessively high temperatures of the molten steel. If this indicates an abnormal leak, the robot can automatically execute an escape maneuver. Similarly, pressing an emergency button by the operator can also trigger an immediate emergency escape maneuver for the robot. Furthermore, the vertical position of the robot relative to the tundish cover plate can be used to determine whether the leaking molten steel will affect the robot's position, thus optimizing the escape maneuver for faster completion.

[0066] Please see Figure 2 In one embodiment, the step of determining whether an abnormal working condition triggers the robot to perform a ladle escape action or a steel ladle escape action, based on the vertical positional relationship between the abnormal working condition and the tundish cover plate of the continuous casting machine platform, includes:

[0067] The robot monitors the location of abnormal conditions on the continuous casting machine platform. If the abnormal condition occurs in the tundish of the continuous casting machine platform, the robot will perform a tundish escape action. If the abnormal condition occurs in the ladle of the continuous casting machine platform, the robot will perform a ladle escape action.

[0068] If the robot is in the casting position of the continuous casting machine platform and is in the process of disassembling / assembling the long nozzle, then based on the vertical position relationship between the robot and the tundish cover, determine whether the robot needs to exit the working state and put down the disassembly / assembly tool of the long nozzle, and then automatically return to its original position and stop moving.

[0069] If the robot is in the casting position of the continuous casting machine platform and is in the working state of temperature measurement / sampling / adding covering agent, then based on the vertical position relationship between the robot and the tundish cover plate, determine whether the robot needs to exit the working state and be lifted immediately, then automatically return to its original position and stop moving.

[0070] If the robot is in the receiving position of the continuous casting machine platform and is in the process of disassembling / assembling the slide cylinder, then depending on the location of the abnormal working condition on the continuous casting machine platform, it is determined whether the robot needs to exit the working state, lower the slide cylinder, automatically return to its original position, and prohibit any further movement.

[0071] When the robot is executing the tundish escape method, monitor the working status of the casting station robot: When the robot is removing / installing the long nozzle, if the robot is below the tundish cover plate: the robot will be overloaded and the clamp will be lowered → automatic return → movement will be prohibited. If the robot is above the tundish cover plate: the robot will automatically return → movement will be prohibited. When the robot is measuring temperature, sampling, or adding covering agent, if the robot is below the tundish cover plate: the robot will be raised and automatically return (lifting time: 2 seconds) → movement will be prohibited. If the robot is above the tundish cover plate: the robot will automatically return → movement will be prohibited. Monitor the working status of the receiving station robot; when the robot is removing / installing the slide cylinder, the robot will be prohibited from movement.

[0072] When the robot executes the ladle escape method, monitor the working status of the casting station robot: ensure the casting station robot performs actions according to the ladle escape method. Monitor the working status of the receiving station robot; when the robot is disassembling / installing the slide cylinder, lower the cylinder → automatically return to position → stop the action.

[0073] In one embodiment, if the robot is in the casting position of the continuous casting machine platform and is in the process of disassembling / assembling a long nozzle, the steps of determining whether the robot needs to exit the working state and put down the disassembly / assembly tool for the long nozzle, and then automatically return to its original position and prohibit movement, based on the vertical positional relationship between the robot and the tundish cover, include:

[0074] If the robot cannot properly disassemble / assemble the long water inlet using the disassembly and assembly tools within the set time, it will automatically return to its original position and stop moving.

[0075] If an abnormal situation occurs when the robot is picking up the disassembly / assembly tools, it will immediately put down the tools, automatically return to its original position, and stop any further movement.

[0076] During the continuous casting process, when the robot uses tools such as hydraulic cylinders to load, unload, and secure the long nozzle at the casting position, there may be instances where the loading or unloading of the long nozzle fails. In this case, the robot will also execute an escape maneuver. It can either re-attempt the loading or unloading according to the robot's programmed settings on the continuous casting machine platform, or simultaneously issue a corresponding prompt on the continuous casting machine platform to allow the operator to check and troubleshoot the problem. Similarly, if the robot picks up the loading / unloading tools but has not yet entered the loading / unloading state for the long nozzle, and an abnormal operating condition is detected, the robot will also directly execute an escape maneuver.

[0077] In one embodiment, if the robot is in the casting position of the continuous casting machine platform and is in the working state of temperature measurement / sampling / addition of covering agent, the steps of determining whether the robot needs to exit the working state and be immediately lifted, and then automatically returned to its original position and prohibited from moving, based on the vertical positional relationship between the robot and the tundish cover plate, include:

[0078] If the robot is below the intermediate cover plate, control the robot to exit the working state and complete the lifting and return to the position within 2 seconds, and prohibit any further actions.

[0079] When the robot is in the working state of temperature measurement / sampling / adding covering agent, it needs to stay in the intermediate bag for a period of time. For example, when inserting into the intermediate bag to measure temperature, it normally takes 6-8 seconds to measure the temperature. Therefore, it needs to exit the working state immediately and return to its original position within a certain time, such as 2 seconds, to ensure that the robot can quickly return to a safe position under abnormal working conditions.

[0080] In one embodiment, if the robot is in the receiving position of the continuous casting machine platform and is in the process of disassembling / assembling the slide cylinder, the steps of determining whether the robot needs to exit the working state, lower the slide cylinder, and then automatically return to its original position and prohibit further action, based on the location of the abnormal working condition on the continuous casting machine platform, include:

[0081] If an abnormal working condition occurs in the tundish of the continuous casting machine platform, the robot located at the receiving position will be directly prohibited from moving.

[0082] If an abnormal working condition occurs on the ladle of the continuous casting machine platform, the robot located at the ladle receiving position will exit the working state, lower the slide cylinder, and then automatically return to its original position and be prohibited from moving.

[0083] The robot at the ladle receiving position uses a loading / unloading slide cylinder to unload the ladle onto the ladle turret. In the continuous casting process design of the continuous casting machine platform, the ladle is higher than the tundish. Therefore, when an abnormal condition occurs at the tundish, the ladle turret does not need to move, and the robot can simply be stopped. However, when an abnormal condition occurs at the ladle, due to ladle leakage, it needs to rotate back to the loading platform. Since the robot is already in operation at this time, the hydraulic cylinder needs to be lowered, automatically returned to its original position, and stopped.

[0084] Please see Figure 3 The present invention also provides a robot escape system for a continuous casting machine platform, comprising a monitoring module, a processing module, and an execution module. The monitoring module includes sensors and an emergency button mounted on the continuous casting machine platform. The sensors acquire temperature information of the platform, and the emergency button is connected to the tundish car and ladle turret of the platform. The processing module receives input information from the monitoring module, performs judgment processing, and generates output information. The execution module receives the output information and controls the robot on the continuous casting machine platform to perform an escape maneuver.

[0085] In this embodiment, the processing module determines the changes in temperature information in the input information and the trigger status of the emergency button. For example, the sensor can be a temperature sensor that detects the position of the tundish and ladle. When a leakage accident occurs, the detected temperature value of the molten steel will increase significantly, which will then be identified by the processing module. Similarly, the sensor can also be a thermal imaging device. When a local high temperature image appears in the image information of the thermal imaging device, the high temperature corresponds to the temperature of the molten steel, which corresponds to a steel leakage accident. Furthermore, when the operator on the continuous casting machine platform discovers an abnormal working condition, he presses the emergency button. The processing module can be a programmable logic controller (PLC) in the robot power supply box. It processes and identifies the above input information through a set program, and outputs the abnormal working condition information. Similarly, the PLC controls the robot to perform an escape action according to the set instructions. At this time, the execution module is the drive component of the robot itself controlled by the PLC.

[0086] In one embodiment, the processing module obtains the position of the abnormal working condition corresponding to the continuous casting machine platform in the input information, and determines the vertical positional relationship between the abnormal working condition position and the robot position, so as to generate output information to determine whether the robot exits the working state when performing the escape action.

[0087] The PLC in the robot power supply box can be further configured with judgment logic for processing input information. After an abnormal working condition occurs, the location of the abnormal working condition and the robot's own position in the input information are identified, and the vertical position relationship between the two is determined. Then, it is decided whether the robot needs to exit the current working state when performing the escape action, and then execute the automatic return and prohibition action instructions. In this way, the escape steps of the robot are optimized according to the actual situation of the abnormal working condition on the continuous casting machine platform.

[0088] In summary, the present invention provides a method and system for robot escape on a continuous casting machine platform. When abnormal working conditions such as ladle or tundish leakage occur, personnel press the emergency button or the continuous casting machine platform detects the problem, causing the robot to execute an escape action according to the design and automatically return to its original position. This prevents the abnormal working conditions from further affecting the robot and expanding the scope of the accident, thereby ensuring personal safety.

[0089] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for a robot to escape from a continuous casting machine platform, characterized in that, include: Emergency buttons are preset on the tundish car and ladle turret of the continuous casting machine platform, and a hard wire is used to connect the emergency buttons to the programmable logic controller (PLC) of the robot's power supply box on the continuous casting machine platform, so that pressing the emergency button will trigger an abnormal working condition and cause the robot to perform an escape action. Monitor abnormal operating conditions of the continuous casting machine platform, and cause the robot to perform an escape action after the abnormal operating conditions occur; The location of the abnormal working condition on the continuous casting machine platform is obtained and compared with the position of the robot on the continuous casting machine platform to determine the escape action performed by the robot; If the robot is located below the position of the abnormal working condition, then the robot is controlled to exit the working state, automatically return to its original position, and is prohibited from moving. If the robot is located above the position of the abnormal working condition, then the robot is controlled to automatically return to its original position and is prohibited from moving. The step of obtaining the location of the abnormal working condition on the continuous casting machine platform and comparing it with the position of the robot on the continuous casting machine platform to determine the escape action performed by the robot includes: Monitor whether the emergency buttons of the intermediate ladle car and the ladle turntable are pressed to trigger the abnormal operating condition; Based on the relationship between the abnormal working condition and the vertical position of the tundish cover plate of the continuous casting machine platform, it is determined that the abnormal working condition triggers the robot to perform a tundish escape action or a ladle escape action. Based on the vertical positional relationship between the robot and the intermediate packing cover, it is determined whether the robot needs to exit the working state to perform an escape action.

2. The escape method according to claim 1, characterized in that, The step of monitoring abnormal operating conditions of the continuous casting machine platform and causing the robot to perform an escape action after the abnormal operating conditions occur includes: Monitor whether the intermediate ladle car and the ladle turntable exhibit abnormal movements, and determine whether the abnormal working condition is triggered so that the robot can perform an escape action.

3. The escape method according to claim 2, characterized in that, The step of monitoring whether the intermediate ladle car and the ladle rotary table exhibit abnormal movements, and determining whether the abnormal operating condition is triggered so that the robot performs an escape action, includes: If the action commands executed by the tundish car and the ladle turret contradict the action commands executed in the continuous casting process, then the abnormal action of the tundish car and the ladle turret is determined to have occurred, and the abnormal working condition is triggered, causing the robot to perform an escape action.

4. The escape method according to claim 2, characterized in that, The step of monitoring abnormal operating conditions of the continuous casting machine platform and causing the robot to perform an escape action after the abnormal operating conditions occur includes: Monitor whether ladle leakage occurs on the continuous casting machine platform, whether the tundish car moves abnormally, and whether the ladle turret rotates abnormally; Based on any one of the following working conditions on the continuous casting machine platform: ladle leakage, abnormal movement of the tundish car, or abnormal rotation of the ladle turret, the abnormal working condition is determined to have occurred, so that the robot can perform the corresponding escape action.

5. The escape method according to claim 1, characterized in that, The step of determining whether the abnormal working condition triggers the robot to perform a ladle escape action or a steel ladle escape action based on the vertical positional relationship between the abnormal working condition and the tundish cover plate of the continuous casting machine platform includes: The location of the abnormal working condition on the continuous casting machine platform is monitored. If the abnormal working condition occurs in the tundish of the continuous casting machine platform, the robot is made to perform a tundish escape action. If the abnormal working condition occurs in the ladle of the continuous casting machine platform, the robot is made to perform a ladle escape action. If the robot is in the casting position of the continuous casting machine platform and is in the working state of disassembling / assembling the long nozzle, then based on the vertical position relationship between the robot and the tundish cover plate, it is determined whether the robot needs to exit the working state and put down the disassembly / assembly tool of the long nozzle, and then automatically return to its position and prohibit movement. If the robot is in the casting position of the continuous casting machine platform and is in the working state of temperature measurement / sampling / adding covering agent, then based on the vertical position relationship between the robot and the tundish cover plate, it is determined whether the robot needs to exit the working state and be lifted immediately, then automatically return to its original position and prohibit movement. If the robot is in the receiving position of the continuous casting machine platform and is in the working state of disassembling / assembling the slide cylinder, then based on the location of the abnormal working condition on the continuous casting machine platform, it is determined whether the robot needs to exit the working state and lower the slide cylinder, then automatically return to its original position and prohibit movement.

6. The escape method according to claim 5, characterized in that, If the robot is in the casting position of the continuous casting machine platform and is in the process of disassembling / assembling a long nozzle, the steps for determining whether the robot needs to exit the working state and put down the disassembly / assembly tool for the long nozzle, and then automatically return to its original position and prohibit further movement, based on the vertical positional relationship between the robot and the tundish cover plate, include: If the robot cannot properly disassemble / assemble the long water inlet using the disassembly / assembly tool within the set time, it will automatically return to its original position and cease operation. If the robot encounters the abnormal working condition while picking up the disassembly / assembly tool, it will immediately put down the disassembly / assembly tool, automatically return to its original position, and prohibit any further movement.

7. The escape method according to claim 5, characterized in that, If the robot is in the casting position of the continuous casting machine platform and is in the working state of temperature measurement / sampling / adding covering agent, the steps of determining whether the robot needs to exit the working state and immediately lift it, and then automatically return to its original position and prohibit its movement, based on the vertical positional relationship between the robot and the tundish cover plate, include: If the robot is located below the intermediate package cover, the robot is controlled to exit the working state and complete the lifting and return to its original position within 2 seconds, and the operation is prohibited.

8. The escape method according to claim 5, characterized in that, If the robot is in the receiving position of the continuous casting machine platform and is in the process of disassembling / assembling the slide cylinder, the step of determining whether the robot needs to exit the working state, lower the slide cylinder, and then automatically return to its original position and prohibit further action, based on the location of the abnormal working condition on the continuous casting machine platform, includes: If the abnormal working condition occurs in the tundish of the continuous casting machine platform, the robot located at the receiving position will be directly prohibited from operating. If the abnormal working condition occurs in the ladle of the continuous casting machine platform, the robot located in the ladle receiving position will exit the working state and lower the slide cylinder, then automatically return to its original position and be prohibited from moving.

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