CN114179128B - Safety protection system and metallurgical processing equipment - Google Patents
Safety protection system and metallurgical processing equipment Download PDFInfo
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- CN114179128B CN114179128B CN202111626175.XA CN202111626175A CN114179128B CN 114179128 B CN114179128 B CN 114179128B CN 202111626175 A CN202111626175 A CN 202111626175A CN 114179128 B CN114179128 B CN 114179128B
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- 238000012545 processing Methods 0.000 title claims abstract description 20
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 38
- 230000001960 triggered effect Effects 0.000 claims description 18
- 230000001681 protective effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 238000005272 metallurgy Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000005070 sampling Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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Abstract
The invention provides a safety protection system and metallurgical processing equipment, and relates to the technical field of metallurgy. The safety protection system comprises fixed longitudinal beams, fixed transverse beams, movable longitudinal beams, movable transverse beams, iron chains, air cylinders and safety warning lamps, wherein one end of each movable longitudinal beam is rotatably arranged on the fixed transverse beam through a second rotating pin; the movable cross beam is rotatably arranged at the other end of each movable longitudinal beam through a third rotating pin; the cylinder includes cylinder body and telescopic link, and the cylinder body is rotationally installed on fixed longeron through first rotation round pin, and the tip of telescopic link is rotationally connected on removing the longeron through the fourth rotation round pin, and the safety warning lamp is used for according to the signal of falling and raising the signal, shows the light of corresponding colour and sends the suggestion sound. The metallurgical processing equipment comprises the safety protection system. The safety protection system is flexible in structure, can hardly occupy space in a laying state, and can completely meet the safety protection requirement of the industrial robot.
Description
Technical Field
The invention relates to the technical field of metallurgy, in particular to a safety protection system and metallurgical processing equipment.
Background
In the field of metallurgical technology, the use of industrial robots is becoming more and more common. According to the safety production requirement of the industrial robot, the space where the arm and the end effector move should be avoided from entering during the working process, otherwise, safety accidents are very easy to cause. Therefore, when the robot works, the problem of ensuring that no obstruction exists in the working space of the robot is needed, and ensuring that people or other equipment cannot invade the working space of the robot. When the robot is not in operation, the isolation of the dangerous source is enhanced, and meanwhile, the worker is ensured to conveniently and safely work nearby the robot or pass through the robot work area. Therefore, how to design the industrial robot safety protection device in a matched manner to meet the requirements is a crucial task.
At present, the industrial robot safety protection is realized mainly by the following schemes:
scheme one: a partially fixed fence is used. The working space of the industrial robot is surrounded by building the fence, a movable door is left, and when the robot needs to be overhauled or the robot enters the working space to perform other operations, the door is opened manually. The fence has low construction investment, but is inflexible, occupies large space and affects the worker to enter the operation or pass. In the current metallurgical production field, most industrial robots are used for post-transformation, and if a special working space for the industrial robots is not specially considered to be arranged in factory construction, the fixed fence is often arranged to obstruct the original passage or cause trouble for workers to enter the area to do other work. Therefore, more fences are not used in the field.
Scheme II: an electronic fence is adopted. A virtual robot working space is arranged through a camera or a laser system, and when someone breaks in, an alarm is sent or a command is sent to stop the robot. This approach does not fundamentally solve the security problem. It does not have a physically present blockage, so that the robot is not accessible to personnel at work. Further, at some point, the robot cannot stop working immediately, for example, when the temperature measuring and sampling work is performed, the gun measuring system of the robot is inserted into molten steel and is not allowed to stay too long, and if a command is sent at the moment to stop the robot, the gun measuring and even the robot equipment is burnt. Obviously, the safety protection device adopting the camera or the laser system has higher investment cost and higher maintenance workload.
Disclosure of Invention
The invention aims to provide a safety protection system and metallurgical processing equipment, which are flexible in structure, can hardly occupy space in a laying state, and can completely meet the safety protection requirement of an industrial robot.
Embodiments of the invention may be implemented as follows:
in a first aspect, an embodiment of the present invention provides a safety protection system, including:
the fixed longitudinal beam is used for being fixedly installed on the ground;
the fixed cross beam is used for being horizontally arranged on the ground and fixedly arranged on the ground;
one end of each movable longitudinal beam is rotatably arranged on the fixed cross beam through a second rotating pin;
the movable cross beams are rotatably arranged at the other end of each movable longitudinal beam through third rotating pins;
the cylinder comprises a cylinder body and a telescopic rod, the cylinder body is rotatably arranged on the fixed longitudinal beam through a first rotating pin, and the end part of the telescopic rod is rotatably connected on the movable longitudinal beam through a fourth rotating pin;
the falling detection switch is arranged on the left side of the second rotating pin of the fixed cross beam and is used for sending a falling signal when the movable longitudinal beam is recovered to the fixed cross beam;
the lifting detection switch is arranged on the upper side of the second rotating pin on the fixed cross beam and is used for sending a lifting signal when the movable longitudinal beam is lifted relative to the fixed cross beam;
and the safety warning lamp is used for displaying the corresponding color light and sending out a prompt tone according to the falling signal and the lifting signal.
The safety protection system provided by the embodiment of the invention has the beneficial effects that:
1. the safety protection system has small occupied area and small space required by action, hardly occupies field space in a laying state, is very suitable for being applied to metallurgical industry sites with insufficient space, and can meet most of reconstruction requirements;
2. the safety protection system has simple structure and low cost, is driven by the air cylinder, and has simple and reliable operation and small maintenance workload;
3. the safety warning lamp of the safety protection system is linked with the industrial robot, so that personnel can judge the working state of the system simply through the color of the safety warning lamp and the prompt tone, and the danger is predicted in advance.
In alternative embodiments, the safety warning lights include green, red and yellow lights;
under the condition that the protection work is not required to be executed, the control cylinder recovers the movable longitudinal beam to the fixed cross beam, the falling detection switch is triggered, and a green light in the safety warning lamp is turned on based on a falling signal;
when the protection work is needed to be executed under the condition that the execution of the operation is started after the preset time length, the yellow lamp in the safety warning lamp is controlled to be turned on, and an alarm sound is sent out;
under the condition that the protection work is being executed, the control cylinder lifts the movable longitudinal beam, the lifting detection switch is triggered, and a red light in the safety warning light is lightened on the basis of a lifting signal;
when the movable side member is lifted relative to the fixed side member, the lift detection switch sends a lift signal, and the industrial robot starts working based on the lift signal.
In an alternative embodiment, the safety shield system further comprises:
the iron chain is connected to the middle part of the movable longitudinal beam and is bridged on all the movable longitudinal beams;
and the telescopic rod is connected to the movable longitudinal beam through the tripod.
In an alternative embodiment, a tripod comprises:
a tip end of the telescopic rod is rotatably connected to the tip end through a fourth rotation pin;
the two bottom ends are fixedly connected to the same movable longitudinal beam, and the two bottom ends are arranged at intervals along the length direction of the movable longitudinal beam.
Like this, the cylinder passes through the tripod rotationally to be connected and obtains on the removal longeron, can make the cylinder to the driving force or the pulling force of removal longeron balanced, it is smoother to the drive of removal longeron, avoids appearing the dead condition of card.
In an alternative embodiment, the fixed cross beam is provided with a first U-shaped groove, the opening of the first U-shaped groove faces the direction of the movable cross beam, one end of the movable longitudinal beam is rotatably connected in the first U-shaped groove, and two ends of the second rotating pin are respectively connected to two side walls of the first U-shaped groove and penetrate through one end of the movable longitudinal beam.
In an alternative embodiment, the opening width of the first U-shaped groove is larger than the width of the movable longitudinal beam, and the cylinder can drive the movable longitudinal beam and the iron chain to be recycled into the first U-shaped groove of the fixed cross beam.
Like this, under the condition that the cylinder falls down and removes the longeron, remove longeron and iron chain and can retrieve to the first U type inslot of fixed cross beam, compact structure has not only reduced the occupation space of system, has played the effect of accomodating and protecting to removing longeron and iron chain moreover.
In an alternative embodiment, the movable cross beam is provided with a second U-shaped groove, the opening of the second U-shaped groove faces the direction of the fixed cross beam, the other end of the movable longitudinal beam is rotatably connected in the second U-shaped groove, and two ends of the third rotating pin are respectively connected to two side walls of the second U-shaped groove and penetrate through the other end of the movable longitudinal beam.
In an alternative embodiment, the opening width of the second U-shaped groove is larger than the width of the movable longitudinal beam, and the cylinder can drive the second U-shaped groove of the movable cross beam to cover the movable longitudinal beam and the iron chain.
Like this, under the condition that the cylinder falls the removal longeron, the second U type groove of moving cross beam can cover and establish on removing longeron and iron chain, compact structure has not only reduced the occupation space of system, has played the effect of accomodating and protecting removing longeron and iron chain moreover.
Safety warning light alert sound second aspect, embodiments of the present invention provide a metallurgical processing apparatus, the metallurgical processing apparatus including:
ladle;
the industrial robot is arranged at one side of the ladle;
at least one of the safety shield systems of the foregoing embodiments is mounted in a workspace of an industrial robot.
In an alternative embodiment, the industrial robot is arranged on a platform channel positioned at one side of the ladle, at least three safety protection systems are arranged on the platform channel, one safety protection system spans between the ladle and the industrial robot, and one safety protection system is respectively arranged on two opposite sides of the platform channel along the length direction.
In an alternative embodiment, under the condition that the industrial robot does not execute operation, the adjacent side rail is controlled to be erected, the two passage rails are put down, a lifting detection switch on the adjacent side rail is triggered to send out a lifting signal, a falling detection switch on the two passage rails is triggered to send out a falling signal, and a green light in the safety warning lamp is lightened based on the lifting signal and the falling signal;
under the condition that the industrial robot starts to execute the operation after the preset time, controlling a yellow lamp in the safety warning lamp to be turned on and giving out alarm sound;
after the two passage railings are lifted and the adjacent railings are laid down, a lifting detection switch on the passage railings is triggered to send a lifting signal, a laying down detection switch on the adjacent railings is triggered to send a laying down signal, and the industrial robot starts to operate based on the lifting signal and the laying down signal.
The metallurgical processing equipment provided by the embodiment of the invention has the beneficial effects that:
1. by arranging a plurality of safety protection systems of the safety protection system in the working space of the industrial robot, the safety protection system not only can ensure that the arms and the working objects are not blocked before the industrial robot works, but also can play a role in preventing the protective personnel from falling from the working surface of the industrial robot and play a role in preventing the personnel from being wrongly intruded;
2. the control and state detection of the safety protection system can be incorporated into the industrial robot work flow, the safety protection system can be linked with the industrial robot, manual operation is not needed, the automation level of the whole system is improved, the protection capability of the whole system can be further improved, and meanwhile, the safety protection system is convenient for personnel to enter and pass to the greatest extent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a safety protection system according to a first embodiment of the present invention in a lifted state;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1;
fig. 3 is a schematic structural diagram of the safety protection system according to the first embodiment of the present invention in a laid-down state;
FIG. 4 is a schematic elevational view of a metallurgical processing plant according to a second embodiment of the present invention;
fig. 5 is a schematic top view of a metallurgical processing equipment according to a second embodiment of the present invention.
Icon: 100-a safety protection system; 110-fixing the longitudinal beams; 120-fixing the cross beam; 130-moving the stringers; 140-moving a beam; 150-iron chain; 160-tripod; 161-tip; 162-bottom end; 170-cylinder; 171-cylinder; 172-telescoping rod; 180-a first rotation pin; 190-a second rotation pin; 200-a third rotation pin; 210-a fall detection switch; 220-lifting a detection switch; 230-a safety warning lamp; 240-fourth rotation pin; 300-metallurgical processing equipment; 310-ladle; 320-an industrial robot; 330-limb bar; 340-a channel rail; 350-platform channel.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
First embodiment
Referring to fig. 1, the present embodiment provides a safety protection system 100, and the safety protection system 100 includes a fixed longitudinal beam 110, a fixed transverse beam 120, a movable longitudinal beam 130, a movable transverse beam 140, an iron chain 150, a tripod 160 and an air cylinder 170.
The fixed stringers 110 are vertically and fixedly mounted on the ground. The fixed beam 120 is horizontally and fixedly installed on the ground. One end of each of the moving stringers 130 is rotatably mounted to the fixed cross-member 120 by a second rotation pin 190. The moving cross member 140 is rotatably installed at the other end of each moving longitudinal member 130 by a third rotation pin 200. The iron chain 150 is connected to the middle of the moving stringers 130 and spans all of the moving stringers 130. The cylinder 170 includes a cylinder 171 and a telescopic rod 172, the cylinder 171 is rotatably mounted on the fixed girder 110 by a first rotation pin 180, and an end of the telescopic rod 172 is rotatably connected to the moving girder 130 by a fourth rotation pin 240, preferably, the telescopic rod 172 is connected to the moving girder 130 by a tripod 160.
Thus, the safety protection system 100 occupies small area, has small space for action, hardly occupies on-site space in a laying state, is very suitable for being applied to metallurgical industry sites with insufficient space, and can adapt to most of transformation requirements; moreover, the safety protection system 100 is simple in structure, low in cost, simple and reliable in operation and small in maintenance workload, and is driven by the air cylinder 170.
Referring to fig. 1 and 2, the tripod 160 includes a tip 161 and two base ends 162, and an end of the telescopic rod 172 is rotatably coupled to the tip 161 by a fourth rotation pin 240; the two bottom ends 162 are fixedly connected to the same movable longitudinal beam 130, and the two bottom ends 162 are arranged at intervals along the length direction of the movable longitudinal beam 130. In this way, the air cylinder 170 is rotatably connected to the movable longitudinal beam 130 through the tripod 160, so that the driving force or the pulling force of the air cylinder 170 to the movable longitudinal beam 130 is balanced, the driving of the movable longitudinal beam 130 is smoother, and the situation of jamming is avoided.
The safety protection system 100 further comprises a falling detection switch 210, a lifting detection switch 220 and a safety warning lamp 230, wherein the falling detection switch 210 is installed on the left side of the second rotating pin 190 on the fixed cross beam 120, and the falling detection switch 210 is used for sending a falling signal when the movable longitudinal beam 130 is recovered to the fixed cross beam 120; a lift detection switch 220 is installed on the upper side of the second rotation pin 190 on the fixed cross member 120, the lift detection switch 220 being for emitting a lift signal in the case where the movable cross member 130 is lifted with respect to the fixed cross member 120; the safety warning lamp 230 is used for displaying corresponding color lights and emitting prompt tones according to the falling signal and the lifting signal. In this way, the safety warning light 230 of the safety protection system 100 is linked with the industrial robot 320, so that personnel can simply judge the working state of the system by the color of the safety warning light 230 and the prompt tone, and predict the danger in advance.
Specifically, the safety warning lamp 230 may be installed at the top end of the fixed longitudinal beam 110, and the safety warning lamp 230 includes green light, red light and yellow light, and can also emit a warning sound.
Referring to fig. 3, the fixed cross beam 120 has a first U-shaped slot (not shown), an opening of the first U-shaped slot faces a direction in which the movable cross beam 140 is located, one end of the movable longitudinal beam 130 is rotatably connected in the first U-shaped slot, and two ends of the second rotation pin 190 are respectively connected to two sidewalls of the first U-shaped slot and penetrate through one end of the movable longitudinal beam 130. The opening width of the first U-shaped groove is greater than the width of the movable longitudinal beam 130, and the air cylinder 170 can drive the movable longitudinal beam 130 and the iron chain 150 to be recovered into the first U-shaped groove of the fixed cross beam 120. Thus, in the case that the cylinder 170 falls down the moving longitudinal beam 130, the moving longitudinal beam 130 and the iron chain 150 can be recovered into the first U-shaped groove of the fixed cross beam 120, which not only has a compact structure and reduces the occupied space of the system, but also plays a role in storing and protecting the moving longitudinal beam 130 and the iron chain 150.
The movable beam 140 has a second U-shaped slot (not shown in the figure), the opening of the second U-shaped slot faces the direction of the fixed beam 120, the other end of the movable longitudinal beam 130 is rotatably connected in the second U-shaped slot, and two ends of the third rotation pin 200 are respectively connected to two side walls of the second U-shaped slot and penetrate through the other end of the movable longitudinal beam 130. The opening width of the second U-shaped groove is larger than the width of the movable longitudinal beam 130, and the cylinder 170 can drive the second U-shaped groove of the movable cross beam 140 to cover the movable longitudinal beam 130 and the iron chain 150. In this way, when the cylinder 170 falls down the moving longitudinal beam 130, the second U-shaped groove of the moving cross beam 140 may be covered on the moving longitudinal beam 130 and the iron chain 150, which not only has a compact structure and reduces the occupied space of the system, but also plays a role in storing and protecting the moving longitudinal beam 130 and the iron chain 150.
Preferably, the fixed beam 120 and the movable beam 140 may be made of U-shaped channel steel, so that the fixed beam 120 directly has a first U-shaped slot, and the movable beam 140 directly has a second U-shaped slot.
The working principle of the safety protection system 100 provided in this embodiment is as follows:
referring to fig. 1, when the telescopic rod 172 of the control cylinder 170 is retracted, the movable longitudinal beam 130 is in a vertical state with respect to the fixed transverse beam 120, and acts as a guardrail, and at this time, the safety protection system 100 is in a lifted state.
Referring to fig. 3, when the telescopic rod 172 of the control cylinder 170 is extended, the movable longitudinal beam 130 and the iron chain 150 are retracted into the fixed cross beam 120, and the movable cross beam 140 and the fixed cross beam 120 are in a close contact state, and at this time, the safety protection system 100 is in a laying state.
The working procedure of the safety warning lamp 230 of the safety protection system 100 provided in this embodiment is as follows:
in the case that the protection work is not required to be performed, the control cylinder 170 recovers the moving longitudinal beam 130 to the fixed cross beam 120, the falling detection switch 210 is triggered, and the green light in the safety warning lamp 230 is turned on based on the falling signal;
when the protection work is required to be executed under the condition that the execution of the work is started after the preset time period, the yellow light in the safety warning light 230 is controlled to be turned on, and an alarm sound is sent out;
in the case where the guard work is being performed, the control cylinder 170 lifts the moving stringer 130, the lift detection switch 220 is triggered, and the red light in the safety warning light 230 is turned on based on the lift signal;
when the movable side member 130 is lifted relative to the fixed side member 120, the lift detection switch 220 sends a lift signal, and the industrial robot 320 starts the operation based on the lift signal.
The safety protection system 100 provided in this embodiment has the following advantages:
1. the safety protection system 100 has small occupied area and small space required by actions, hardly occupies field space in a laying state, is very suitable for being applied to metallurgical industry sites with insufficient space, and can meet most of transformation requirements;
2. the safety protection system 100 has simple structure and low cost, is driven by the air cylinder 170, and has simple and reliable operation and small maintenance workload;
3. the safety protection system 100 can be linked with the industrial robot 320, and provides reliable safety protection while maximally facilitating personnel entry and passage;
4. the person can know the working state of the industrial robot 320 by observing the state of his safety warning light 230, thereby predicting the danger.
Second embodiment
Referring to fig. 4 and 5, the present embodiment provides a metallurgical processing apparatus 300, and the metallurgical processing apparatus 300 includes a ladle 310, an industrial robot 320, and the safety protection system 100 provided in the first embodiment.
The industrial robot 320 is disposed on the platform channel 350 at one side of the ladle 310, and the industrial robot 320 is used for measuring and sampling the temperature of the materials in the ladle 310. Three safety protection systems 100 are installed on the platform channel 350, and one safety protection system 100 spans between the ladle 310 and the industrial robot 320 and serves as a siderail 330. One safety protection system 100 is provided as a passage rail 340 along the length of the platform passage 350 on each of opposite sides of the industrial robot 320.
When the industrial robot 320 needs to perform temperature measurement sampling work, the adjacent side rail 330 is controlled to be put down, and the arm downward detection of the industrial robot 320 is not affected. When the operation of the industrial robot 320 is completed, the adjacent side rail 330 is controlled to be erected, and the falling of personnel is prevented.
When the industrial robot 320 needs to perform temperature measurement sampling work, the control channel railing 340 is erected to play a safety protection role, so that personnel cannot pass through. When the operation of the industrial robot 320 is completed, the control channel rail 340 is lowered and personnel can pass.
To save costs, the safety warning light 230 may be set up one at only one side of the channel rail 340, rather than having to set up one for each rail.
The workflow of the metallurgical processing apparatus 300 provided in this embodiment is as follows:
in the initial state, the industrial robot 320 does not perform the operation, at this time, the adjacent side rail 330 is erected, the two passage rails 340 are put down, the lift detection switch 220 on the adjacent side rail 330 corresponding thereto is triggered to emit a lift signal, and the fall detection switch 210 on the two passage rails 340 is triggered to emit a fall signal. The up signal and the down signal are transmitted to an automatic control system, and the automatic control system controls the green light in the safety warning lamp 230 to be on, so that the safety warning lamp indicates that the personnel can pass through or enter the area to work.
When the industrial robot 320 is about to execute the operation, the automatic control system controls the yellow light in the safety warning light 230 to be on, and simultaneously, an alarm sound is sent out to indicate that the industrial robot 320 is about to start and remind people working in the area of leaving as soon as possible. After a warning of a certain period of time (e.g., 30 seconds) has elapsed, or if safety has been confirmed, the automatic control system issues instructions to raise both channel rails 340 while the siderail 330 is lowered.
When two channel rails 340 are lifted and the adjacent side rail 330 is laid down, the lifting detection switch 220 on the corresponding channel rail 340 is triggered, and the falling detection switch 210 on the adjacent side rail 330 is triggered, at this time, the industrial robot 320 is signaled to start operation, meanwhile, the red light in the safety warning light 230 is controlled to be on, so that the industrial robot 320 is operated, the channel is dangerous, and personnel are forbidden to pass.
The metallurgical processing equipment 300 provided by the embodiment has the following beneficial effects:
1. by arranging the safety protection systems 100 and the safety protection systems 100 in the working space of the industrial robot 320, not only can the condition that no blocking exists between the arms and the working objects of the industrial robot 320 be ensured when the industrial robot 320 works, but also the effect that the protective personnel fall from the working surface of the industrial robot 320 and the effect of preventing personnel from being wrongly intruded can be achieved;
2. the control and state detection of the safety protection system 100 can be incorporated into the workflow of the industrial robot 320, can be linked with the industrial robot 320, does not need manual operation, improves the automation level of the whole system, can further improve the protection capability, and simultaneously facilitates the entry and passage of personnel to the greatest extent.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. A safety shield system, the safety shield system comprising:
a fixed stringer (110) for fixed mounting on the ground;
a fixed cross beam (120) for horizontal ground and fixed installation on the ground;
a plurality of moving stringers (130), one end of each of the moving stringers (130) being rotatably mounted on the fixed cross member (120) by a second rotation pin (190);
a movable cross member (140) rotatably mounted at the other end of each of the movable stringers (130) by a third rotation pin (200);
the cylinder (170) comprises a cylinder body (171) and a telescopic rod (172), the cylinder body (171) is rotatably mounted on the fixed longitudinal beam (110) through a first rotating pin (180), and the end part of the telescopic rod (172) is rotatably connected to the movable longitudinal beam (130) through a fourth rotating pin (240);
a falling detection switch (210) mounted on the fixed cross beam (120) at the left side of the second rotation pin (190), the falling detection switch (210) being used for emitting a falling signal when the movable longitudinal beam (130) is recovered to the fixed cross beam (120);
a lift detection switch (220) mounted on the fixed cross member (120) above the second rotation pin (190), the lift detection switch (220) being configured to issue a lift signal when the movable cross member (130) is lifted with respect to the fixed cross member (120);
and the safety warning lamp (230) is used for displaying corresponding color lights and sending out prompt tones according to the falling signal and the lifting signal.
2. The safety shield system of claim 1, wherein the safety warning light (230) includes green, red, and yellow lights;
under the condition that protective work is not required to be carried out, the cylinder (170) is controlled to recycle the movable longitudinal beam (130) to the fixed transverse beam (120), the falling detection switch (210) is triggered, and the green light in the safety warning lamp (230) is lightened based on the falling signal;
when the protection work is needed to be executed under the condition that the execution of the work is started after the preset time length, the yellow lamp in the safety warning lamp (230) is controlled to be turned on, and an alarm sound is sent out;
-in case a protective work is being performed, controlling the cylinder (170) to lift the moving stringer (130), the lift detection switch (220) being triggered, the red light in the safety warning light (230) being lit up based on the lift signal;
when the movable side member (130) is lifted up with respect to the fixed cross member (120), the lift detection switch (220) sends out the lift signal, and the industrial robot (320) starts the operation based on the lift signal.
3. The safety shield system of claim 1, further comprising:
an iron chain (150) connected to the middle of the movable stringers (130) and bridging all of the movable stringers (130);
-a tripod (160), said telescopic rod (172) being connected to said mobile stringer (130) through said tripod (160).
4. A safety shield system according to claim 3, wherein the tripod (160) comprises:
a tip (161), an end of the telescopic rod (172) being rotatably connected to the tip (161) by the fourth rotation pin (240);
two bottom ends (162) are fixedly connected to the same movable longitudinal beam (130), and the two bottom ends (162) are arranged at intervals along the length direction of the movable longitudinal beam (130).
5. A safety protection system according to claim 3, wherein the fixed cross beam (120) is provided with a first U-shaped groove, an opening of the first U-shaped groove faces the direction of the movable cross beam (140), one end of the movable cross beam (130) is rotatably connected in the first U-shaped groove, two ends of the second rotating pin (190) are respectively connected to two side walls of the first U-shaped groove and penetrate through one end of the movable cross beam (130), the width of the opening of the first U-shaped groove is larger than that of the movable cross beam (130), and the cylinder (170) can drive the movable cross beam (130) and the iron chain (150) to be recovered in the first U-shaped groove of the fixed cross beam (120).
6. A safety protection system according to claim 3, wherein the movable cross beam (140) is provided with a second U-shaped groove, the opening of the second U-shaped groove faces the direction of the fixed cross beam (120), the other ends of the movable longitudinal beams (130) are rotatably connected in the second U-shaped groove, and two ends of the third rotating pin (200) are respectively connected to two side walls of the second U-shaped groove and penetrate through the other ends of the movable longitudinal beams (130).
7. The safety protection system according to claim 6, wherein the opening width of the second U-shaped groove is larger than the width of the movable longitudinal beam (130), and the cylinder (170) can drive the second U-shaped groove of the movable cross beam (140) to cover the movable longitudinal beam (130) and the iron chain (150).
8. A metallurgical processing apparatus, the metallurgical processing apparatus comprising:
a ladle (310);
an industrial robot (320) disposed at one side of the ladle (310);
the safety shield system of at least one of claim 1, mounted in a workspace of the industrial robot (320).
9. The metallurgical processing plant according to claim 8, wherein the industrial robot (320) is arranged on a platform channel (350) located at one side of the ladle (310), at least three of the safety protection systems are installed on the platform channel (350), one of the safety protection systems is spanned between the ladle (310) and the industrial robot (320) as a limb (330), and one of the safety protection systems is provided on each of opposite sides of the platform channel (350) in the length direction of the industrial robot (320) as a channel rail (340).
10. The metallurgical processing plant according to claim 9, wherein in case the industrial robot (320) is not performing a job, the edge rails (330) are controlled to be raised, both of the channel rails (340) are lowered, the lift detection switches (220) on the edge rails (330) are triggered, the lift signal is issued, the fall detection switches (210) on both of the channel rails (340) are triggered, the fall signal is issued, a green light in the safety warning light (230) is lit based on the lift signal and the fall signal;
controlling a yellow light in the safety warning light (230) to be turned on and emitting an alarm sound under the condition that the industrial robot (320) starts to execute the operation after a preset time period;
after the two channel railings (340) are lifted and the adjacent side railings (330) are laid down, the lifting detection switch (220) on the channel railings (340) is triggered to send out the lifting signal, the laying down detection switch (210) on the adjacent side railings (330) is triggered to send out the laying down signal, and the industrial robot (320) starts working based on the lifting signal and the laying down signal.
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| CN202111626175.XA CN114179128B (en) | 2021-12-28 | 2021-12-28 | Safety protection system and metallurgical processing equipment |
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| CN202111626175.XA CN114179128B (en) | 2021-12-28 | 2021-12-28 | Safety protection system and metallurgical processing equipment |
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| CN114179128A CN114179128A (en) | 2022-03-15 |
| CN114179128B true CN114179128B (en) | 2023-12-01 |
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| CN114179128A (en) | 2022-03-15 |
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