Accident handling method and system based on endless rolling production line and storage medium

Abstract

The invention provides an accident handling method and system based on an endless rolling production line and a storage medium, and relates to the technical field of endless rolling production lines, and the method comprises the steps that when a rolling line part of the endless rolling production line has an accident, the machining state of a continuous casting billet from a continuous casting area of the endless rolling production line is determined according to the working condition of a roughing rolling unit; according to the machining state, an online blank needing to be pushed out is determined; according to the motion state of the on-line blank and the running state of the roller way where the on-line blank is located, a sequential control strategy of the pendulum shear is determined, the pendulum shear is controlled according to the sequential control strategy of the pendulum shear, and the on-line blank is cut into a plurality of steel plates; and sequentially moving the steel plates to a plate stacker for stacking according to the motion state of each steel plate and the running state of the roller way where the steel plates are located through a steel plate off-line push-out device until the endless rolling production line returns to normal. According to the method, the direction and the treatment mode of the continuous casting billet are reasonably controlled, so that the production continuity of the endless rolling production line under the accident condition is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of endless rolling production lines, and in particular, to an accident handling method, system, and storage medium based on an endless rolling production line. Background Art

[0002] At present, the endless rolling production line has the advantages of short process, low investment, energy conservation, and the ability to roll thinner strip steel, and is widely used. In order to ensure the continuous production of continuous casting and rolling, a high degree of cooperation of the process flow, equipment operation, and control process is required. However, during the endless rolling of ultra-thin strip steel, accidents are particularly likely to occur in areas such as rough rolling, finish rolling, and coiling in the rolling line part, resulting in the interruption of production in the continuous casting area.

[0003] In the related art, in order to ensure that the continuous casting area can continue to produce when an accident occurs in the rolling line part, when constructing a short-process endless rolling production line, a steel plate offline pushing device is usually configured between the rough rolling area and the finish rolling area to handle the continuous casting billets from the continuous casting area when an accident occurs. However, when the steel plate offline pushing device pushes the on-line billets, secondary accidents such as collisions with subsequent on-line billets are likely to occur, resulting in the complete suspension of the production line and further affecting the continuous production. Summary of the Invention

[0004] The problem solved by the present invention is how to ensure the production continuity when an accident occurs in the endless rolling production line.

[0005] To solve the above problems, the present invention provides an accident handling method and system based on an endless rolling production line.

[0006] In a first aspect, an accident handling method based on an endless rolling production line of the present invention includes:

[0007] When an accident occurs in the rolling line part of the endless rolling production line, obtain the working condition of the rough rolling mill set in the rolling line part;

[0008] According to the working condition of the rough rolling mill set, determine the processing state of the continuous casting billets from the continuous casting area of the endless rolling production line;

[0009] According to the processing state, determine the on-line billets to be pushed out;

[0010] According to the motion state of the on-line billets and the running state of the roller table where the on-line billets are located, determine the timing control strategy of the swing shear, and control the swing shear according to the timing control strategy of the swing shear to cut the on-line billets into multiple steel plates;

[0011] Through the steel plate offline pushing device, according to the motion state of each steel plate and the running state of the roller table where the steel plate is located, move the steel plates to the stacking machine for stacking in sequence until the endless rolling production line resumes normal operation.

[0012] Optionally, the working conditions of the roughing mill include: roll gap lifting and normal operation, and the processing states of the continuous casting billets include unprocessed state and processed state;

[0013] Determining the processing state of the continuous casting billets from the continuous casting area of the endless rolling production line according to the working conditions of the roughing mill includes:

[0014] When the working condition of the roughing mill is roll gap lifting, it is determined that the continuous casting billets in the continuous casting area are in the unprocessed state;

[0015] When the working condition of the roughing mill is normal operation, it is determined that the continuous casting billets in the continuous casting area are in the processed state.

[0016] Optionally, determining the in-line billets to be pushed out according to the processing state includes:

[0017] When the continuous casting billets are in the unprocessed state, the continuous casting billets are used as the in-line billets;

[0018] When the continuous casting billets are in the processed state, the continuous casting billets are processed into intermediate billets and the intermediate billets are used as the in-line billets.

[0019] Optionally, determining the timing control strategy of the swing shear according to the motion state of the in-line billets and the running state of the roller table where the in-line billets are located, and controlling the swing shear according to the timing control strategy of the swing shear to cut the in-line billets into multiple steel plates includes:

[0020] Determining the running speed of the in-line billets according to the running state of the roller table where the in-line billets are located, and using the running speed of the in-line billets as the first speed;

[0021] Determining the working time point of the swing shear according to the first speed, and using it as the timing control strategy of the swing shear;

[0022] Controlling the swing shear to cut the in-line billets at each working time point to obtain multiple steel plates.

[0023] Optionally, determining the working time point of the swing shear according to the first speed includes:

[0024] Determining the motion duration of the in-line billets according to the first speed and the preset length of each steel plate;

[0025] Determining the working time point of the swing shear according to the motion duration.

[0026] Optionally, the steel plate offline pushing device moves the steel plates to the stacking machine in sequence according to the motion state of each steel plate and the operating state of the roller table where the steel plate is located until the endless rolling production line resumes normal operation, including:

[0027] Determine the running speed of the steel plate according to the operating state of the roller table where the steel plate is located, and use the running speed of the steel plate as the second speed, where the first speed is less than the second speed;

[0028] When the steel plate runs to the on-line waiting position at the second speed, control the steel plate offline pushing device to reciprocate, and move all the steel plates at the on-line waiting position to the offline waiting position in sequence. At the same time, push the previous steel plate at the offline waiting position to the stacking machine;

[0029] Stack the steel plates through the stacking machine;

[0030] When the endless rolling production line resumes normal operation, stop the operation of the steel plate offline pushing device.

[0031] Optionally, the control of the steel plate offline pushing device to reciprocate and move all the steel plates at the on-line waiting position to the offline waiting position in sequence includes:

[0032] When the steel plate runs to the on-line waiting position at the second speed, lift the steel plate from the initial position by the steel plate offline pushing device and lift the steel plate to a preset height;

[0033] Move the steel plate horizontally out of the on-line waiting position through the steel plate offline pushing device;

[0034] After the steel plate moves above the offline waiting position, place the steel plate at the offline waiting position and return to the initial position to wait.

[0035] Optionally, the pushing the previous steel plate at the offline waiting position to the stacking machine includes:

[0036] After the steel plate offline pushing device moves the steel plate out of the on-line waiting position, contact the side workbench of the steel plate offline pushing device with the previous steel plate at the offline waiting position, and remove and push the previous steel plate from the offline waiting position to the stacking machine.

[0037] In a second aspect, the accident handling system based on an endless rolling production line of the present invention includes:

[0038] The working condition monitoring unit is used to obtain the working conditions of the rough rolling mill set in the rolling line part when an accident occurs in the rolling line part of the endless rolling production line;

[0039] The processing state judgment unit is used to determine the processing state of the continuous casting billet from the continuous casting area of the endless rolling production line according to the working conditions of the rough rolling mill set; and determine the in-line billets that need to be pushed out according to the processing state;

[0040] The swing shear control unit is used to determine the timing control strategy of the swing shear according to the motion state of the in-line billet and the operating state of the roller table where the in-line billet is located, and control the swing shear according to the timing control strategy of the swing shear to cut the in-line billet into multiple steel plates;

[0041] The off-line pushing device control unit is used to move the steel plates to the stacking machine in sequence through the steel plate off-line pushing device according to the motion state of each steel plate and the operating state of the roller table where the steel plate is located until the endless rolling production line returns to normal.

[0042] In a third aspect, a computer-readable storage medium of the present invention stores a computer program thereon. When the computer program is executed by a processor, the accident handling method based on the endless rolling production line as described above is implemented.

[0043] The accident handling method, system and storage medium based on the endless rolling production line of the present invention accurately identify the processing requirements of the continuous casting billet in the accident state by obtaining the working conditions of the rough rolling mill set and determining the processing state of the continuous casting billet, and then determine the timing control strategy of the swing shear according to the motion state of the in-line billet and the operating state of the roller table, ensuring that no secondary accident will be caused by improper operation when cutting the steel plate, and maximizing the utilization of the continuous casting billet. The accident handling process is optimized by using the steel plate off-line pushing device. Among them, through the steel plate off-line pushing device, according to the motion state of each steel plate and the operating state of the roller table, the steel plates are smoothly moved to the stacking machine in sequence for stacking, avoiding collisions between the steel plates and other in-line billets during the pushing process, and ensuring the efficiency and safety of the accident handling process. The present invention not only improves the accident handling efficiency and reduces the production interruption time caused by accidents, but also ensures the continuous production of the continuous casting part by reasonably controlling the destination and processing method of the continuous casting billet, thereby realizing the production continuity of the endless rolling production line in the accident situation and improving the stability and reliability of the production line. Description of the Drawings

[0044] Figure 1 It is a flowchart of the accident handling method based on the endless rolling production line in an embodiment of the present invention;

[0045] Figure 2 It is a structural schematic diagram of the endless rolling production line in an embodiment of the present invention;

[0046] Figure 3 Schematic diagram of the position of the steel plate offline pushing device in an embodiment of the present invention;

[0047] Figure 4 One of the schematic diagrams of the working process of the steel plate offline pushing device in an embodiment of the present invention;

[0048] Figure 5 Two of the schematic diagrams of the working process of the steel plate offline pushing device in an embodiment of the present invention;

[0049] Figure 6 Three of the schematic diagrams of the working process of the steel plate offline pushing device in an embodiment of the present invention;

[0050] Figure 7 One of the schematic diagrams of the working timing relationship of the steel plate offline pushing device in an embodiment of the present invention;

[0051] Figure 8 Two of the schematic diagrams of the working timing relationship of the steel plate offline pushing device in an embodiment of the present invention;

[0052] Figure 9 Schematic diagram of the structure of the accident handling system based on the endless rolling production line in another embodiment of the present invention. Detailed implementation manners

[0053] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be given with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0054] It should be understood that the various steps recorded in the method embodiments of the present invention can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0055] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0056] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0057] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0058] In view of the problems existing in the above-mentioned related technologies, this embodiment provides an accident handling method, system and storage medium based on a headless rolling production line.

[0059] Combination Figure 1 As shown, an accident handling method based on a headless rolling production line provided by an embodiment of the present invention includes:

[0060] When an accident occurs in a rolling line section of the headless rolling production line, the operating condition of the roughing mill group of the rolling line section is obtained.

[0061] Specifically, combined Figure 2 As shown in the figure, the continuous casting unit is located on the far left of the production line. It is responsible for converting molten steel into continuous casting billets. Subsequently, these continuous casting billets are transported to the roughing unit through rollers. The roughing unit consists of a series of arranged rollers, which continuously roll the continuous casting billets so that their shape and size gradually approach the requirements of the final product. The steel after roughing is then sent to the swing shear. When an accident occurs in the rolling line part of the headless rolling production line, it is first necessary to obtain the working condition information of the roughing unit, and accurately judge the severity and specific location of the accident by real-time monitoring of the operating status of the roughing unit. For example, whether the roll gap of the roughing unit is lifted, whether the rolling speed is abnormal, etc. This information will directly affect the subsequent judgment of the processing status of the continuous casting billet, thereby ensuring the pertinence and effectiveness of the entire processing process.

[0062] According to the operating conditions of the roughing mill group, the processing status of the continuous casting billet from the continuous casting area of the headless rolling line is determined.

[0063] Specifically, based on the analysis and judgment of the working condition information obtained in the first step, the processing state of the continuous casting billet from the continuous casting area of the endless rolling production line is further determined. For example, if the roll gap of the roughing mill is lifted, it indicates that the continuous casting billet may pass through directly without rolling. At this time, the thickness and shape of the continuous casting billet may be different from those of the intermediate billet after normal processing. By accurately judging the processing state of the continuous casting billet, it can provide an important reference for determining the online billets to be pushed out subsequently, ensure that the treatment method of the continuous casting billet during the accident handling process meets the actual requirements, and avoid secondary accidents or resource waste caused by improper handling.

[0064] Determine the online billets to be pushed out according to the said processing state.

[0065] Specifically, after clarifying the processing state of the continuous casting billet, it is next necessary to determine the online billets to be pushed out. For example, if an accident occurs in the finishing area, then the intermediate billets after normal rolling by the roughing mill may still need to be further processed, while the continuous casting billets that have not been rolled need to be pushed out. By accurately determining the online billets to be pushed out, unnecessary operations and resource waste can be avoided.

[0066] Determine the timing control strategy of the swing shear according to the motion state of the said online billets and the running state of the roller table where the online billets are located, and control the swing shear according to the timing control strategy of the swing shear to cut the said online billets into multiple steel plates.

[0067] Specifically, determine the timing control strategy of the swing shear according to the motion state of the online billets to be pushed out and the running state of the roller table where they are located. The formulation of this strategy is based on a comprehensive analysis of the current motion speed, position of the online billets, and the running situation of the roller table. For example, if the online billets pass through the swing shear at a relatively high speed, then the cutting timing of the swing shear needs to be precisely controlled to avoid the length of the steel plates not meeting the requirements or collisions due to improper shearing timing. By reasonably determining the timing control strategy of the swing shear, it can ensure that the steel plates are accurately and safely cut into multiple appropriate parts, facilitate subsequent offline stacking and processing, and minimize the impact on production efficiency caused by accident handling at the same time.

[0068] Through the steel plate offline pushing device, move the steel plates to the stacking machine in sequence according to the motion state of each said steel plate and the running state of the roller table where the steel plates are located until the endless rolling production line resumes normal operation.

[0069] Specifically, in combination with Figure 3Schematic diagram of the position of the offline steel plate pushing device. After being rolled by the rough rolling mill, the continuous casting billet (or intermediate billet) is conveyed to the swing shear at a certain speed through the roller table. The swing shear works according to the preset time sequence and cuts the billet into steel plates of a specific length. These steel plates then enter the working area of the offline pushing device. The offline steel plate pushing device is located behind the swing shear, and its main function is to safely remove the steel plates from the on-line position in case of an accident or when maintenance is required on the production line, so as not to affect other parts of the production line. The pusher is the offline steel plate pushing device, which finally pushes the steel plates to the stacking machine for stacking through horizontal movement. Through the offline steel plate pushing device, according to the movement state of each steel plate and the running state of the roller table where it is located, the steel plates are sequentially moved to the stacking machine for stacking. The offline steel plate pushing device needs to accurately control the pushing speed and direction of the steel plates according to factors such as the size, weight of the steel plates and the running speed of the roller table, to ensure that the steel plates can be stacked on the stacking machine smoothly and orderly. Through this process, not only can collisions between the steel plates and other on-line billets during the pushing process be avoided, but also the steel plates after accident handling can be neatly stacked, which is convenient for subsequent processing or storage. The efficient execution of this step enables the endless rolling production line to maintain a certain production continuity in case of an accident, reduces the impact of the accident on the overall production process, and improves the stability and reliability of the production line.

[0070] The accident handling method based on the endless rolling production line of the present invention accurately identifies the processing requirements of the continuous casting billet in the accident state by obtaining the working conditions of the rough rolling mill and determining the processing state of the continuous casting billet, and then determines the timing control strategy of the swing shear according to the movement state of the on-line billet and the running state of the roller table, ensuring that no secondary accident will be caused due to improper operation when cutting the steel plate, and maximizing the utilization of the continuous casting billet. The accident handling process is optimized by using the offline steel plate pushing device. Among them, through the offline steel plate pushing device, according to the movement state of each steel plate and the running state of the roller table, the steel plates are sequentially and smoothly moved to the stacking machine for stacking, avoiding collisions between the steel plates and other on-line billets during the pushing process, and ensuring the efficiency and safety of the accident handling process. The present invention not only improves the accident handling efficiency and reduces the production interruption time caused by accidents, but also ensures the continuous production of the continuous casting part by reasonably controlling the destination and processing method of the continuous casting billet, thus realizing the production continuity of the endless rolling production line in case of an accident and improving the stability and reliability of the production line.

[0071] Optionally, the working conditions of the rough rolling mill include: roll gap lifting and normal operation, and the processing state of the continuous casting billet includes unprocessed state and processed state;

[0072] Determining the processing state of the continuous casting billet from the continuous casting area of the endless rolling production line according to the working conditions of the rough rolling mill includes:

[0073] When the working condition of the rough rolling mill is that the roll gap is lifted, it is determined that the continuous casting billet in the continuous casting area is in the unprocessed state;

[0074] When the working condition of the rough rolling mill is normal operation, it is determined that the continuous casting billet in the continuous casting area is in the processed state.

[0075] Specifically, in a endless rolling production line, the working condition of the rough rolling mill is a key factor in judging the processing state of the continuous casting billet. Among them, the working conditions of the rough rolling mill are divided into two types, namely, the roll gap is lifted and normal operation. When the roll gap of the rough rolling mill is lifted, it means that the continuous casting billet passes through the rough rolling mill directly without being rolled. At this time, the continuous casting billet is in the "unprocessed state". For example, a thick continuous casting billet passes through the rough rolling mill empty, and after the swing shear cuts it, the steel plate off-line pushing device moves the cut steel plate out of the production line for stacking. On the contrary, when the rough rolling mill is operating normally, the continuous casting billet is rolled into a thin intermediate billet, and at this time, the continuous casting billet is in the "processed state". By accurately judging the processing state of the continuous casting billet, it can provide clear guidance for subsequent accident handling, ensuring that the timing control strategies of the steel plate off-line pushing device and the swing shear can accurately match the current production situation. This judgment method based on the working condition makes the accident handling process more scientific and reasonable, and can effectively avoid secondary accidents or production efficiency decline caused by misjudgment.

[0076] In the embodiment of the present invention, by accurately judging the processing state of the continuous casting billet, the efficiency and safety of accident handling in the endless rolling production line are significantly improved. When an accident occurs, it can quickly determine whether the continuous casting billet has been rolled, so as to provide an accurate basis for subsequent steel plate cutting, pushing and stacking operations. This precise judgment method not only reduces the risk of equipment damage caused by misjudgment, but also optimizes the accident handling process and shortens the production line recovery time. This judgment mechanism based on the working condition provides a strong guarantee for the production continuity of the endless rolling production line in case of accidents.

[0077] Optionally, determining the in-line billet to be pushed out according to the processing state includes:

[0078] When the continuous casting billet is in the unprocessed state, the continuous casting billet is used as the in-line billet;

[0079] When the continuous casting billet is in the processed state, the continuous casting billet is processed into an intermediate billet and the intermediate billet is used as the in-line billet.

[0080] Specifically, when the continuous casting billet is in the "unprocessed state", that is, the roll gap of the roughing mill is lifted and the continuous casting billet passes through directly without rolling. At this time, the continuous casting billet is directly treated as an in-line billet. In a preferred embodiment of the present invention, the thick continuous casting billet passes through the roughing mill empty, and after being cut by the swing shear, the steel plate off-line pushing device removes the cut continuous casting billet from the production line for stacking. When the continuous casting billet is in the "processed state", that is, the roughing mill is working normally and the continuous casting billet is rolled into a thin intermediate billet. At this time, the processed intermediate billet is treated as an in-line billet. In another preferred embodiment of the present invention, after the intermediate billet is cut by the swing shear, it is removed from the production line by the steel plate off-line pushing device. This judgment logic ensures that in different working conditions, the accident handling can accurately identify the type of billet to be pushed out, provides clear guidance for subsequent cutting, pushing out and stacking operations, and avoids operation mistakes or equipment damage caused by misjudgment of the billet type.

[0081] In the embodiment of the present invention, by accurately identifying the processing state of the continuous casting billet, the correct handling of the in-line billet during accident handling is ensured, significantly improving the efficiency and safety of accident handling. Directly handling the continuous casting billet in the unprocessed state avoids unnecessary processing steps, saving time and resources; while handling the intermediate billet in the processed state ensures that the accident handling matches the normal process flow of the production line, reducing the impact of accident handling on production continuity, providing a strong guarantee for the production continuity of the endless rolling production line in case of accidents, and at the same time optimizing the accident handling process and improving the overall production efficiency.

[0082] Optionally, determining the timing control strategy of the swing shear according to the motion state of the in-line billet and the running state of the roller path where the in-line billet is located, and controlling the swing shear according to the timing control strategy of the swing shear to cut the in-line billet into multiple steel plates, includes:

[0083] Determining the running speed of the in-line billet according to the running state of the roller path where the in-line billet is located, and taking the running speed of the in-line billet as the first speed;

[0084] Determining the working time point of the swing shear according to the first speed, and taking it as the timing control strategy of the swing shear;

[0085] Controlling the swing shear to cut the in-line billet at each working time point to obtain multiple steel plates.

[0086] Specifically, in the accident handling process of the headless rolling production line, determining the timing control strategy of the swing shear is a key link to ensure the smooth handling of the accident. First, it is necessary to determine the running speed of the online billet according to the running state of the roller where the online billet is located, and use it as the first speed. For example, when the continuous casting billet is not processed, the continuous casting billet passes through the swing shear at the first speed, while the intermediate billet passes through the swing shear at a faster speed in the second working condition. Based on the first speed, the working time point of the swing shear is further determined, that is, when the swing shear performs the cutting operation. This timing control strategy ensures that the swing shear can accurately cut off the online billet at the right time, avoiding problems such as the length of the steel plate not meeting the requirements or collision caused by improper cutting timing. For example, when the length of the continuous casting billet passing through the swing shear at the first speed is 8.8m, the swing shear works again, instantly cuts off the continuous casting billet, and forms a steel plate with a length of 8.8m. In this way, the swing shear can accurately cut according to the actual movement state of the online billet, ensuring the efficiency and safety of the accident handling process.

[0087] In the embodiment of the present invention, the working time point of the swing shear is determined according to the actual running speed of the online billet, ensuring that the cutting operation can be carried out at the best time, avoiding problems such as the steel plate length not meeting the requirements or collision caused by improper cutting timing. Secondly, this timing control strategy can adapt to the movement state of the online billet under different working conditions. Whether it is an unprocessed continuous casting billet or a processed intermediate billet, efficient cutting can be achieved through precise timing control, ensuring the smooth progress of the accident handling process.

[0088] Optionally, determining the working time point of the swing shears according to the first speed includes:

[0089] Determining the movement duration of the inline blank according to the first speed and the preset length of each of the steel plates;

[0090] The working time point of the swing shears is determined according to the movement duration.

[0091] Specifically, in the accident handling of the endless rolling production line, determining the working time point of the swing shear is a key step to ensure the accuracy of steel plate cutting. First, it is necessary to calculate the movement duration of the on-line billet based on the first speed of the on-line billet and the preset length of each steel plate. For example, the continuous casting billet passes through the swing shear at a first speed of 6 m / min, and the preset steel plate length is 8.8 m. By calculation, the time for the continuous casting billet to reach the preset length from the start of cutting can be obtained as 8.8 m / 6 m / min = 1.47 minutes. This time is the movement duration of the on-line billet. Subsequently, based on this movement duration, the working time point of the swing shear is determined, that is, when the continuous casting billet moves to the preset length, the swing shear starts working for cutting. This process ensures the accuracy of the cutting operation and avoids problems such as the steel plate length not meeting the requirements or collisions caused by improper cutting timing. In this way, the swing shear can accurately cut the on-line billet at the appropriate time point, ensuring the efficiency and safety of the accident handling process.

[0092] In the embodiment of the present invention, by calculating the working time point of the swing shear, the accuracy and efficiency of steel plate cutting in the accident handling process are significantly improved. First, calculating the movement duration based on the first speed and the preset length ensures that the cutting operation can be carried out at the best timing, avoiding problems such as the steel plate length not meeting the requirements or collisions caused by improper cutting timing. Second, this timing control strategy based on the movement duration can adapt to the movement states of on-line billets under different working conditions. Whether it is an unprocessed continuous casting billet or a processed intermediate billet, efficient cutting can be achieved through precise timing control.

[0093] Optionally, the process of moving the steel plates to the stacker for stacking one by one through the steel plate off-line pushing device according to the movement state of each steel plate and the running state of the roller path where the steel plate is located until the endless rolling production line resumes normal operation includes:

[0094] According to the running state of the roller path where the steel plate is located, determine the running speed of the steel plate and use the running speed of the steel plate as the second speed, where the first speed is less than the second speed;

[0095] When the steel plate runs to the on-line waiting position at the second speed, control the steel plate off-line pushing device to perform reciprocating motion to move all the steel plates at the on-line waiting position to the off-line waiting position in sequence. At the same time, push the previous steel plate at the off-line waiting position to the stacker;

[0096] Stack the steel plates through the stacker;

[0097] When the endless rolling production line resumes normal operation, stop the operation of the steel plate off-line pushing device.

[0098] Specifically, in combination withFigure 4 As shown, the position where the first steel plate is located is the offline waiting position, and the position where the second steel plate is located is the online waiting position. During the accident handling process of the endless rolling production line, the function of the steel plate offline pushing device is to move the cut steel plate from the online waiting position to the offline waiting position, and finally push it to the stacker for stacking. This process first requires determining the running speed (the second speed) of the steel plate on the roller table and ensuring that this speed is greater than the running speed (the first speed) of the steel plate at the swing shear. In a preferred embodiment of the present invention, the running speed (the second speed) of the steel plate on the roller table is 1.5 m / s, and the speed (the first speed) when passing through the swing shear is 6 m / min (about 0.1 m / s). Obviously, the second speed is greater than the first speed. When the steel plate runs to the online waiting position at the second speed, the steel plate offline pushing device starts to work and makes a reciprocating motion, moving the steel plate from the online waiting position to the offline waiting position in sequence, and pushing the previous steel plate in the offline waiting position to the stacker. By precisely controlling the actions of the steel plate offline pushing device, it is ensured that the steel plate can be smoothly and orderly removed from the production line and stacked, avoiding collisions between the steel plate and other online billets during the pushing process, and ensuring the efficiency and safety of the accident handling process. At the same time, this process will continue until the endless rolling production line resumes normal operation, at which time the work of the steel plate offline pushing device is stopped.

[0099] In the embodiment of the present invention, by ensuring that the running speed of the steel plate on the roller table is greater than its speed at the swing shear, the steel plate can be quickly removed from the production line, reducing the accident handling time. Secondly, the reciprocating motion design of the steel plate offline pushing device enables the steel plate to be removed from the production line and pushed to the stacker for stacking in sequence and smoothly, avoiding collisions or damages to the steel plate caused by improper operation, and improving the safety of the accident handling process.

[0100] Optionally, controlling the steel plate offline pushing device to make a reciprocating motion and moving all the steel plates at the online waiting position to the offline waiting position in sequence includes:

[0101] When the steel plate runs to the online waiting position at the second speed, the steel plate is lifted from the initial position by the steel plate offline pushing device and lifted to a preset height;

[0102] The steel plate is horizontally moved out of the online waiting position by the steel plate offline pushing device;

[0103] When the steel plate moves above the offline waiting position, the steel plate is placed at the offline waiting position and returns to the initial position to wait.

[0104] Specifically, during the accident handling process of the headless rolling production line, the reciprocating motion of the steel plate offline push-out device is the key link to ensure that the steel plate can be safely and efficiently moved from the online waiting position to the offline waiting position. When the steel plate runs to the online waiting position at the second speed, the steel plate offline push-out device first lifts the steel plate from the initial position and lifts it to a preset height to ensure that the steel plate will not collide with other equipment or steel plates at the online waiting position during the movement. In this process, the steel plate offline push-out device needs to accurately control the moving speed and distance to ensure that the steel plate can reach the designated position smoothly. When the steel plate moves to the top of the offline waiting position, the steel plate offline push-out device places it in the offline waiting position and returns to the initial position to wait for the next steel plate. Not only does it require precise timing control, but it also needs to ensure that the steel plate remains stable during the movement to avoid damage caused by shaking or collision. Through this series of actions, the steel plate offline push-out device can efficiently move the steel plate from the online waiting position to the offline waiting position to prepare for subsequent stacking operations.

[0105] In the embodiment of the present invention, the steel plate is lifted from the initial position and raised to a preset height by the steel plate offline pushing device, thereby ensuring that the steel plate will not collide with other equipment or steel plates during movement, thereby avoiding damage or secondary accidents caused by collision.

[0106] Optionally, the step of pushing the last steel plate in the offline waiting position to the plate stacking machine comprises:

[0107] When the steel plate offline ejection device moves the steel plate out of the online waiting position, the side workbench of the steel plate offline ejection device contacts the previous steel plate in the offline waiting position, so that the previous steel plate is removed from the offline waiting position and pushed to the plate stacking machine.

[0108] Specifically, during the accident handling process of the headless rolling production line, the steel plate offline push-out device not only needs to move the steel plate from the online waiting position to the offline waiting position, but also needs to push the previous steel plate in the offline waiting position to the plate stacking machine for stacking. When the steel plate offline push-out device moves the steel plate out of the online waiting position, its side workbench will contact the previous steel plate in the offline waiting position, and remove the steel plate from the offline waiting position and push it to the plate stacking machine by pushing. It is worth mentioning that this process requires precise control of the moving speed and thrust of the steel plate offline push-out device to ensure that the steel plate can be pushed smoothly to the plate stacking machine to avoid collision or damage to the steel plate due to excessive thrust or too fast speed. Through this process, the steel plate offline push-out device can efficiently complete the removal and stacking operations of the steel plates, ensuring the continuity and stability of the accident handling process.

[0109] In the embodiment of the present invention, by precisely controlling the moving speed and thrust of the steel plate off-line pushing device, it is ensured that the steel plate can be smoothly pushed to the stacking machine, avoiding the collision or damage of the steel plate caused by excessive thrust or too fast speed. Secondly, the automated operation of this process reduces manual intervention, improves the overall efficiency of accident handling, and ensures the continuity of the accident handling process. Finally, by removing the steel plate from the off-line waiting position and pushing it to the stacking machine, the orderly stacking of the steel plates is achieved.

[0110] In summary, in the preferred embodiment of the present invention, as shown in Figure 4 , Figure 5 and Figure 6 , first, the system obtains the working conditions of the rough rolling mill unit and determines whether it is in the roll gap lifting state or the normal working state, so as to determine whether the continuous casting billet is in the unprocessed or processed state. If the roll gap of the rough rolling mill unit is lifted, the continuous casting billet is in the unprocessed state, and vice versa. According to this state, the system determines the online billets that need to be pushed out. Next, according to the motion state of the online billets and the running state of the roller table, the timing control strategy of the swing shear is determined. Based on the first speed, the motion duration of the online billets is calculated, and accordingly, the working time point of the swing shear is determined to precisely cut the online billets into multiple steel plates. Subsequently, the steel plate off-line pushing device moves the steel plates to the online waiting position at the second speed (greater than the first speed) according to the motion state of each steel plate and the running state of the roller table. The steel plate off-line pushing device performs reciprocating motion, sequentially moves the steel plates from the online waiting position to the off-line waiting position, and pushes the previous steel plate to the stacking machine for stacking. This process includes lifting the steel plate from the initial position, raising it to a preset height, horizontally moving it out of the online waiting position, placing it in the off-line waiting position and then returning to the initial position to wait. Finally, the steel plates in the off-line waiting position are pushed to the stacking machine through the side workbench to achieve the orderly stacking of the steel plates. When the production line returns to normal, the work of the steel plate off-line pushing device is stopped.

[0111] In another preferred embodiment of the present invention, the working conditions of the rough rolling mill unit in the rolling line part are divided into working condition one and working condition two. Among them, working condition one is that the roll gap of the rough rolling mill unit in the rolling line part is lifted, that is, the thick continuous casting billet from the continuous casting area passes through the rough rolling mill unit empty; working condition two is that the rough rolling mill unit in the rolling line part is working normally, that is, the thick continuous casting billet from the continuous casting area is rolled into a thin intermediate billet by the rough rolling mill unit, and the moving speed V1 is faster than v1 in working condition one.

[0112] For working condition 1, the accident handling method based on the endless rolling production line of the present invention includes: Step 1, the swing shear works to instantaneously cut the thick continuous casting billet; Step 2, the continuous casting billet from the continuous casting area passes through the swing shear at a speed of v1, and the billet on the other side enters the downstream process; Step 3, when the continuous casting billet passes through the swing shear at a speed of v1 for a length of L, the swing shear works again to instantaneously cut the continuous casting billet, forming a second steel plate with a length of L; Step 4, the second steel plate with a length of L runs a distance of L2 at a speed of v2 under the action of the roller table to reach the billet on-line waiting position, where v2 is greater than v1, and the continuous casting billet from the continuous casting area continues to pass through the swing shear at a speed of v1; Step 5, the upper workbench surface of the off-line steel plate pushing device lifts the second steel plate to a height of La1 at a speed of va1; Step 6, the off-line steel plate pushing device lifts the second steel plate and horizontally moves out a distance of Lg1 at a speed of vg1 to reach the off-line billet waiting position, and the side workbench surface of the off-line steel plate pushing device contacts the first steel plate waiting off-line (this is the first time the off-line steel plate pushing device works after the accident, and there may be no billet at the off-line billet waiting position); Step 7, the off-line steel plate pushing device lifts the second steel plate and horizontally moves out a distance of Lg2 at a speed of vg2. At the same time, the side workbench surface of the off-line steel plate pushing device pushes the first steel plate waiting off-line to horizontally move out a distance of Lg2. At this time, the second steel plate reaches above the off-line billet waiting position, and the first steel plate reaches the stacking machine; Step 8, the off-line steel plate pushing device descends a height of La2 at a speed of va2. During this process, the second steel plate falls onto the off-line billet waiting position; Step 9, the off-line steel plate pushing device horizontally moves a distance of Lg3 at a speed of vg3, and the off-line steel plate pushing device returns to the initial position, waiting for the third steel plate to reach the billet on-line waiting position; Step 10, when the continuous casting billet passes through the swing shear at a speed of v1 for a length of L, the swing shear works again to instantaneously cut the continuous casting billet, forming a third steel plate with a length of L; Step 10 can be carried out during the process from Step 6 to Step 9. After the upper workbench surface of the off-line steel plate pushing device in Step 5 lifts the second steel plate, the continuous casting billet passing through the swing shear is allowed to enter the C-shaped structure of the off-line steel plate pushing device. Steps 4 to 10 are repeated until the accident handling of the short-process endless rolling production line is completed and the rolling condition is met.

[0113] For the timing relationship of working condition 1, in combination with Figure 7As shown, the billet is pushed out from the continuous casting machine at a speed of v1. After a distance of t1, it reaches the rough rolling mill. When the billet is moving at a speed of v1, the swing shear cuts at an appropriate time point to form billets h1 and h2. The cut billet h2 continues to move forward at a speed of v2 until it reaches the on-line waiting position. During this process, the movement duration of the billet is Δt = t1 + t2. When the billet reaches the on-line waiting position, the off-line steel plate pushing device starts to act, lifts the billet from the initial position to the preset height La1, and then horizontally moves it out to the off-line waiting position Lg1 at a speed of vg1. The off-line steel plate pushing device continues to move at a speed of vg2, places the steel plate at the off-line waiting position, and pushes the previous steel plate to the stacking machine for stacking. The above process is continuously repeated before the production line resumes normal operation. Each cycle includes the cutting, acceleration, pushing out, and stacking of the billet.

[0114] Combined with Figure 7 As shown, the data that can be adopted in the actual production process are: L = 8.8m, L2 = 4.5m; v1 = 6m / min, v2 = 1.5m / s; La1 = 0.51m, La2 = 0.51m, Lg1 = 0.25m, Lg2 = 1.150, Lg3 = 1.4m; va1 = 0.1m / s, va2 = 0.2m / s, vg1 = 0.2m / s, vg2 = 0.1m / s, vg3 = 0.3m / s; L2 / v1 = 45s; La1 / va1 = 5.1s; △t = L / v1 + L2 / v2 = 91s; △t1 = La1 / va1 + Lg1 / vg1 + Lg2 / vg2 + La2 / va2 + Lg3 / vg3 = 25.1s

[0115] For working condition two, the accident handling method based on the endless rolling production line of the present invention includes: Step 1, the swing shear works to instantaneously cut the thin intermediate billet; Step 2, the intermediate billet from the rough rolling mill passes through the swing shear at a speed of V1, and the billet on the other side enters the downstream process; Step 3, when the intermediate billet passes through the swing shear at a speed of V1 for a length of L, the swing shear works again to instantaneously cut the intermediate billet to form a second steel plate with a length of L; Step 4, the second steel plate with a length of L runs a distance of L2 at a speed of v2 under the action of the roller table and reaches the billet on-line waiting position, where v2 is greater than V1, and the intermediate billet from the rough rolling mill continues to pass through the swing shear at a speed of V1; Step 5, the upper workbench surface of the steel plate off-line pushing device lifts the second steel plate to a height of La1 at a speed of Va1; Step 6, the steel plate off-line pushing device lifts the second steel plate horizontally by a distance of Lg1 at a speed of Vg1 and reaches the off-line billet waiting position, and the side workbench surface of the steel plate off-line pushing device contacts the first steel plate waiting off-line (this is the first time the steel plate off-line pushing device works after the accident, and there may be no billet at the off-line billet waiting position); Step 7, the steel plate off-line pushing device lifts the second steel plate horizontally by a distance of Lg2, and at the same time, the side workbench surface of the steel plate off-line pushing device pushes the first steel plate waiting off-line horizontally by a distance of Lg2. At this time, the second steel plate reaches above the off-line billet waiting position, and the first steel plate reaches the stacking machine; Step 8, the steel plate off-line pushing device descends by a height of La2 at a speed of Va1, and during this process, the second steel plate falls on the off-line billet waiting position; Step 9, the steel plate off-line pushing device moves horizontally by a distance of Lg3 at a speed of Vg1, and the steel plate off-line pushing device returns to the initial position and waits for the third steel plate to reach the billet on-line waiting position; Step 10, when the intermediate billet passes through the swing shear at a speed of V1 for a length of L, the swing shear works again to instantaneously cut the intermediate billet to form a third steel plate with a length of L; Step 10 can be carried out during the process from Step 6 to Step 9. After the upper workbench surface of the steel plate off-line pushing device in Step 5 lifts the second steel plate, the intermediate billet from the rough rolling mill is allowed to enter the C-shaped structure of the steel plate off-line pushing device. Steps 4 to 10 are repeated before the accident handling of the short-process endless rolling production line is completed and the rolling condition is available.

[0116] For the timing relationship of working condition two, in combination with Figure 8As shown in the figure, first, the billet is pushed out from the tandem rolling mill at a speed of V1. After a time t1, it is cut by the flying shear to form two parts: h1 and h2. Then, h2 continues to move forward at a faster speed v2 until it reaches the on-line waiting position. The movement time of the billet during this process is Δt = t1 + t2. In each cycle, after the billet reaches the on-line waiting position, the off-line steel plate pushing device starts to move reciprocally, moving the steel plates from the on-line waiting position to the off-line waiting position in sequence. The reciprocating time of this action is marked as Δt1. Above the off-line waiting position, the off-line steel plate pushing device places the steel plate at this position and prepares for the next action. The figure also shows that in consecutive cycles, the forward distance Δt of each billet is composed of t1 and t2, and the forward movement of h4 includes an additional 2Δt4 time to ensure that the steel plates can be safely pushed to the stacker for stacking. The entire timing relationship ensures the efficiency and safety of the steel plate processing process by precisely controlling the time points and speeds of each stage, avoiding collisions between steel plates, and minimizing production interruption time.

[0117] When step 7 is in progress, the head of the third steel plate reaches the roller path in the area of the on-line waiting position of the billet. The C-shaped structure of the off-line steel plate pushing device allows the intermediate billet to enter, and the off-line steel plate pushing device can work normally and meet the requirements. When △t4 is positive and less than L2 / v2, the off-line steel plate pushing device can push the third steel plate out of the rolling line. As the head of the fourth steel plate reaches the roller path in the area of the on-line waiting position of the billet, the time gap will become twice that of △t4, and finally, the intermediate billet that has just left the flying shear will hit the intermediate billet in the on-line waiting position. Therefore, when more than two intermediate billets need to be pushed out of the rolling line, it is required that △t4 is less than 0.

[0118] Combined with Figure 9 As shown in the figure, the present invention also provides an accident handling system based on a headless rolling production line, including:

[0119] A working condition monitoring unit, which is used to obtain the working condition of the rough rolling mill of the rolling line part when an accident occurs in the rolling line part of the headless rolling production line;

[0120] A processing state judgment unit, which is used to determine the processing state of the continuous casting billet from the continuous casting area of the headless rolling production line according to the working condition of the rough rolling mill; and determine the on-line billets that need to be pushed out according to the processing state;

[0121] A flying shear control unit, which is used to determine the timing control strategy of the flying shear according to the motion state of the on-line billet and the running state of the roller path where the on-line billet is located, and control the flying shear according to the timing control strategy of the flying shear to cut the on-line billet into multiple steel plates;

[0122] An offline pushing device control unit is used to move the steel plates to the stacker for stacking one by one through the offline steel plate pushing device according to the motion state of each steel plate and the operation state of the roller table where the steel plate is located until the endless rolling production line resumes normal operation.

[0123] The accident handling system based on the endless rolling production line of the present invention has the same advantages compared with the prior art as those of the accident handling method based on the endless rolling production line compared with the prior art, which will not be elaborated here.

[0124] A computer-readable storage medium provided by an embodiment of the present invention has a computer program stored thereon. When the computer program is executed by a processor, the accident handling method based on the endless rolling production line as described above is implemented.

[0125] Or, a non-volatile computer-readable storage medium has a computer program stored thereon. When the computer program is executed by a processor, the processor performs the following operations:

[0126] When an accident occurs in the rolling line part of the endless rolling production line, obtain the working conditions of the rough rolling mill set in the rolling line part;

[0127] According to the working conditions of the rough rolling mill set, determine the processing state of the continuous casting billets from the continuous casting area of the endless rolling production line;

[0128] According to the processing state, determine the in-line billets that need to be pushed out;

[0129] According to the motion state of the in-line billets and the operation state of the roller table where the in-line billets are located, determine the timing control strategy of the swing shear, and control the swing shear according to the timing control strategy of the swing shear to cut the in-line billets into multiple steel plates;

[0130] Through the offline steel plate pushing device, move the steel plates to the stacker for stacking one by one according to the motion state of each steel plate and the operation state of the roller table where the steel plate is located until the endless rolling production line resumes normal operation.

[0131] The computer-readable storage medium of the present invention has the same advantages compared with the prior art as those of the accident handling method based on the endless rolling production line compared with the prior art, which will not be elaborated here.

[0132] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. An accident handling method based on a headless rolling production line, characterized in that: Including: When an accident occurs in the rolling line part of the endless rolling production line, obtain the working conditions of the rough rolling mill set in the rolling line part; According to the working conditions of the rough rolling mill set, determine the processing state of the continuous casting billet from the continuous casting area of the endless rolling production line; According to the processing state, determine the in-line billet to be pushed out; According to the motion state of the in-line billet and the running state of the roller table where the in-line billet is located, determine the timing control strategy of the swing shear, and control the swing shear according to the timing control strategy of the swing shear to cut the in-line billet into multiple steel plates; Through the steel plate off-line pushing device, according to the motion state of each steel plate and the running state of the roller table where the steel plate is located, move the steel plates to the stacking machine in sequence for stacking until the endless rolling production line resumes normal operation.

2. The accident handling method based on the endless rolling production line according to claim 1, wherein The working conditions of the rough rolling mill set include: roll gap lift and normal operation, and the processing state of the continuous casting billet includes unprocessed state and processed state; The determining the processing state of the continuous casting billet from the continuous casting area of the endless rolling production line according to the working conditions of the rough rolling mill set includes: When the working condition of the rough rolling mill set is the roll gap lift, determine that the continuous casting billet in the continuous casting area is in the unprocessed state; When the working condition of the rough rolling mill set is the normal operation, determine that the continuous casting billet in the continuous casting area is in the processed state.

3. The accident handling method based on the endless rolling production line according to claim 2, characterized in that, The determining the in-line billet to be pushed out according to the processing state includes: When the continuous casting billet is in the unprocessed state, use the continuous casting billet as the in-line billet; When the continuous casting billet is in the processed state, process the continuous casting billet into an intermediate billet and use the intermediate billet as the in-line billet.

4. The accident handling method based on the endless rolling production line according to claim 1, characterized in that, The determining the timing control strategy of the swing shear according to the motion state of the in-line billet and the running state of the roller table where the in-line billet is located, and controlling the swing shear according to the timing control strategy of the swing shear to cut the in-line billet into multiple steel plates includes: According to the running state of the roller table where the in-line billet is located, determine the running speed of the in-line billet, and use the running speed of the in-line billet as the first speed; According to the first speed, determine multiple working time points of the swing shear and use them as the timing control strategy of the swing shear; Control the swing shear to cut the in-line billet at each working time point to obtain multiple steel plates.

5. The accident handling method based on the endless rolling production line according to claim 4, wherein, The determining the working time point of the swing shear according to the first speed includes: According to the first speed and the preset length of each steel plate, determine the motion duration of the in-line billet; According to the motion duration, determine the working time point of the swing shear.

6. The accident handling method based on the endless rolling production line according to claim 4, characterized in that, The moving the steel plates to the stacking machine in sequence for stacking until the endless rolling production line resumes normal operation through the steel plate off-line pushing device according to the motion state of each steel plate and the running state of the roller table where the steel plate is located includes: According to the running state of the roller table where the steel plate is located, determine the running speed of the steel plate, and use the running speed of the steel plate as the second speed, where the first speed is less than the second speed; When the steel plate runs to the on-line waiting position at the second speed, control the off-line pushing device of the steel plate to reciprocate, and sequentially move all the steel plates at the on-line waiting position to the off-line waiting position. At the same time, push the previous steel plate at the off-line waiting position to the stacking machine; Stack the steel plates through the stacking machine; When the endless rolling production line resumes normal operation, stop the off-line pushing device of the steel plate from working.

7. The accident handling method based on the endless rolling production line according to claim 6, characterized in that, The control of the off-line pushing device of the steel plate to reciprocate and sequentially move all the steel plates at the on-line waiting position to the off-line waiting position includes: When the steel plate runs to the on-line waiting position at the second speed, lift the steel plate from the initial position by the off-line pushing device of the steel plate and lift the steel plate to a preset height; Through the off-line pushing device of the steel plate, horizontally move the steel plate out of the on-line waiting position; After the steel plate moves above the off-line waiting position, place the steel plate at the off-line waiting position and return to the initial position to wait.

8. The accident handling method based on the endless rolling production line according to claim 7 is characterized in that: The pushing the previous steel plate at the off-line waiting position to the stacking machine includes: After the off-line pushing device of the steel plate moves the steel plate out of the on-line waiting position, through the contact between the side workbench of the off-line pushing device of the steel plate and the previous steel plate at the off-line waiting position, remove the previous steel plate from the off-line waiting position and push it to the stacking machine.

9. An accident handling system based on a headless rolling production line, characterized in that: Including: A working condition monitoring unit for obtaining the working condition of the rough rolling mill unit of the rolling line part when an accident occurs in the rolling line part of the endless rolling production line; A processing state judgment unit for determining the processing state of the continuous casting billet from the continuous casting area of the endless rolling production line according to the working condition of the rough rolling mill unit; and determining the on-line billets to be pushed out according to the processing state; A swing shear control unit for determining the timing control strategy of the swing shear according to the motion state of the on-line billet and the running state of the roller table where the on-line billet is located, and controlling the swing shear according to the timing control strategy of the swing shear to cut the on-line billet into multiple steel plates; An off-line pushing device control unit for sequentially moving the steel plates to the stacking machine through the off-line pushing device of the steel plate according to the motion state of each steel plate and the running state of the roller table where the steel plate is located until the endless rolling production line resumes normal operation.

10. A headless rolling production line, characterized in that, It includes a computer-readable storage medium storing a computer program and a processor. When the computer program is read and run by the processor, it implements the accident handling method based on the endless rolling production line according to any one of claims 1 to 8.

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