201023998 六、發明說明： 【發明所屬之技術領域】 一種冶金及/滾壓機用的自動化裝置，包含一個機器人 (1)(R7)，該機器人具有一機器人控制手段，該機器人控制 手段具有影響一相關的人-機器介面的操作種類/操作模 式，這些操作種類/操作模式係配合或設計成可配合該機器 人（1)(R7)的不同的自動化程度及/或該互動夥伴：人與機器 人在一工作空間中的不同的時間上及/或地點上的定位，其 中至少有一保護範圍與該機器人GKR7)相關聯。 【先前技術】 在先前技術中人們知道將冶金廠或滚壓機以及冶金_及 /或滾Μ機工程設備設以操縱器（Manipulator)或機器人，特 別是工業機器人。因此，舉例而言，長時以來有一些操縱 器’用於將一隱藏管（Schattenrohr，英：shadow tube)耗合 到一铸造槽（Gieflwanne)或在將一轉爐砌牆時，運送重的石 材。也有使用全自動機器人，例如用於將鋼帶捲上漆或將 一電弧爐喷漿。大部分這些用途的一共同點為機器人配合 各特殊目的以及針對這種目的而設。 如此，舉例而言，在國際專利W0 2005/1 18182 A2提 到多功能機器人的應用，該機器人執行多於一種的目的， 其中，在此先前技術中，機器人系統設計成使它可一鑄造 平（Gieflbiihne，英：casting flo〇r)工作數種不同的活動。在 W0 2008/025512 A1發表了一種機器人系統，它包含—多功 能機器人，該機器人在一盛桶維修架内將一盛桶的底作維 201023998 修。 固然由先前技術習知的機器人-特別是工業機器人可 作基本上不同的目的，但其功能一般係針對全自動的應用。 ❹ 人在所有情形可有利地做工作人員或工作者的功能， 利用一遠操縱器（Telemanipulator)操作模式而進入其工作 活動及功能。在這種活動時以及在此多功能機器人的操作 狀態中，機器人與人的工作空間和運動空間在各時刻都須 保持隔離，俾使機器人不致傷害到人。但全自動的解決方 案對於各機器人的完美功能需要有某種數量的必項的感測 器系統或感覺、技能、及/或決定能力，俾能執行工作程序， 因此，在複雜的工作過程，這類系統就其實施所需之成本、 系統穩定性以及程序安全方面己到了其極限。在冶金及滾 壓機工程設備中，在特定之手工作時，往往有必要由人（亦 即在各工作範圍中活動的工作者或工作人員）根據觀察而對 進一步的過程作夠資格而迅速的決定。因此，在一鑄造盛 桶作維修卫作時，必須決定那些部分可繼續使用，那些部 分要更換。要做到這點，不但需要能檢出各種狀態，而且 j要有某種程式的決定能力’以作正確的決定。在迄今先 前技術習知的解決方案，在那種情形，將工業機器人關掉、 或固疋或㈣住n者進人制護籬⑽此叫圍住 =機H人運動Μ和卫作範圍’以作所需的檢查和決定， 作流程中作活動及觀察或檢查活動要頻頻交替時，這 解決方案就不能令人滿意’因為機器人要常常停下來； 而且要做某些簡單的手動的目的，對於全自動操縱及遠操 5 201023998 作的操縱器而言顯得在技術上成本不成比例地高，或者成 本/效益比例不利，因為如要做這種簡單的手動人為活動， 機器人系統須設以高度複雜的感測器系統。因此將一小的 安全元件[例如供人用的橫栓（Splint)]簡單地拿開對人而言 係-種簡單的手動活動’因為他可用眼看到該橫栓並用手 將它輕輕將它拉出來。為了要讓機器人作相同工作，該機 器人必須設以一個複雜的感測器系統’俾使該元件（在此情 形為該橫栓）的位置能檢知。如此檢知之後，機器人才能將 該橫栓拿開。舉例而言，如果這種工作要利用一遠操縱器 達成’則這種活動繁複，不可靠，且緩慢。 一種減輕這種問題的可能方式於將各工作位置和相關 的工作手段配合自動化作業。因此，在w〇 2〇〇8/〇255 62 ai 中提到一鋼液盛桶的移動器機構的具體實施，該機器則可 利用一機器人更換。這種系統的缺點為：作這種配合的成 本很高，因此設有這種系統的設備由於投資成本高，其經 濟效益減少。因此在WO 2002/025502 A1中所提的例子中， 各鑄造盛桶須設以相關的移動器系統以及作相關的固定。 習知系統的另一重大缺點在於：在其應用時，該設備 可能較不易接近探及，雖然在操縱器的場合安全性係利用 人（即操作人員）負責任地操作而確保，而在傳統全自動的工 業機器人，由於法律規定（舉例而言’在歐洲係為法條 2006/42/EG)須將機器人的工作及運動範圍和人（即操作人 員）的停留地點隔開。 最後，在WO 2〇〇7/〇57〇61 A1提到將活動的工作機器 201023998 人從原來的工作範圍樞轉出來，因此操作人員可接近到該 工作區域’但要將機器人樞轉開來。就需要一定的時段， 因此在危險時刻時，一直到操作人員進入危險範圍並在該 處作因應措施為止，可能耽誤了寶貴的時間。 此外’在大工程設備—特別是在冶金設備，如金屬熔 爐（Metallhiitte，英：metal smelter)或煉鋼廠中的活動，以 及在尚爐或還原爐及滚壓機的場地中往往對於在該處活動 的操作人員有較大的危險，且往往具有傷害人體的負荷。 © 這些負荷特別是由人體工學觀點，係歸類為對人很嚴重 者。特別是這點對於一些工作活動（它們係在具有熱負荷或 排放物負荷的環境中進行）或另一些重量級身體動作（例如 舉起重物）的工作活動而言，其情形尤然β 因此之故’要將這類工作活動自動化的聲浪更高漲。 為此目的，特別是工業機器人很適合，特別是折臂機器人 (Knickarmroboter)。如此它們就担當對人有危險或重負荷的 活動，且完全地或（和人合作）部分地作這些工作過程如 ®此，對工作者或操作人員的危害風險就減少了， 由於工業機器人本身對操作人員也有危險，因此在大 工程設備，須保護人以免受機器人傷害，所要注意的規則 見於相關的工業標準，例如ISO 10218-1 : 2006及ISO 1218-2 : 2008。在此，繞著工業機器人周圍要定義出保護範 圍，它們利用永久性護籬或其他永久性隔離作用的安全裝 置與保護範圍外的環境隔開。但在大工程設備例如金屬熔 爐（Metallhtitte)或煉鋼廠，則不能普遍地做這種永久性安全 201023998 裝置如護籬。舉例而言，在—連續鑄造設備的-鑄造平 台上，在該處所進行的卫作活動的領域中，也會有一些範 圍要由操作人員進入。外此這些範圍在要由工業機器人所 作的工作活動的情形’係設計成圍繞工業機器人的保護範 關於具有保護範圍的機器人的設計，f用技術有將不 同的保護範圍與-機器人相關聯。因此在焊接工程的領域 門决道 <吏機器人與工作者合作，且在此該機器人先 將預備的材料交給工作者以作手動谭接。在焊接過程，機 15人站在m置’焊接結束後，工作者走回去，並將 開關動作’該開關使機器人行駛到下一焊接位置。此過 直繼續到所有焊接點都焊上為止。然後，機器人將終 產品放在-棧板（Pal⑽)上。在整個工作過程時，工作者完 =又到保護。只有在如果卫作者位在定義為危險範圍的保 護區域之外時，則機器人才將其位能轉變成速度，反之， 果作者停在-疋義為警告區域的預保護區域中，則一 2出元件將機器人速度減少，如果工作者進入保護，則機 人馬上停下’如果卫作者再從保護範圍走出來，則機器 人再工作。也可與這些情形無關地，由另_工作者用一又 :堆高機將棧板運來及運走。然而為了不使任何人有危 故在該處同樣設有浮動式保護空間。如果此處此時有 :進入該危險空間(例如由於不注意)則機器人同樣地停 卜0因此，由這種實用上羽 s知之先前技術，人們知道將不 力能的保護範圍’亦即一警告區域以及保護區域本身與 201023998 一機器人相關聯。 ❹ _ 但這種先前技術的缺點為，此處該檢出元件與一個定 義為保護範圍的面積相關聯。如果此時須由一機器人在不 同工作工作位置作不同工作活動，且因此在工作：位置須 將保護範圍涵蓋不同的卫作空間’則須定義—個對應地大 的保護空間或者須定義數個保護空間。特別即使是如此 做，下述的問樹：在工業機器人與人的合作中有一迪 工作過程必須要由操作人員在特定的工作活動的領域中進 入該繞著工業機器人周圍形成的保護範圍中。 【發明内容】 本發明的目的在於提供—種解決之道，它可使—機器 人或機器人㈣更有變通性地配合不同程度的人—機器人 相互作用（互動）（Interakti()n)以及在大卫程設備（特別是冶金 設備）的卫作活動及工作流程的領域中使工業機器人有變通 性地使用。 -種冶金及/滾壓機用的自動化裝置，包含 人，該機器人具有一機器人控制手段， ° <工市』于权，該機器人控制手段 具有影響-相關的人-機器介面的操作種類操作模式這些 操作種類/操作模式係配合或設計成可配合該機器人⑴㈣ 的不同的自動化程度。A了提供—種解決方案它可使機 器人或機器人系統有變通性地配合人·機器人互動的不同的 程度。且可使-機器人在一大工程設備（特別是冶金設幻 的工作活動及工戶流程的領域有變通性的利用。 這種目的達成之道係利用-種冶金及/滾壓機用的自動 9 201023998 化裝置，包含一個機器人，該機器人具有一機器人控制手 段，該機器人控制手段具有影響一相關的人—機器介面的操 作種類操作模式’這些操作種類/操作模式係配合或設計成 可配合該機器人的不同的自動化程度及/或該互動夥伴：人 與機器人在一工作空間中的不同的時間上及/或地點上的定 位，其中至少有一保護範圍與該機器人相關聯，該機器人 特別為工業機器人’該保護範圍係被與該機器人（特別是工 業機器人）合作的檢出元件檢出，此保護範圍就其延伸範圍 及功能而言係設計成依機器人活動及/或機器人工作位置而 ◎ 定作改變及/或可改變，且其中該機器人（特別是工業機器 人）設在一行駛裝置上，該行駛裝置可在—行駛軌道上行駛。 利用本發明提供了一種有變通性的解決方案以供一種 機器人系統，及其運動與工作範圍的設計以及其工作方 式、以及一種分工式的目的之實施，在與操作人員的相互 作用（互動）方面作時間上及空間上的目的之分工，因此可迅 速及有效地作數種目的，而不會在此由於該機器人系統設 計成全自動或遙控方式而受到限制。因此依本發明可將 〇 現代工業以機器人與人的感覺和決定能力合作。為此特別 是在冶金或滾壓機工程裝置或設備中使一機器人系統與一 工作位置相關聯，該機器人系統可有變通性地配合工作環 境内的數種不同的活動，該機器人系統的可變通性係用以 下方式達成：該系統具有不同的操作模式，這些操作模式 可使工作者或操作人員與機器人之間作不同形式的合 作且包含更廣泛的操作種類。機器人控制手段也對應地 10 201023998 擴充增加了這些操作模式。為此’對於該機器人系統放 不同的互動形式’它們可使互動夥伴—機器人與工2 或操作人員）之間作m讀行目的。在時間及 = 的分工上有不同的方式。在此， 的目 牧此，不冋的互動形式定義 〇 ❿ 互動的夥伴•機器人與卫作者之間在機器人系統的運動= 工作空間内的時間上及地點上的隔離的平面。舉例而言' 工作者與機器人直接合作，二者共同地在相同的卫作物上 作活動’二者間沒有時間和空間的隔離，這種互動形式一 般稱「協力」（Kollaboration)。這種互動形式同樣包含直接 觀測的過程，*中機器人獨立地作一工作並被人觀察，該 人停留在機器人的運動空間中。另一種互動為機器人的單 獨工作，而它係被一個人在安全距離作遙控在此該二互 動夥伴在工作空間内有地點和時間上的隔離。 在此，該裝置形成一機器人互動系統，此系統特別為 有數種機器人操作種類，這些種類宜除了此外習知之（會） 自動化操作外’還加新的及其操作種類加入該機器人互動 系統及機器人控制手段進去，這些種類可使之與操作人員 或工作者較強的互動。 一種這種的操作種類係為一種操縱操作，其中機器人 係作所謂的「手操作」中。在「操縱操作」中，機器人經 由一手控制手段操作，它使工作者能直接控制軸及/或將終 效器（Endeffektor)作笛卡爾坐標式（Kartesisch)控制。在操縱 操作中’有三種不同模式，它們具有不同功能，它們依機 器人與操作人員之間的距離而有不同。 11 201023998 在第一種模式中’機器人呈手動機器人方式操作。在 此模式中，操作人員將機器人直接用手操作，這點係利用 力量-力矩感測器達成，該感測器設在機器人上，且將工作’ 者施到機器人（宜為終效器或機器人之一要移動的部分）的 壓力作測量。 另一模式在於利用手控制來引導機器人。在此模式中 工作者站在機器人旁邊，特別是在機器人的運動空間内。 且經一控制手段將機器人動作，此控制手段設計成一控制 棒（Steuerkniippei)形式的操作枱（Bedienpult)或控制棒的組 ❹ 合形式的操作枱或設計成立體滑鼠（Spacemouse)形式。 又一模式係經由手控制手段將機器人作遠操作導引， 其中操作人員/:L作者站在機器人的運動及工作空間外，例 如站在&制室中，並由遠處或用攝影機觀察機器人，其 中該手控制手段可做成一如前述第二模式。在操縱操作 中。操作者/工作者可控制軸及/可將各機器人的夾器/工且直 接控制。 八 再種機器人操作方式為半自動操作，其中該機器人 ◎ 自動地執行-機器人程式的序列（Se㈣nz，英：“㈣㈣）， 在半自動操作’機器人提供一系列的程式化序列給操作者 用立’這些序列對應於各工作目的的個別部分工作步驟，這 些部分工作步驟與該機器人和該機器人互動系統相關聯。 在此，操作者可選擇個別工作序列並將它們任意地停止或 起動。在此操作模式中’個別的工作步驟大致在機器人與 人/操作者之間輪流執行。因此，舉例而言，工作者打開一 12 201023998 蓋板，走到旁邊並將機器人控制手段的—短序列起動，在 此序列中它將一沈重物體放入開口中。在自動執行的序列 結束後，=人可將蓋板再蓋上，序列的起動、停止或選擇 可經由-容易操作的輸入裝置、一種語音控制、或將工作 者/操作者的姿勢用感測器檢出達成。當—序列由於不可預 見的原因發生問題或在自動操作的工作流程時發現有異常 (Auffalhgkeit) 1該半自動操作也詩使操作者進入全自 動程式序列。在此情形中，操作者可將全自動操作中斷換 成半自動操作，此半自動操作使他能將個別的序列重複 =式：的：另外的工作步驟。舉例而言，在半自動操 、功月b 為中止 ”（Pauie)、，，閃開，，（AUSWeichen)、，，將 工作步驟向前跳或回跳”。同樣地，在半自動操作可在任何 時間換到操縱操作中。 此外利用依本發明的保護範圍的可變性就其延伸範圍 及其功能方面而言’可將各機器人本身的保護範圍或安全 範圍與該機器人相關聯。該範圍可各依工作活動而定作改 我們不再需要將該被-機器人在不^作位置的範圍 中整經過的工作空問用—&祕# 1用保護範圍涵蓋。卻可將一保護範 =各工作位置相關聯。其中該各種不同的保護範圍仍不 “ _人i疊。纟本發明的範疇内纟可將不同功能與一保 ㈣圍相關聯1此可在—種情形中，將「機器人立^ 住」的功能與該保護相關聯。而在另工作位置只將「機器 人的工作速度減低」的功能與該保護範圍相關聯。 整體上’由於該與一機器人或工業機器人相關聯的保 13 201023998 護範圍及保護空間的設計有 I’ )雙逍性以及一設有數個工業 機器人的大工程設備（特別是冶金設備）的保護空間的設計 也有可變通性，因此就該整體看來，該設備係為整體一致 的完全安全及保護的構想。 本發明另-特點為：該操作種類及/或操作模式可啟動 及關掉且該機器人可利用此操作種類及/或操作模式配合不 同的功能及/或工作活動。 在所有操作種類，對著該裝置和機器人互動系統的相 關設計，可確保在任何時刻能保證工作者所需的安全。一 機器系統以及相關的工作範圍設計成使不同的操作模式（例 如遠操縱操作、共勞操作或全自動操作）可任意地交替操 作，而不需作繁複的（特別是機器人的）改裝或加裝。 同樣地可設計成使設有本發明裝置的冶金或滾壓機設 備仍保持可接近而探及，且在突然及危險的事件的情形 時，逃生路徑不會被格栅阻擋住。這點主要用以下方式達 成·該機器人互動系統在使用本發明的機器人互動系統 時，大部分設計成沒有隔離的保護裝置。因此如果操作人 員/工作者須進入機器人的工作空間或工作範圍時在路徑 中不會有妨礙及/或隔離的栅格。設有本發明的機器人互動 系統的冶金或滾壓機設備的機器安全性並非利用上述種類 之隔離式保護裝置達成，而係利用感測器監視該工作範圍 以便使用安全控制手段及/或安全感測器系統而達成。 上述的有變通性的及/或利用該裝置形成的世界性的機 器人互助系統宜至少由以下元件構成：機器人、安全感測 201023998 器系統、安全控制手段、與人-機器人介面（它可設計成一種 手控制手段或語音控制的形式）。 在此機器人互動系統中要使用的機器人宜為一種世界 性的（宜為可自由程式化的）工業機器人。當然該機器人互動 系統也可包含多於一個的機器人（例如二個機器人，呈工作 機器人與輔助機器人合作的方式）。該機器人宜為可作六軸 式運動的機器人’其工作臂或操作臂設有一個更換系統以 容納不同的工具、夾器或測量裝置。該機器人宜設計成用 〇於使用在極端的工作環境，換言之，在冶金工程或滾壓機 工程或冶金的設備的熱範圍及/或危險範圍中。這類設計今 曰一般以「熔鑄」（Foundry)設備的名稱上市。在此，夾器 與工具當然也對應地作設計。 因此本發明的設計的一特點也在於：該機器人（特別是 工業機器人）設在一冶金工程或滾壓機工程的設備。並在該 處與一工作位置或工作範園相關聯。 最後，本發明另一特點為：有一安全感測器系統（它包 含感測器或一種感測器的組合）和該機器人（特別是工業 機器人)相關聯。該系統將一個與該機器人互動系統相關聯 的安全範圍及/或入口範圍及/或檢出範圍中有人在的情形 檢出。 此安全感測器系統宜由 這些感測器適用於檢出有人 統設計成使得有人在的情形 情形，可利用某種程度的安 各種不同的感測器組合構成， 在的情形。在此，該感測器系 ’例如有人進入工作範圍中的 全性檢知，因此整個系統符合 15 201023998 法律規定及條文的要求，例如播站、+ & 機械法條2006/42/EG。 為了達成此點’該安全感泪I丨哭么 α挪15系統包含個別的感測器 但一般包含感測器的組合，1φ π π /、τ不同的感測器類型也可呈 多重及累贅（redundant)方式存在。摘 廿仕適合用於安全感測器系統 中的感測器的例子有：雷射掃瞄器 裔 光幕、光柵、具有深 度檢知能力的攝影機、紅外線摄影 攝於機、超音波感測器、踏 蓆（Trittmatte)、RFID(無線電頻率珥a丨、^ 两平識別）、掃瞄器或力量一力 矩感測器。適用於安全感測器系絲 ^』窃糸統中的元件還有一些門接 ❹ 點或開關。它們可使工作者告知她 石口知機is人互動系統或安全感 測器系統：「有人進入工作蘇圊 圍」°這些安全感測器系統 的元件(例如所用的感測器)選擇的目的為：使它們配合冶金 工程或滾壓機工程較用環境條件，且儘㈣處有高塵埃 及咼熱的負荷，仍能確實地工作。 在此，在該安全感測器 系統設計時’將由於工作環璜诰出 .^ 成之可靠性較小及使用壽 命較短的情形（例如在具有高塵埃 歷；量的使用範圍中的光學感 測器所發生者）列入考慮。安全感 文王為硎器系統的另一目的在於 監視相關的工作位置或工作範圍之危險狀態·特別是一些設 備狀態，這些狀態不一定直接及最 取无由於機1§人的運動或 活動w成，而係由設備狀態或工作 IF 1互置的事件引起者。因 此，舉例而言，沒有檢知溫度的感 J敬測器，它們不但適合咸 測到有人在的情形，而且同樣能檢 熱的面或液態鋼，因 此在生產事故或設備工程裝置故障 I平呀J檢知到危險。此系 統通知有關於潛在危險的訊息， 的操作人員的安全。 另外“在卫作範圍中 16 201023998 此外也可將用於檢知有毒或有害的程序氣體（例如一氧 化碳）的感測器整合到安全感測器系統中，以作人體工學 (Ergonomie)及/或工作安全性的監視。利用這些感測器及/ 或該感測器系統得到及/或處理的信號遂送到機器人控制手 段或相關的安全系統。後者在危險的情形如有必要可發警 報及/或例如將機器人停下來或者在可行駛的機器人的場 合，使機器人從危險範圍移行出來。 由該裝置形成的機器人互動系統的最重要的元件為機 〇 器人控制手段，它一方面可使人與機器人之間作不同的互 動形式’另方面可確保人不會受到機器人威脅或特別是傷 害。在此’該機器人控制手段設有以下功能特徵及功能性。 這些功能特徵及功能性受該控制手段控制及/或影響：機器 人控制手段產生及/或監視該機器人速度的安全限度（笛卡 爾坐標式以及相對於轴的方式）。 將機器人在任意位置安全地將操作停止，及 女全的jjtJ止斜坡作用（Brenisrampen)的監視。 ® 該機器人互動系統另一元件為人-機器人介面，它可使 人與機器/機器人之間作各種不同的互動。在一種互動形式 (其中該互動夥伴間並無時間/及地點的隔離。因此二個互動 夥伴在機器人的工作-及/或保護範圍中）中，該人_機器人介 面可使工作者能操作機器人系統，在附近直接觀察設備狀 態’且如有必要’就進入程序，其中該機器人互動系統特 別設有一個要由操作者（人）操作的一致性（協 調）(Zustimmung)裝置或一個電機械式的協調開關。此處「協 17 201023998 ❹ 調開關」一詞指-種開關裝置’它須一直動作，俾能使代 表造成危險的狀態的控制信號有效。協調震置或電磁式協 調開關可設計成世界性的6D輸入裝置，例如一種所謂的立 體滑鼠（Spacemouse)，但也可將它設計成設在機器人手或機 器人終效器的力量-力矩感測器的形式，該感測器可使機器 人作直覺式（intuitive)導引，而維持所要的安全性。但也可 做成具有建入或語音控制的類型。這點有另一好處，即各 工作者或操作者T自由地在機器人的工作空間移動。所有 實施例中，該協調裝置為控制手段的重要部分，一如該下 一計劃的工作步驟的，可讓操作者或工作者得知及知悉的 視訊化作用或視訊化顯示，因此機器人在時間上作的下一 工作步驟不會讓工作者感到意外。 此外，本發明一有利設計係為：該機器人（特別是工 業機器人）在熱範圍及/或危險範圍中執行這些在具有至少 一熱範圍及/或危險範圍的冶金或滾壓機操作裝置的一冶金 薇或滾壓機的範鳴内的相關的工作活動。因此操作人員以 及工作者不必負擔熱範圍及/或危險範圍中的活動。特別是 該機器人構一個接到熱範圍及/或危險範圍的介面，因此衣 本發明另一特點’該機器人（特別是工業機器人）設置成使得 ，冶金或滾壓機操作時’需施力/由玉作者配合機器人（特別 是工業機器人）的工作活動要用+做的活動（特別是工作活 動）至少大致都可在該範圍及/或危險範圍外做。 為了將機器人的行動半徑擴大，故該機械人設有擴大 其工作二間的手段，這些手段包含行駛軌道及/或行駛裝置 18 201023998 及/或底盤，它們可使機器人能行駛，在這方面，依 -特點’該機n人（特別是王業機器人） ⑼ 的行駛裝置的方式設在該行驶裝置上。移行 由於依本發明不只是該行駛裝置可行駛，而且該機 人（特別是卫業機器人）也用可在該行驶裝置上移行的方式 設置或支承在其上，因此如今，機器人可用行歇單元作: 轴式運動，或者，當機器人做成門吊車（龍門式吊 車）(P〇rtalkran，英：portal crane)機器人或橋式吊車機器人 ©時’還可作二轴式運動。這點擴大了這種可行敬的機器人 的行動半径》特別是可將該三條轴設成互相正交，這點係 在門吊車機器人或橋式吊車機器人所實施者。 該行駛裝置或行駛單元的設計一種特別適合及可良好 實施的可能方式在於：將該行駛裝置/單元設計成一種吊車 載具方式的載具形式（它在一行驶軌道的行駛路線上行 駛）且設有一個吊車跑動車（Kranlaufkatze)方式的工業機器 人行敬機（它可相對於此載具行駛），因此本發明的設計中， 該打敬裝置包含一個可在行駛軌道上行駛的吊車載具的載 具。有一個行敬機（它具有設在其上的機器人—特別是工業 機器人’且它呈一天車跑動車方式）以可行駛的方式設在該 載具上。 因此利用本發明’同樣可將機器人或工業機器人或一 手動襞置或一手動機在不使用時定位在一個遠離本來的使 用地點或工作活動範圍的地點，並依標的行駛到工作活動 位置’利用這種行駛裝置與機器人的組合或手動裝置與機 201023998 器的組合’可造成無數種這類裝置的組合，在此，該行駛 裝置可為機器人的一部分，或一鑄造設備或一鑄造平台或 冶金設備、冶金工程設備或滾壓機工程設備的一部分，但 也可建構成與原來的鑄造機或設備完全隔開，也可將既有 的設備利用行駛軌道、行駛裝置和機器人的組合加裝。 機器人可行駛到一個靜止位置，此靜止位置設在其至 少一工作範圍外，為了使機器人能相對於該行驶機有變通 性及可變地定位’該行馱裝置可包含一個可在可變高度定 位的裝置或伸縮管裝置，該裝置承載該工業機器人或形成 ◎ 工業機器人的一構件。有一控制手段與該工業機器人相關 聯，該控制手段可使工業機器人有變通性地使用。因此可 將控制手段藉著程式化而擴充其他附加目的，並因此使工 業機器人用於其他使用之可能方式和活動範圍，或可由它 執其他活動。在此’該控制手段也可設計成由它或利用它 執行可變的或固定預設的程式流程。也可把要由工業機器 人執行的目的以可變的方式利用特別是可自由程式化或參 數化的行駛流程達成。在此還可用共通的或分別控制裝置 〇 與該行敬裝置和工業機器人相關聯。另外，在此處如果該 工業機器人受程序控制及/或自動化整合到該冶金、冶金工 程式滾壓工程的設備中，則甚有利。 該機器工業人的行駛軌道以及其所設之行駛路徑可各 依使用地點而定有變通性地配合各地點的情況，並且可沿 該行駛路徑或行駛軌道形成及設置一機器人用的各種大不 相同的功能範圍和活動範圍。因此可沿該行駛路徑沿行駛 20 201023998 軌道有一個或數個靜止位置及/或工作活動位置及/或供應 位置、裝置位置及/或維修位置與該工業機器人相關聯或分 配給該機器人。在工業機器人不必使用時，可留在靜止位 置中。這些靜止位宜位在其他之原來的生產範圍或危險範 圍外一段距離處，使得工業機器人在此靜止位置時不會干 擾在冶金、冶金工程或滾壓工程設備中進行的其它生產作 業。除了工業機器人的工作活動位置外，沿著行駛路徑也 可設特別的供應位置或裝設位置。在這些位置，舉例而言， 〇 機器人設以特別工具或這些位置更換工具或例如把被機器 人手住的檢體從機器人拿走。最後，還可在行歇路徑上設 維修位置，在該處舉例而言該機器人受到一道檢查或者亦 作修理。由於依本發明，該行駛裝置可設計成具有跑動車 的一種吊車的形式’因此最後也可利用該行駛裝置作升降 活動。因此也可將該工業機器人的行駛裝置呈一工場吊車 (Hallenkran)的形式用於執較輕的舉升活動。 特別有利的是將機器人設計成門吊車機器人或橋式吊 車機器人的形式，因此依本發明另一特點，該機器人特別 疋工業機器人設計成門吊車機器人或橋式吊車機器人，沿 著此行駛路徑可將上述靜止位置及/或工作活動位置及/或 供應、裝設及/或維修位置設在沿所形成之行駛路徑的各任 何位置。 本發明也包含一大工程設備整體構造的構想以及個別 «X在其中的工業機器人，使得在設備内的各種不同的保護 範圍或安全範圍作辨識及定義，這些範圍可呈動態方式配 21 201023998 合機器人的各活動，各使用的自動化系統及/或該大工程設 備的各狀態，或在最希望的情形也能藉著改變保護範圍或 安全範圍而自動化地自動配合。這種配合可依設備狀態而 定或由各生產及/或程序狀態或意外情況而定，作這種配 σ ’例如依一種狀態一看是否有鋼正在禱造而定，即使機 器人的工作活動沒有任何改變，也要作這種配合。 在這種可變的設計的可能方式的範疇中，依本發明， 與該機器人（特別是工業機器人）相關聯的保護範圍或安全 範圍在該機器人（特別是工業機器人）行駛，時被該機器人一 麵 齊帶動而移動。 該裝置的特別的可變化性及可變通性，依本發明另一 設計，係由數個不同延伸範圍及功能的保護區域（它們與其 各功能相關聯）達成。因此，一保護範圍或安全範圍的延伸 (Ausdetmng，英：extensi〇n)及作用方式（功能）各依機器人 或工業機器人的工作位置而定作改變或至少可改變。 另適當的設計在於：一保護範圍包含一主保護範圍 及-預保護範圍’有人進入主保護範圍時，機器人馬上停〇 住’而有人進入預保護範圍時，機器人的工作速度立刻降 下來。 _為了將一機器人或工業機器人在自身的運動軸上作移 灯（特別是作獨立的移行）時的特別風險列人計算，因此可使 用手動控制以執行卫業的大卫程設備的領域中該卫 二㈣作業或其他運動，但也可使該機器人自動地： 馱 這點係有可能去「輿y丨 〇 J此者（舉例而言，當它設在一行駛軌道或在 22 201023998 -吊車軌道上時，係有可能者)，其中該保護範圍就跟著一 齊移動，且其空間延伸範圍可改變。 在—種保護或安全範圍的設計的範疇中，也可將一保 護範圍或安全範圍由一操作人員藉著將一機器人控制手段 動作裝置用手動作而在維持該機器人工作活動（宜減慢速度 執仃）的情形下切換成可讓人進入的狀態，以使一操作人員 進入。 整體上，在一工業大工程設備的設計，可設四類的保 © 護或安全範圍。它們可分成以下四類： 一有永久性危險的範圍 一具緊急高危險的範圍（主保護範圍） —直接鄰接主保護範圍的範圍（預保護範圍） 一無緊急危險的範圍 有永久性危險的範圍要使操作人員儘量完全不能得其 門而入（unzuganglich，英：inaccessible)，例如完全用圍難 圍住’主保護範圍係為工業機器人的直接工作範圍。 ® 這些範圍可利用個別的檢出元件或利用互相合作的不 同檢出元件的組合作監視，如有必要並將其範圍作定義（限 定Xdefinieren，英：difine) ’所用之檢出元件可為各種大不 相同的感測器’例如接點網（Kontaktmatte，英：contact mat)、雷射掃瞄器、光栅、RFID掃瞄器、（rFID :無線電頻 率識別）、攝影機或類似物。另外，該保護範圍也可利用標 §己以及利用所》胃的「放大實際投影」（Augmentage Reality Projektion)在榮光幕中或操作面板（Bedienpaneei)中標示並 23 201023998 用視訊顯示。在此情形，可在螢光幕或影像面板上顯示有 關機器人在實際環境中的實際活動時可利用軟體技術限制 的工作空間的視訊的附加資訊。在此各種不同的感測器的 組合構成一種可包含特別的視訊化系統的總監視系統，這 點用於使該以可變方式和各工業機器人相關聯的保護範圍 能有可靠而穩定的作用及設計。 係以習知方式使得在有人侵 關於主保護範圍 主保護範圍(它利用一個固定的工業機器人或以固定方式另 位的工業機器人定義出其範圍)時而機器人舉例而言係在i 動操作中以全速運動時的情形’則機器人立刻停住或停Ί 來，反之，如*人侵入該固定之機器人的一個作了定義⑺ 定)之預保護範圍中時’則機器人的最大速度減少，此主沿 護範圍本身只有在以下情形才能讓人進入而不必將工業相 :人停下·’當-機器人控制裝置由一操作人員用於動七 停住如果沒有這種手動的動作，則工業機器人馬上關掉,201023998 VI. Description of the invention: [Technical field of invention] An automatic device for metallurgy and/or rolling machine, comprising a robot (1) (R7) having a robot control means, the robot control means having an influence The type of operation/operation mode of the relevant human-machine interface, which is coordinated or designed to match the different degrees of automation of the robot (1) (R7) and/or the interaction partner: the person and the robot Positioning at different times and/or locations in a workspace, at least one of which is associated with the robot GKR7). [Prior Art] It is known in the prior art to design metallurgical plants or rolling mills, as well as metallurgical and/or tumbler engineering equipment, with manipulators or robots, in particular industrial robots. Thus, for example, there have been some manipulators for a long time to use a hidden tube (Schattenrohr, shadow tube) to be used in a casting tank (Gieflwanne) or to transport heavy stones when building a converter wall. . There are also fully automated robots, such as for painting steel strips or spraying an electric arc furnace. A common feature of most of these uses is that robots work with special purposes and for this purpose. Thus, for example, the application of a multifunctional robot is described in the international patent WO 2005/1 18182 A2, which performs more than one purpose, wherein in this prior art, the robot system is designed such that it can be cast flat (Gieflbiihne, English: casting flo〇r) works on several different activities. A robotic system is disclosed in WO 2008/025512 A1, which comprises a multi-function robot which repairs the bottom of a bucket in a barrel maintenance rack 201023998. While robots known in the prior art - particularly industrial robots - can perform substantially different purposes, their function is generally for fully automated applications. ❹ People can advantageously function as a staff or worker in all situations, using a Telemanipulator mode of operation to enter their work activities and functions. During this activity and in the operating state of the multi-function robot, the robot and the human workspace and the movement space must be kept isolated at all times so that the robot does not harm people. But a fully automated solution requires a certain number of necessary sensor systems or sensations, skills, and/or decision-making capabilities for each robot's perfect function, so that it can perform work procedures, so in complex work processes, this Class systems have reached their limits in terms of the cost, system stability, and program security required for their implementation. In metallurgical and rolling machine engineering equipment, it is often necessary for a person (ie, a worker or a worker who is active in each work area) to qualify for further processes based on observations when working in a specific hand. decision. Therefore, in the case of a casting bucket for maintenance work, it is necessary to decide which parts can continue to be used and those parts to be replaced. To do this, not only need to be able to detect various states, but j must have the ability to make certain programs' decisions to make the right decision. In the prior art solutions of the prior art, in that case, the industrial robot is turned off, or fixed, or (4) the person who enters the man-made fence (10) is called the enclosure = machine H movement and the scope of the guard For the required inspections and decisions, the solution is not satisfactory when the activities and observations or inspection activities in the process are frequently repeated 'because the robots often stop; and some simple manual purposes are required. For the manipulators of fully automatic operation and remote operation 5 201023998, it seems that the technical cost is disproportionately high, or the cost/benefit ratio is unfavorable, because if this simple manual man-made activity is to be performed, the robot system must be Highly complex sensor system. Therefore, simply pulling a small security element [such as a human splitter (Splint)] is a simple manual activity for the person's because he can see the crossbar with his eyes and gently put it by hand. It pulled out. In order for the robot to do the same job, the robot must be equipped with a sophisticated sensor system to detect the position of the component (in this case the crossbar). After this is detected, the robot can remove the cross bolt. For example, if the work is to be done using a remote manipulator, then the activity is cumbersome, unreliable, and slow. One possible way to alleviate this problem is to automate the various work locations and associated work methods. Therefore, the specific implementation of a mover mechanism for a molten steel drum is mentioned in w〇 2〇〇8/〇255 62 ai, which can be replaced with a robot. The disadvantage of such a system is that the cost of doing so is high, so that equipment with such a system has a reduced investment cost due to its high investment cost. In the example proposed in WO 2002/025502 A1, therefore, each casting bucket must be provided with an associated mover system and associated fixing. Another major disadvantage of the conventional system is that the device may be less accessible to the device when it is applied, although in the case of a manipulator the safety is ensured by the person (ie the operator) responsible for the operation, while in the conventional Fully automatic industrial robots, due to legal regulations (for example, 'in Europe, the law is 2006/42/EG), the robot's work and range of motion must be separated from the person (ie the operator). Finally, in WO 2〇〇7/〇57〇61 A1 it is mentioned that the active working machine 201023998 is pivoted out of the original working range so that the operator can access the working area 'but the robot is pivoted open . It takes a certain period of time, so at a dangerous time, until the operator enters the dangerous range and takes countermeasures there, the precious time may be delayed. In addition, 'in large engineering equipment—especially in metallurgical equipment, such as metal melting furnaces (Metalallhiitte, English: metal smelter) or steel mills, as well as in the field of furnaces or reduction furnaces and rolling machines Operators at the event are at greater risk and often have loads that harm the human body. © These loads are especially ergonomic and are classified as very serious to people. In particular, this is especially true for some work activities (which are carried out in an environment with heat load or discharge load) or other heavyweight body movements (such as lifting heavy objects). The reason for the automation of such work activities is higher. For this purpose, industrial robots in particular are suitable, in particular Knickarmroboter. In this way, they act as activities that are dangerous or heavy-duty to humans, and in part or in part (such as cooperation with others), the risk of harm to workers or operators is reduced, due to industrial robots. It is also dangerous to the operator. Therefore, in large engineering equipment, people must be protected from robot damage. The rules to be observed are found in relevant industry standards such as ISO 10218-1: 2006 and ISO 1218-2: 2008. Here, a range of protection is defined around the industrial robots, which are separated from the environment outside the protection by means of permanent barriers or other permanent isolation safety devices. However, in large engineering equipment such as Metallhtitte or steel mills, this permanent safety 201023998 device such as a fence cannot be universally used. For example, on the casting platform of a continuous casting machine, there will be some scope to be entered by the operator in the field of satellite activities carried out there. In addition, these ranges are designed to be around the protection of industrial robots. The design of robots with a range of protection has a different range of protection associated with robots. Therefore in the field of welding engineering < The robot cooperates with the worker, and here the robot first hands the prepared material to the worker for manual tandem. During the welding process, the machine stood at the end of the welding, the worker walked back and the switch was acted on. The switch caused the robot to travel to the next welding position. This continues until all solder joints are soldered. The robot then places the final product on the pallet (Pal(10)). Throughout the work process, the worker is finished and then protected. Only if the defender is outside the protected area defined as the dangerous range, the robot will convert its potential energy into speed. Otherwise, if the author stops in the pre-protected area of the warning area, then one The output component reduces the speed of the robot. If the worker enters the protection, the player immediately stops. If the defender comes out of the protection range, the robot works again. Irrespective of these situations, the pallets are transported and transported by another worker using a stacker. However, in order not to make anyone dangerous, there is also a floating protection space there. If there is at this time: enter the dangerous space (for example, due to inattention), then the robot stops at the same time. Therefore, it is known from the prior art that this practical skill knows that the scope of protection will be ineffective. The area and the protected area itself are associated with the 201023998 robot. ❹ _ However, a disadvantage of this prior art is that the detection element is here associated with an area defined as a protection range. If at this time a robot has to perform different work activities at different work positions, and therefore at work: the position must cover different guard spaces, then a correspondingly large protection space must be defined or several Protect the space. In particular, even if this is done, the following question tree: In the cooperation between industrial robots and people, there is a work process in which the operator must enter the protection range around the industrial robot in the field of specific work activities. SUMMARY OF THE INVENTION It is an object of the present invention to provide a solution that enables a robot or a robot (4) to more flexibly cooperate with different degrees of human-robot interaction (interaction) (Interakti()n) and at large Industrial robots are used interchangeably in the field of maintenance activities and work processes for maintenance equipment (especially metallurgical equipment). - an automated device for metallurgical and / rolling machines, including humans, the robot has a robot control means, ° <工市』于权, the robot control means has an influence-related human-machine interface operation type operation mode. These operation types/operation modes are matched or designed to match the different degrees of automation of the robot (1) (4). A provides a solution that allows the robot or robot system to be functionally adapted to the different degrees of human-robot interaction. And the robot can be used in a large engineering equipment (especially in the field of metallurgical work activities and workers' processes. The purpose of this purpose is to use - automatic metallurgy and / rolling machine 9 201023998 A device comprising a robot having a robot control means having an operational type of operation mode that affects an associated human-machine interface - these types of operation/operation modes are coordinated or designed to cooperate with Different degrees of automation of the robot and/or the interaction partner: the positioning of the person and the robot at different times and/or locations in a workspace, at least one of which is associated with the robot, the robot being particularly industrial The robot's protection range is detected by the detection component cooperating with the robot (especially the industrial robot). The scope of protection is designed according to the scope and function of the robot according to the robot activity and/or the working position of the robot. Changed and/or changeable, and wherein the robot (especially an industrial robot) is located On a travel device, the travel device can travel on a travel track. The present invention provides a flexible solution for a robotic system, its motion and working range design, its mode of operation, and a division of labor. The purpose of the implementation of the purpose, in the interaction and interaction with the operator for the purpose of the division of time and space, so that can be quickly and effectively for several purposes, and not because the robot system is designed to be complete Automatic or remote control is limited. Therefore, according to the invention, the modern industry can cooperate with the robot and the human feeling and decision ability. For this purpose, in particular, a robot system and a work in a metallurgical or rolling machine engineering device or equipment Positionally associated, the robotic system can be operatively adapted to a number of different activities within the working environment, the flexibility of the robotic system being achieved in the following manner: the system has different modes of operation that can work Different forms of cooperation between the operator or the operator and the robot The type of robot control is also corresponding to the 10 201023998 expansion to add these modes of operation. For this purpose, 'there are different interaction forms for the robot system', they can make m reading between the interactive partner - the robot and the worker 2 or the operator) The purpose of the line. There are different ways of dividing time and =. Here, the purpose of this, the definition of the interactive form is 〇 互动 interactive partners • the movement of the robot system between the robot and the guardian = the plane of isolation in time and place within the workspace. For example, 'workers and robots work directly together, and the two work together on the same crop.' There is no time and space between them. This form of interaction is generally called "Kollaboration." This form of interaction also includes a process of direct observation, in which the robot independently performs a work and is observed, and the person stays in the motion space of the robot. The other interaction is the individual work of the robot, and it is remotely controlled by a person at a safe distance. The two interaction partners are geographically and temporally isolated in the workspace. Here, the device forms a robot interaction system, and the system has a plurality of types of robot operation, and the types are added to the robot interaction system and the robot in addition to the conventional automation operation. Controls come in, and these categories allow for greater interaction with operators or workers. One such type of operation is a manipulation operation in which the robot is engaged in a so-called "hand operation". In "manipulation operation", the robot is operated by one-hand control means, which enables the worker to directly control the axis and/or control the end effector (Endeffektor) as a Cartesian coordinate. There are three different modes in the maneuvering operation, which have different functions, which vary depending on the distance between the robot and the operator. 11 201023998 In the first mode, the robot operates in a manual robot mode. In this mode, the operator directly operates the robot by hand, which is achieved by a force-torque sensor, which is placed on the robot and applies the work to the robot (preferably the final effector or The pressure of one of the robots to be moved is measured. Another mode is to use hand control to guide the robot. In this mode the worker stands next to the robot, especially in the robot's motion space. The robot is actuated by a control means, which is designed as a control bar (Bedienpult) in the form of a control bar (Bedienpult) or a control bar in the form of a console or a spacemouse. In another mode, the robot is remotely guided by hand control, wherein the operator/:L author stands outside the movement of the robot and the working space, such as standing in the & room, and is observed from a distance or by a camera. The robot, wherein the hand control means can be made as in the second mode described above. In the manipulation operation. The operator/worker can control the axis and/or can directly control the clamp/work of each robot. Eight re-operating robots operate in a semi-automatic operation, in which the robot ◎ automatically executes - the sequence of the robot program (Se (four) nz, English: "(four) (four)), in semi-automatic operation 'robot provides a series of stylized sequences for the operator to use ' these The sequence corresponds to individual part work steps for each work purpose, which are associated with the robot and the robot interaction system. Here, the operator can select individual work sequences and arbitrarily stop or start them. The 'individual work steps are roughly performed between the robot and the person/operator. So, for example, the worker opens a 12 201023998 cover, walks to the side and starts the short sequence of robot control means, here In the sequence, a heavy object is placed in the opening. After the sequence of automatic execution, the person can re-cover the cover, and the sequence can be started, stopped or selected via an easy-to-operate input device, a voice control, Or the worker/operator's posture is detected by the sensor. When the sequence is unpredictable See the cause of the problem or find an abnormality in the automated workflow (Auffalhgkeit) 1 This semi-automatic operation also allows the operator to enter the fully automatic program sequence. In this case, the operator can change the fully automatic operation interrupt to semi-automatic Operation, this semi-automatic operation allows him to repeat individual sequences =: another work step. For example, in semi-automatic operation, power cycle b is aborted" (Pauie),,, flash, (AUSWeichen) , the work step is skipped or jumped back. Similarly, the semi-automatic operation can be switched to the maneuvering operation at any time. Furthermore, the variability of the scope of protection according to the invention is used in terms of its extension and its functional aspects. The words 'can be used to associate the scope or safety range of each robot with the robot. The range can be changed according to the work activity. We no longer need to pass the robot in the range of the position. Work space is used - & secret # 1 is covered by the scope of protection. However, a protection scope = each work position can be associated. The various protection scopes are still not " People i stack. In the context of the present invention, different functions can be associated with a security (four) enclosure. In this case, the function of "robot standing" can be associated with the protection. In the other working position, only the function of "the robot's working speed is reduced" is associated with the protection range. Overall, 'Because of the design of the protection zone and the protection space associated with a robot or industrial robot, I have a duality and protection of a large engineering equipment (especially metallurgical equipment) with several industrial robots. The design of the space is also flexible, so as a whole, the device is a completely consistent concept of complete safety and protection. Another feature of the invention is that the type of operation and/or mode of operation can be activated and deactivated and the robot can utilize this type of operation and/or mode of operation to accommodate different functions and/or work activities. In all types of operation, the design of the device and the interactive system of the robot ensures that the safety required by the worker is guaranteed at all times. A machine system and associated operating range are designed such that different modes of operation (eg, remote maneuvering, co-operating or fully automated) can be arbitrarily alternated without the need for complicated (especially robotic) modifications or additions. Installed. It is equally possible to design the metallurgical or roller machine provided with the apparatus of the present invention to remain accessible and accessible, and in the event of a sudden and dangerous event, the escape path is not blocked by the grid. This is mainly achieved in the following manner. When the robot interactive system uses the robot interactive system of the present invention, most of them are designed without isolation protection devices. Therefore, if the operator/worker has to enter the workspace or working range of the robot, there will be no obstructed and/or isolated grids in the path. The machine safety of the metallurgical or rolling machine equipment provided with the robot interactive system of the present invention is not achieved by the above-described type of isolated protection device, but the sensor is used to monitor the working range in order to use safety control means and/or safety sense. The detector system was reached. The above-mentioned worldwide robotic mutual aid system formed by the device and/or formed by the device should be composed of at least the following components: robot, safety sensing 201023998 system, safety control means, and human-robot interface (it can be designed A form of hand control or voice control). The robot to be used in this robot interaction system should be a worldwide (should be freely stylized) industrial robot. Of course, the robotic interactive system can also contain more than one robot (for example, two robots, in the manner in which the working robot cooperates with the auxiliary robot). The robot should be a robot that can perform six-axis motion. Its work arm or arm has a replacement system to accommodate different tools, clamps or measuring devices. The robot should be designed for use in extreme working environments, in other words, in the thermal range and/or hazard range of metallurgical engineering or roller engineering or metallurgical equipment. This type of design is now available under the name "Foundry" equipment. Here, the clipper and the tool are of course also designed accordingly. Therefore, a feature of the design of the present invention is also that the robot (especially an industrial robot) is provided in a metallurgical engineering or rolling machine engineering facility. It is also associated with a work location or work park. Finally, another feature of the invention is that a safety sensor system (which includes a sensor or a combination of sensors) is associated with the robot (especially an industrial robot). The system detects a security range and/or entry range and/or detection range associated with the robot interaction system. Preferably, the safety sensor system is adapted to detect situations in which the human system is designed such that a person is present, and may be constructed using a combination of different sensor combinations. Here, the sensor is, for example, fully inspected by a person into the working range, so that the entire system complies with the requirements of 15 201023998 and the provisions of the provisions, such as the broadcast station, + & mechanical law 2006/42/EG. In order to achieve this point, the safety of the tears I cry 15 alpha system 15 contains individual sensors but generally contains a combination of sensors, 1φ π π /, τ different sensor types can also be multiple and cumbersome The (redundant) way exists. Examples of sensors suitable for use in safety sensor systems are: laser scanner light curtains, gratings, cameras with depth detection capabilities, infrared camera cameras, ultrasonic sensors , Trittmatte, RFID (radio frequency 珥a丨, ^ two flat identification), scanner or power-torque sensor. Applicable to the safety sensor cable. The components in the tamper system also have some door contacts or switches. They allow the worker to inform her that the Shikou knows the human interaction system or the safety sensor system: "Someone enters the work Su Shiwei". The components of these safety sensor systems (such as the sensors used) are selected for : They can be used in metallurgical engineering or rolling machine engineering to use environmental conditions, and at the end of (4) there is a high dust and heat load in Egypt, and can still work reliably. Here, in the design of the safety sensor system, 'there will be a low reliability and a short service life due to the working ring. (For example, in the case of having a high dust level; The person who took the sensor is considered. The security sense is that the king's other purpose is to monitor the dangerous state of the relevant working position or working range, especially some equipment states, which are not necessarily directly and most unaffected by the movement or activity of the machine. , caused by the event of the device status or work IF 1 interposition. Therefore, for example, there is no sense of temperature sensing detectors, which are not only suitable for the case where a person is present, but also can detect the hot surface or liquid steel, so the production accident or equipment engineering device failure I flat J J detected the danger. This system informs the operator about the dangers of potential dangers. In addition, in the scope of the squad, 16 201023998, sensors for detecting toxic or harmful process gases (such as carbon monoxide) can also be integrated into the safety sensor system for ergonomics (Ergonomie) and / Or monitoring of work safety. Signals obtained and/or processed by these sensors and/or the sensor system are sent to the robot control means or the associated safety system. The latter can issue an alarm if necessary in a dangerous situation. And/or, for example, stopping the robot or moving the robot out of the dangerous range in the case of a mobile robot. The most important component of the robot interaction system formed by the device is the robot control means, which can be used on the one hand. Different forms of interaction between humans and robots' other aspects ensure that people are not threatened or particularly harmed by robots. Here, the robot control means has the following functional features and functionality. These functional features and functionalities are subject to The control means controls and/or influences: the robot control means generates and/or monitors the safety limit of the robot speed (Cartesian The standard and the way relative to the axis.) The robot is safely stopped at any position, and the monitoring of the female jjtJ slope action (Brenisrampen). Another component of the robot interaction system is the human-robot interface. It allows for different interactions between people and machines/robots. In an interactive form (where there is no time/location between the interactive partners. So the two interactive partners are in the robot's work - and / or scope of protection In the middle, the person _ robot interface allows the worker to operate the robot system, directly observe the device status in the vicinity and, if necessary, enter the program, wherein the robot interaction system is specially provided to be operated by the operator (person) The consistency (coordination) (Zustimmung) device or an electromechanical coordination switch. The term "coordination 17 201023998 ❹ adjustment switch" refers to a type of switching device that must act all the time to cause a dangerous state. The control signal is valid. The coordinated or electromagnetically coordinated switch can be designed as a worldwide 6D input device, such as a so-called Spacemouse, but it can also be designed as a force-torque sense in a robotic or robotic effector. In the form of a detector, the sensor allows the robot to be intuitively guided while maintaining the desired safety. But it can also be made into a type with built-in or voice control. This has the additional advantage that each worker or operator T is free to move in the robot's workspace. In all embodiments, the coordinating device is an important part of the control means, as the working steps of the next plan, allowing the operator or worker to know and know the videolization or video display, so the robot is in time The next step in the work will not surprise the worker. Furthermore, an advantageous design of the invention is that the robot, in particular an industrial robot, performs these ones of metallurgical or roller operating devices having at least one thermal range and/or hazardous range in the thermal range and/or the hazardous range. Related work activities within Fan Ming of Metallurgical Wei or Rolling Press. Therefore, the operator and the worker do not have to bear the activities in the thermal range and/or the dangerous range. In particular, the robot constructs an interface that is connected to the thermal range and/or the dangerous range, so that another feature of the invention is that the robot (especially an industrial robot) is arranged such that when the metallurgical or roller press is operated, it is required to apply force/ The activities (especially work activities) to be performed by the jade authors in cooperation with robots (especially industrial robots) can be done at least roughly within the scope and/or hazard range. In order to expand the radius of motion of the robot, the robot has means for expanding the work of the two, including means of the track and/or the travel device 18 201023998 and/or the chassis, which enable the robot to travel, in this respect, According to the feature, the driving device of the machine (especially Wangye robot) (9) is provided on the traveling device. Since the travel according to the invention is not only that the travel device can be driven, but also that the person (especially the hobby robot) is also placed or supported on the travel device, the robot can now use the break unit. For: Shaft movement, or when the robot is made into a door crane (P〇rtalkran, English: portal crane) robot or bridge crane robot © can also be used for two-axis motion. This expands the radius of action of this viable robot. In particular, the three axes can be set to be orthogonal to each other, which is implemented by the door crane robot or the bridge crane robot. A particularly suitable and well-implemented design of the travel device or the drive unit is that the travel device/unit is designed in the form of a vehicle-mounted vehicle (which travels on a travel route of a travel track) and There is a crane robot (Kranlaufkatze) type of industrial robot (which can be driven relative to the vehicle), so in the design of the invention, the salvage device comprises a crane vehicle that can travel on the track Vehicle. There is a rowing machine (which has a robot set thereon - especially an industrial robot - and it is in the form of a one-day running car) which is mounted on the carrier in a drivable manner. Therefore, with the present invention, it is also possible to position a robot or an industrial robot or a manual device or a manual machine at a location away from the original use place or work activity range when not in use, and to drive to the work activity position according to the standard. A combination of a travel device and a robot or a combination of a manual device and a machine 201023998 can result in a combination of countless such devices, where the travel device can be part of a robot, or a casting device or a casting platform or metallurgical device A part of the metallurgical engineering equipment or the rolling mill engineering equipment, but it can also be constructed to be completely separated from the original casting machine or equipment. It is also possible to retrofit existing equipment using a combination of running rails, running gear and robots. The robot can travel to a rest position, which is located outside of at least one of its working ranges, in order to enable the robot to be versatile and variably positioned relative to the vehicle. The row device can include a variable height A positioning device or telescoping tube device that carries the industrial robot or forms a component of an industrial robot. There is a control means associated with the industrial robot that allows the industrial robot to be used interchangeably. Therefore, the control means can be expanded by stylization to add other additional purposes, and thus the industrial robot can be used for other possible ways and activities of use, or other activities can be performed by it. Here, the control means can also be designed to execute a variable or fixed preset program flow by it or by using it. The purpose to be performed by an industrial robot can also be achieved in a variable manner using, in particular, a freely stylized or parameterized driving process. It is also possible here to use a common or separate control device 相关 associated with the line device and the industrial robot. In addition, it is advantageous if the industrial robot is integrated into the equipment of the metallurgical or metallurgical rolling engineering by program control and/or automation. The traveling track of the industrial person of the machine and the driving path provided by the machine can be adapted to each place according to the place of use, and a variety of robots can be formed and arranged along the traveling path or the traveling track. The same range of functions and range of activities. Thus, along the travel path, there may be one or more rest positions and/or work activity positions and/or supply positions, device positions and/or service positions along the travel path 20 201023998 for the robot to be associated with or assigned to the robot. When the industrial robot does not have to be used, it can be left in a stationary position. These static positions should be located at other distances outside the original production range or hazard range, so that the industrial robot does not interfere with other production operations in metallurgical, metallurgical or rolling engineering equipment at this rest position. In addition to the working position of the industrial robot, a special supply or installation position can be set along the travel path. In these positions, for example, the robot is provided with special tools or these position changing tools or, for example, the specimen held by the robot is taken away from the robot. Finally, a service location can also be placed on the break path where the robot is subjected to an inspection or repair, for example. Since, according to the invention, the running device can be designed in the form of a crane with a running car, it is finally possible to use the running device for lifting movements. Therefore, the driving device of the industrial robot can also be used for a light lifting activity in the form of a crane crane (Hallenkran). It is particularly advantageous to design the robot in the form of a door crane robot or a bridge crane robot. Therefore, according to another feature of the invention, the robot is specially designed as a door crane robot or a bridge crane robot along which the travel path can be The above-described rest position and/or work activity position and/or supply, installation and/or service position are located at any position along the formed travel path. The invention also encompasses the conception of the overall construction of a large engineering equipment and the individual industrial robots in which XX is identified and defined in various different protection ranges or safety ranges within the equipment. These ranges can be dynamically matched with 21 201023998. The various activities of the robot, the various automation systems used and/or the state of the large engineering equipment, or in the most desirable situations, can be automatically automated by changing the scope of protection or the scope of safety. This type of coordination may depend on the state of the equipment or on the status of each production and/or program or the circumstances of the accident. For example, depending on the state, whether or not steel is being prayed, even if the work activity of the robot There is no change, but this cooperation is also required. In the context of a possible manner of such a variable design, according to the invention, the scope of protection or the safety range associated with the robot (in particular an industrial robot) is driven by the robot (especially an industrial robot) Move side by side and move. The particular variability and flexibility of the device, in accordance with another design of the present invention, is achieved by a plurality of different extended ranges and functional protected areas (which are associated with their respective functions). Therefore, the extension of a protection range or a safe range (Ausdetmng, English: extensi〇n) and the mode of action (function) are each changed or at least changed depending on the working position of the robot or the industrial robot. Another suitable design is that a protection range includes a main protection range and a pre-protection range. When a person enters the main protection range, the robot stops immediately. When someone enters the pre-protection range, the working speed of the robot is immediately lowered. _In order to calculate the special risk of a robot or industrial robot moving on its own axis of motion (especially for independent migration), manual control can be used to implement the field of David's equipment in the industry. The Guardian (4) homework or other sport, but also allows the robot to automatically: 驮 This point is likely to go "舆y丨〇J this person (for example, when it is set on a driving track or at 22 201023998 - When it is on the crane track, it is possible that the protection range will move together and the space extension range can be changed. In the scope of the protection or safety range design, a protection range or safety range can also be used. By an operator, by moving a robot control means action device while maintaining the robot work activity (should slow down the speed of execution), the operator can switch to a state where the person can enter, so that an operator enters. On the whole, in the design of a large industrial engineering equipment, there are four types of protection or safety scope. They can be divided into the following four categories: One has a permanent danger range Range of acute high risk (main protection range) - directly adjacent to the scope of the main protection range (pre-protection range) A range without emergency hazard has a permanent danger range so that the operator can not get the door as far as possible (unzuganglich, English: inaccessible), for example, it is completely difficult to surround the 'main protection range' is the direct working range of industrial robots. ® These ranges can be monitored by individual detection elements or by groups of different detection elements that cooperate with each other, such as It is necessary and the scope is defined (limited to Xdefinieren, English: difine) 'The detection elements used can be a variety of different sensors' such as contact network (Kortaktmatte, English: contact mat), laser scanning , raster, RFID scanner, (rFID: radio frequency identification), camera or the like. In addition, the scope of protection can also be utilized by the "Augmentage Reality Projektion" It is indicated in the glory screen or in the operation panel (Bedienpaneei) and 23 201023998 is displayed by video. In this case, additional information about the video of the workspace that can be limited by the software technology can be displayed on the screen or image panel when the robot is actually active in the actual environment. The combination of the various sensors here constitutes a total monitoring system that can include a special video system, which is used to make the protection range associated with various industrial robots in a variable manner reliable and stable. And design. In a conventional manner, when a person invades the main protection range of the main protection range (it uses a fixed industrial robot or an industrial robot fixed in a fixed manner to define its range), the robot is, for example, in the operation. When the situation is at full speed, the robot stops or stops immediately. Conversely, if a person invades the pre-protected range of a fixed robot (defined in (7)), the maximum speed of the robot decreases. The scope of the main protection can only be entered in the following situations without having to enter the industrial phase: the person stops. 'When the robot control device is used by an operator for the seventh stop. If there is no such manual action, the industrial robot Turn it off right away,
入，丄㈣n人從工作位置/工作站行㈣m =作站的作用也可由—操作者用手控制 :時刻都看著該工業機器人，在這種行歇之時，工 :轴自己本身保持固;t。因此對一操作人員而言，; 於工業機器人意料外的運動而存在危險。 設有上述之工業機器人 別受冶金設備）包含練鋼廠中 的滚壓機及其調整與檢查線 或機器人系統的大工程設備（特 、高爐或還原爐以及所有種類 的金屬熔爐或熔融操作中的所 24 201023998 有工作位置。同媒认、+‘ , 以及用含在鑄造廠及鍛壓機範圍 以及用連續鑄造設備 固 丨巧工作位置。又：用於製造 由液態金屬（特別是液離、 r， •一' 之任意橫戴面的金屬條帶 的一煉鋼廠中的連續镱 埂項鑄4設備的工作位置也歸屬於其下 位。該連續鑄诰唣| W ^ ^ μ 4Γ 是指用於製造具有鋼板式、薄鋼 " 4式及鋼條式橫冑面的金屬條帶以及具有任意 型鋼^面的金屬條的單條帶式或多條帶式缚造設備。， 〇 _ «χ有本發明的裝置的工作範圍的_例子為和一鱗造機 相關聯的盛桶容納範圍，在此盛桶容納範圍中，可用永久 性危險的範圍的類別的靜態保護範圍卫作，因為此處所有 相關的工作如轉筒（Zylinder，英：eyHnder)的更換或接合都 可全自動化。因此不須由操作人員進入。因此可將此保護 範圍設以-隔離性的安全裝置。它可為可動者，但要長期 永久性地安裝，例如設以一個可動的圍籬。位於此圍籬的 保護範圍中的工業機器人所要做的工作活動以及相關的工 作位置在任何地方都不會與操作人員所在的區域或範圍中 者重疊。這種保護範圍的防護作業可利用安全裝置上（宜為 圍籬）上的一個閉路接點達成。 在一連續鎢造設備的原來的鑄造範圍中可設有各種不 同的範圍。 在盛桶的範圍中可作一系列的活動，例如將隱藏管轉 合、將盛桶移動器動作，具有大的功能性及寬廣的使用範 圍的工業機器人操作這些活動，因此有一些活動或手動作 業似乎顯得適合由操作人員做。因此有一種分成二部分的 25 201023998 保護概念，一方面定義出一主保護範圍，它係利用一檢出 元件藉著用感測器監視該範圍而涵蓋。因此可確認是否有 人位在此主保護範圍且因此係位在此主保護範圍所涵蓋的 工業機器人工作空間内，如果無人在此主保護範圍中，則 工業機器人以全速工作，如果發現到（或至少猜測到大概） 有人在主保護範中，則機器人只用一種操作種類「手動低 速」使用一種可用手動的「協調裝置」操作。 在分配器（Verteiler)的範圍中，在鑄造區域中有一系列 的活動，它們需要具有小的行動半徑的工業機器人。在此，交 機器人的使用領域或工作空間要使得操作人員不能也不得 停留在此範圍中。而且也不應停留在此處’例如由於該處 有高溫之故。因此，對於操作人員而言，在此位置受到機 器人的活動的附加威脅危害的情事不會發生。 在缚造範圍的疑模的範圍中，要作數種工作活動，它 們可用具有少而小的工作空間的一個工業機器人解決。但 此處有一問題，即’在此範圍中另外還需要由操作人員作 一些工作活動’其中該工業機人的工作空間就會和要由操 〇 作人員進入的工作空間重疊。此處就再使用該分成二部分 的保護概念：由一主保護範圍和一預保護範圍構成，如上 文對於盛桶範圍所述者’工業機器人以全速工作的狀況在 此情形中只有當確認沒有操作人員在主保護範圍及/或預保 護範圍中時才有可能。 工業機器人另一使用領域在於在連續鑄造設備的範圍 在條帶（Strang)或鋼板在該處作操縱及/或用感測器測量。由 26 201023998 於在此範圍中，空間的問題和在鑄造機的鑄造平台上的性 質不同，係屬可忽略者，因此可在這些範圍中用傳統技術（如 用護籬）界定保護範圍而工作，護籬也可設在洗鑄盤工場 (Tundishwerkstatt)範圍（它們可算是連續鑄造設備的範圍） 中。在該處，除了砌牆和測量活動外，還要將耐火材料噴 漿到>6切牆上，其中所有活動可由工業機器人做或支援。由 於這些個別的工作步驟不需要在一澆鑄盤工場的範圍中平 行進行’且不須在有時間壓力的情形下做，故此處可用傳 ❹ 統工作技術工作。 為了使上文及下文詳述之利用本發明裝置形成的機器 人互助系統配合各工作位置或工作範圍（具有機器人互動系 統的機器人與該工作位置/範圍相關聯）並且決定對於具體 目的所需的操作模式與操作種類，故要如下方式進行：首 打將在各工作位置或各工作範圍進行的工作程序及個別活 動作詳細分析。將一些個別活動（步驟）（個別的活動或工程 程序由這些步驟建構及組合成）個別作評估，看它們是否適 合那些要利用一機器人執行的活動或要由人執行的活動。 因此在人體工學上及安全技術上無慮的活動分配給人而 有危險或沈重的活動則給機器人，此外用感測器成本會高 的 '及無危險的工作分配給人，另一組的活動係有高負荷 潛在性或高危險者以及需要檢查以及需要依此檢查作人為 判斷者。在這-組中，機器人和人就在機器人的工作範圍 或工作位置中的相同工作空間中直接互動合作。 各種關聯性可毫無問題地在一種操作模式中達成，因 27 201023998 可將數個操作模式操作種類（它們包含互動形式以及由此衍 生出的操作種類）儲存在機器人控制手段中或儲存在一個與 此控制手段合作的記憶體上，因此機器人在互動系統可對 它們作存取。此處’在-操作模式或一操作種類中的個別 人一機器人互動的轉換映射到流程，在此流程中該人機器 人團隊共同地解決所設的工作目的其中在無人在的時候可 執純機器人活動，這點使機器人有較高工作速度，因為如 此該安全控制手段就不必顧慮到機器人的工作範圍及/或保 護範圍内有操作人員在的情形。同樣地，如果要由操作人〇 員或工作者執行的人的活動在一所予時刻要做一定的時段 時’則同樣地可將機器人停下。 此外，操作模式有變通性地設計成使得對於該機器人 或機器人互動系統的操作者而言，如果各依個別情形而定 基於不可預見的理由該程式化的全自動或部分自動的解決 =法由操作者看來顯得並不適合的話，則他在任何時候都 能進入所予之程式化的工作流程中並作手操作。 Ο 此外也可將機器人互動系統接到上位的程序引導系 ’該程序引導系統和各冶金工程或滾壓機工程設 聯，因此各機器人（特別是工業機器人）的實際操作 及在機器人各工作衍番— 乍位置或工作範圍所要作的活動的工作 驟、及/或感測器檢知的檢出結果（這種結果乃是設在各機器 ^的或設在機器人的環境中的感測器所產生者）。依信號 一步送到該上位的程序引導系統並通知該程序引；系 統。 寸尔 28 201023998 整體上利用此機器人互動系統造成一種系統，此系統 可使一機器人世界性地通用，而且不但只在一種操作種類 或一操作模式「全自動操作」中操作，而且還可在其他操 作種類或操作模式（在其中有人/工作者/操作者與機器人的 動）操作其中人與機器人在時間上及地點上係共同地係 位在機器人的工作及運動範圍内，其中人與機器人在時間 上係先後位在機器人的運動範圍或工作範圍的相同空間範 圍内。或者機器人和人在空間上係位在隔離的位置且可在 ©時間上在前後不同的時間出現或活動，然而又互動互相合 作以解決一共同的目的。這點和迄今習知技術不同依習 知技術，機器人係程式化作特定活動，且在冶金工程或滾 壓工程設備的範圍中，機器人的活動和人的活動有時間及 地點上的隔離，當一有人進到機器人的工作範圍，則機器 人就停下，然後該人可作其檢查或維修的活動◊然後，在 機器人重新起動前，該人離開機器人的工作或運動範圍。 本發明的機器人互助系統則與此不同，人與機器人或互相 ©做工作技術上的互動，而沒有時間及/或空間的隔離。舉例 而=，可使二者-亦即人與機器人在同一工作範圍（特別是 機器人的工作範圍中）作不同的工作或活動（但同時作），因 此機器人活動與人的活動沒有時間上的隔離。此外，也可 在機器人的此工作或運動範圍中作互動，使得（例如）人做第 一活動，而機器人接著接受工作結果並作進一步加工。如 在這方面人的活動與機器人活動之間設有地點的隔 離另一可能方式在於完全捨棄地點與時間的隔離，舉例 29 201023998 而言，這種隔離係用於當在機器人的運動或工作範圍中， 人與機器人彷彿手牵手工作的方式的時候。換言之，舉例 而言’人將一工作物交給機器人，機器人拿住該工作物並 進一步加工’利用此變通性化的機器人互動系統，可供機 器人在冶金、冶金工程或滾壓機工程設備的使用可能性擴 大。這點使得工作安全提高，工作者/操作者的人體工學狀 況改善，但也使品質改善。這點係利用該機器人互動系統 達成’該互動系統一步使得設有此系統的機器人可變成一 種有變通性的自動化系統，以操作人與機器人之間各種大 ❹ 不相同的互動形式’並可使人與機器人之間作分工的目的 及實施和執行’在時間上及空間上作目的之分工。利用這 種機器人互動系統，該工機器人設有多數可能的功能'操 作種類和操作模式，因此它可用所謂的「瑞士刀」比喻， 不但具有自動化的操作過程或工作過程的基本功能（就像瑞 士刀的刀片基本的切割功能），而且另外還有各種操作類或 操作模式（就像瑞士刀有一堆其他又匙開罐器工具），這種有 變通性或世界性的機器人互動系統包含至少以下的元件：◎ 機器人、安全感測器系統（它具有檢出的功能及監視工位置 危險狀態）、機器人控制手段與人—機器人介面（例如呈一種 手動控制式語音控制形式者），此機器人互動系統的可變通 性係用以下方式達成：使該系統有各種不同操作種類及/或 操作模式（它們各反映及容許（工作者）與機器人之間不同形 式的合作和互動）以及包含擴充的操作種類。這些不同操作 種類及/或操作模式係直接儲存在機器人控制手段中或儲存 30 201023998 在與機器人控制手段合作的記憶體元件中β 為了使此系統做成特別有變通性，可將機器人以可行 駛的方式設在行駛軌道上，其中這些行駛軌道也可設計成 吊車軌道形式’這點可使得設設有一機器互動系統的機器 人的運空間及相關的使用可能性進一步擴大。 這點另外還可用以下方式促進：將動態變化的保護範 圍或保護空間依機器人的目的而定和該機器人相關聯，這 些保護範圍/保護空間係依機器人工作位置或機器人活動而 ❹ 形成或可依此形式》 由於在本發明的範内有人與機器人的合作（亦即人機 器人互動），故各工業機器人可設以一種標度（skalierert， 英：scaled)的自動化程度，各依使用目的而有不同，在此， 這種標度係從一種低自動化機器人[該機器人從幾乎完全由 人控制（s作可標度之自動化作用的最低的端點）]到另一種 全自動機器人[該機器人不受任何人為控制而執行其目的 (當作自動化標度的另一最高端點）]，在此，一機器人的機 械化程度/自動化程度隨著自動化程度上升而增加，而同時 人為的操作功夫則隨著減少。此可標度的自動化作用的分 #又，舉例而言，在下端係為一遠機器人（Teleroboter)，它呈 純粹遠操縱器（Telemanipula㈣的形式，由使用人M/工作者 控制。下-階段為遠機器人[它作遠操作…㈣⑽㈣]與 手工作步驟（―個卫作者不用操作裝置而執行此手工步驟) 的、且σ再下—階段舉例而言，係使—個部分自動化的「辅 助機器人」或工作機器人獨立地執行部分目的，並且工作 31 201023998 者與該機器人互動執行手工作步驟。再下一階段則可用遠 機器人的遠操作的工作步驟用部分自動化由一機器人作的 工作步驟及由人用手做的工作步驟構成。在此該機器人依 目的設計成使它可當作可（自由地）程式化的工業機器人而 切換到部分自動化的過程，也可呈遠機器人的方式切換到 純遠操縱器的模式’最高的階段係為全部工作活動（在一冶 金操作裝置或一冶金工程或滾壓機工程設備作的工作活 動’舉例而言，它們迄今係由一工作者執行）的完全自動化， 此處也可使不同的機器人全自動的合作，因此一辅助機器 ❹ 人或工作機器人可和一服務機器人合作執行工作活動。 同樣地’可將各工業機器人以可標度的方式設以所需 之「機器智慧」（maschinelle Intelligenz，英：machine intelligence) ’相關的「機器智慧」係利用感測器能力測定[各 機器人（特別是工業機器人）設有此感測器能力]。雖然沒有 感測能力的工業機器人仍然是「盲機器人」，其目的仍限 於只利用機器人的力量及舉重能力者，但具有感器以及相 關之「機器智慧」的機器人則可做多得的以及複雜得多的 〇 工作活動。然而增加了「機器智慧」，則控制作用就變得 更複雜，但這點也可伴隨著可能的工作活動及使用可能方 式的數目的加大。舉例而言，可標度的「機械智慧」的分 段，在最下端係一沒有感測器系統只用座標控制的「盲In, 丄 (4) n people from the work position / workstation line (four) m = the role of the station can also be - operator control: always look at the industrial robot, at this time, the work: the shaft itself remains solid; t. Therefore, for an operator, there is a danger in the unexpected movement of the industrial robot. The above-mentioned industrial robots are not subject to metallurgical equipment) including large-scale engineering equipment in the steel mill and its adjustment and inspection lines or robotic systems (special, blast furnace or reduction furnaces and all kinds of metal furnaces or melting operations) 24 201023998 has a working position. The same media, + ', and the use of the range of foundry and forging press and the use of continuous casting equipment solid work position. Also: for the manufacture of liquid metal (especially liquid, r, • The working position of the continuous 铸 casting 4 equipment in a steelmaking plant with any transverse metal strip is also attributed to its lower position. The continuous casting 诰唣 | W ^ ^ μ 4Γ means It is used to manufacture metal strips with steel plate, thin steel " type 4 and steel stripe cross-section and single strip or multi-belt binding equipment with any type of steel surface., 〇_ « An example of the working range of the apparatus of the present invention is a barrel accommodating range associated with a scale machine in which the static protection range of the category of the permanent danger range can be used because of this At All related work such as the replacement or joining of the drum (Zylinder, English: eyHnder) can be fully automated, so it does not need to be accessed by the operator. Therefore, this protection range can be set as a safety device. It can be movable. However, it must be permanently installed for a long time, for example, with a movable fence. The work activities and related working positions of the industrial robots located in the protection scope of this fence are not in any place with the operator. Overlapping areas or ranges. This range of protection can be achieved with a closed junction on the safety device (preferably a fence). Various types of continuous casting equipment can be used in the original casting range. Different ranges. In the scope of the barrel, a series of activities can be carried out, such as turning the hidden tube, moving the barrel mover, and operating the industrial robot with large functionality and wide range of use, so there is Some activities or manual work seem to be suitable for the operator. So there is a two-part 25 201023998 protection concept, one side A primary protection range is defined, which is covered by a detector element by monitoring the range with a sensor. It is therefore possible to confirm whether someone is in this primary protection range and therefore is in the industry covered by this primary protection scope. In the robot workspace, if no one is in this main protection range, the industrial robot works at full speed. If it is found (or at least guessed) that someone is in the main protection mode, the robot uses only one type of operation "manual low speed". One can be operated by a manual "coordination device". In the scope of the distributor (Verteiler), there is a series of activities in the casting area, which require an industrial robot with a small radius of motion. Here, the field of use or work of the robot Space must be such that the operator cannot and must not stay in this range. And it should not stay here, for example because of the high temperatures in the area. Therefore, for the operator, the additional threat of the robot's activity at this location does not occur. In the scope of the suspected model, several work activities are required, which can be solved by an industrial robot with a small and small working space. However, there is a problem here that 'there is also a need for some work activities by the operator in this range' where the workspace of the industrial machine overlaps with the work space to be entered by the operator. Here again, the two-part protection concept is used: it consists of a primary protection range and a pre-protection range, as described above for the bucket range. The industrial robot operates at full speed. In this case, only when it is confirmed that there is no It is only possible for the operator to be in the main protection range and/or the pre-protection range. Another field of use of industrial robots lies in the range of continuous casting equipment where strips or steel plates are manipulated and/or measured with sensors. By 26 201023998 In this context, the problem of space and the nature of the casting platform on the casting machine are negligible, so that it is possible to work within these ranges with traditional techniques (such as using fences) to define the scope of protection. The fences can also be located in the Tundishwerkstatt (which can be considered as a range of continuous casting equipment). Here, in addition to the wall and measurement activities, the refractory material is sprayed onto the &6; cut wall, where all activities can be done or supported by industrial robots. Since these individual work steps do not need to be carried out in parallel in the scope of a casting workshop, and do not have to be done under time pressure, it is possible to work here using the working techniques of the tunnel. In order to adapt the robotic mutual aid system formed by the device of the invention as detailed above and below to the various working positions or working ranges (the robot with the robotic interactive system is associated with the working position/range) and to determine the required operation for the specific purpose The mode and the type of operation are to be carried out as follows: The first work will be carried out in detail in the work procedures and individual activities carried out at each work location or work area. Individual activities (steps) (individual activities or engineering procedures constructed and combined from these steps) are individually evaluated to see if they are suitable for activities that are to be performed by a robot or that are to be performed by humans. Therefore, ergonomic and safety-related activities are assigned to people and dangerous or heavy activities are given to the robot. In addition, the cost of the sensor is high and the non-hazardous work is assigned to the other group. Activities are those with high potential or high risk, as well as those who need to be examined and who need to be checked for human judgment. In this group, the robot and the person interact directly in the same working space in the working range of the robot or in the working position. Various associations can be achieved without problems in one mode of operation, since 27 201023998 can store several types of operating mode operations (which contain interactive forms and the types of operations derived therefrom) in robot control or stored in a The memory cooperates with this control means, so the robot can access them in the interactive system. Here, the conversion of individual-robot interaction in the 'operation mode' or an operation type is mapped to the process, in which the human robot team collectively solves the set work purpose, in which the pure robot can be executed when no one is present. Activity, this makes the robot have a higher working speed, because the safety control means does not have to worry about the robot's working range and / or the scope of the protection within the scope of the operator. Similarly, if the activity of a person to be performed by an operator or worker is to be performed for a certain period of time at a given time, then the robot can be stopped as such. Furthermore, the mode of operation is versatilely designed such that for the operator of the robot or robotic interactive system, the stylized fully automatic or partially automated solution is determined by unforeseen reasons for each individual case. If the operator does not seem to fit, he can enter the programmed workflow and do it at any time. Ο In addition, the robot interaction system can be connected to the upper program guidance system. The program guidance system is connected with various metallurgical engineering or rolling machine engineering. Therefore, the actual operation of each robot (especially industrial robot) and the various working processes of the robot The result of the activity of the activity to be performed in the location or working range, and/or the detection result of the sensor detection (the result is a sensor located in each machine or in the environment of the robot) Produced). According to the signal, the program is sent to the upper program in one step and the program is notified; the system. Inch 28 201023998 The use of this robotic interactive system as a whole creates a system that allows a robot to be universally versatile and that operates not only in one type of operation or in an operating mode "fully operated" but also in other The type of operation or the mode of operation (in which the person/worker/operator and the robot move) operate in which the person and the robot are co-located in time and place in the working and moving range of the robot, wherein the person and the robot are The time is in the same spatial range of the robot's range of motion or working range. Or the robot and the person are spatially anchored in an isolated position and can appear or be active at different times in time, but interact with each other to solve a common purpose. This is different from the conventional techniques of the prior art, the robot is stylized as a specific activity, and in the scope of metallurgical engineering or rolling engineering equipment, the activities of the robot and the activities of the human are separated in time and place. When a person enters the working range of the robot, the robot stops and the person can perform the activity of checking or repairing. Then, before the robot restarts, the person leaves the working or moving range of the robot. The robot mutual aid system of the present invention differs from this in that humans and robots or each other do work technical interaction without time and/or space isolation. For example, = can make the two - that is, the person and the robot in different working or activities (but at the same time) in the same working range (especially in the working range of the robot), so the robot activity and the human activity have no time. isolation. In addition, it is also possible to interact in this work or range of motion of the robot so that, for example, the person performs the first activity and the robot then accepts the work results and further processing. Another possible way to isolate a location between a person's activities and a robotic activity is to completely abandon the isolation of the location from time. For example, in the case of 201023998, this isolation is used when the robot is in motion or working range. In the way, people and robots seem to work hand in hand. In other words, for example, 'people hand a work to the robot, the robot holds the work and further processes' using this flexible robot interaction system for robots in metallurgy, metallurgical engineering or rolling machine engineering equipment The possibility of use is expanded. This improves work safety and improves the ergonomics of workers/operators, but also improves quality. This is achieved by using the robot interactive system to make the interactive system a step that enables the robot with this system to become a flexible automation system, which can operate differently between the human and the robot. The purpose of division of labor between humans and robots and the implementation and implementation of the division of work in terms of time and space. With this robotic interactive system, the robot has the most possible functions 'operation type and mode of operation, so it can be compared to the so-called "Swiss knife", which not only has an automated operation process or the basic functions of the work process (like Switzerland). The basic cutting function of the blade of the knife), and there are various operating or operating modes (like the Swiss knife has a bunch of other and spoon opener tools), this flexible or world-wide robotic interactive system contains at least the following Components: ◎ robot, safety sensor system (which has the detected function and monitor the dangerous position of the worker position), robot control means and human-robot interface (for example, in the form of a manually controlled voice control), this robot interacts The flexibility of the system is achieved in such a way that the system has a variety of different types of operations and/or modes of operation (they each reflect and allow different forms of cooperation and interaction between the worker and the robot) and include extended operations. kind. These different types of operation and/or operating modes are stored directly in the robot control means or stored in 30 201023998. In the memory components cooperating with the robot control means, in order to make the system particularly flexible, the robot can be driven. The manner is set on the track, wherein these tracks can also be designed in the form of a crane track. This allows the space of the robot with a machine interaction system and the associated use possibilities to be further expanded. This can also be promoted by associating a dynamically changing range of protection or protection space with the robot depending on the purpose of the robot. These protection ranges/protection spaces are formed or depend on the robot's working position or robot activity. This form is because the cooperation between the robot and the robot (that is, the human robot interaction) in the scope of the present invention, the industrial robot can be set to a degree of automation (skalierert, English: scaled), each depending on the purpose of use Differently, here, the scale is from a low-automatic robot [the robot is controlled almost entirely by humans (sthe lowest endpoint of the automatability of scaleability)] to another fully automatic robot [the robot does not Performed by any person for the purpose (as the other highest endpoint of the automation scale)], where the degree of mechanization/automation of a robot increases as the degree of automation increases, while at the same time artificial maneuvering Reduced. This scalar automation function is, for example, at the lower end a Teleroboter, which is in the form of a purely remote manipulator (Telemanipula (4), controlled by the user M/worker. Lower-stage For the far-robot [it takes far operation... (4) (10) (4)] and the hand work step ("the weiwei author does not operate the device to perform this manual step", and the σ-down-stage, for example, is a part of the automated "assisted" The robot or the working robot independently performs part of the purpose, and the work 31 201023998 interacts with the robot to perform the hand work step. In the next stage, the remote robot's remote operation step can be used to partially automate the work steps performed by a robot and It consists of a work step made by a person. The robot is designed in such a way that it can be switched to a partially automated process as a (freely) stylized industrial robot, or switched to a remote robot. The mode of the pure far manipulator 'the highest stage is for all work activities (in a metallurgical operating device or a metallurgical project or rolling The working activities of the machine engineering equipment 'for example, they have been performed by a worker so far), the different robots can be fully automated, so that an auxiliary machine or a working robot can be combined with one. The service robot cooperates to perform work activities. Similarly, the "machine intelligence" related to the "maschinelle Intelligenz (English: machine intelligence)" can be used in a scalable manner. Device capability measurement [Each robot (especially industrial robot) has this sensor capability]. Although the industrial robot without sensing capability is still a "blind robot", its purpose is still limited to those who only use the power and weight lifting ability of the robot. But robots with sensors and related "machine intelligence" can do more and more complicated work activities. However, with the addition of "machine intelligence," the control becomes more complicated, but this can also be done. Increasing the number of possible work activities and possible ways of use. For example, scaleable Sub-section armed Wisdom ", the most in the lower line a sensor system not only" blind coordinate control
曰J 機器人；下一階段可為一設有簡單感測器系統（例如一光拇） 的工業機器人；接著再下一階段為具有能感覺外在環境之 簡單感測器系統的工業機器人，它係受到至少仍部分人為 32 201023998 的控制以及操作運作；再下一 ^ ^ ,., , ^ 段為具有一複雜的感測器 =統（朴-㈣⑽統）賴器人，它可錢及評估外界環 兄，並依情況而定作活動；最上階段為具有超越人的複雜 感測器系統的機器人，例如設右古 '"有尚解析度攝影機（例如熱影 像攝影機）的機器人，它將接收 说在一相關的分析及控 制器兀中作處理；它特別關於 吓碭的自主（autonom)機器人 或者s心知型（kogmitiv)機器人系統。 〇 ❹ 這些設有可標度的「機器智 s惡」與可標度的自動化程 度的工業機器人在冶金、冶金工 程或滾壓機工程設備的領 域使用，及互相组合使用以及與 兴人的手動活動組合使用， 使得冶金操作裝置的人體工學 美太椒人处^ 学的女全的工作的基本構想和 巷本概心肖滿足0 在此’也可將一個或數個係螬玆 双调保護範圍（它們係以動態方式 各依機器人工作活動而定戋依機 飞依機器人工作位置而定設計成 不一樣大小以及設計成適當 人、 丁及了變方式）與各機器人配 2。這種構想也支持在-冶金設備領域在個別的冶金操作 裝置的合乎人體工學及安全的工作的基本概念。 為了在人-機器人互助的銘邊占 助的叙疇令，能使活動或活動進一 步進行的人一機器人之間的 砂父作業由人在各設備的熱範 圍及/或危險範圍外執行。故也 吧j將各工業機态人以可行駛 的方式设在各冶金操作裝署十、A a 置或/ 口金工程或滾壓機工程設備 的區域中，如此該工業撼 、器人的工作範圍變得更有變通性 且擴大，且可確保活動或你 作或類似物在各冶金操作裝 置的熱及/或危險範圍外或各 欠谷工作位置或工作範圍外安全地 33 201023998 移者工作者。 本發明在以下刺用圖式的例子詳細說明。 【實施方式】 圖1係在一冶金工程設備的一盛桶架（Pfannenstand， 英：ladlestand)(7)的區中在一盛桶移動器（8)作檢查及維修 [pflege]的範缚中在一鋼液盛桶（9)(Stahlpfanne，英：steel ladle)處進行的工作活動時的一本發明的裝置（它形成一機 器人互動系統）的作用方式’在此，圖1以示意方式顯示鑄 造通道的燒通的工作活動，圖2以示意方式顯示移動器箱 D 打開的活動，而圖3以示意方式顯示一新的移動器板放入 的活動。 〇 盛桶架（7)係依本發明的一種冶金廄或滾壓機的裝置， 此裝置設有一保護範圍或安全範圍（4)，此範圍用檢出元件 檢出，該保護範圍或安全範圍（4)的延伸範圍（Ausdehnung， 英：extesion)及功能性方面依機器人活動及/或機器人工作 位置而定以圖未示的方式變化或設計成可變化的方式。此 外，該機器人（1)(特別是工業機器人）以同樣未囷示的方式設 在一個可在一行駛軌道上行驶的行駛裝置上有一行駛軌 道(它呈由二$ T型鋼構成的吊車軌道的形式)可和該機器 人⑴相關聯’其中在行駛軌道（亦即在吊車機軌道）上設有一 可行駛的行駛裝置，呈—行駛滑行車形式，此可行^装 置可設計成一可行駛的吊車載具（Kram •、〜上 k δ 关.crone carrier)形式的载具方式，該載且可 隹遂叙P 敬軌道或吊車軌 道又導進運動及仃駛。在一此類的吊車 平取具式的栽具上可 34 201023998 將一種行駛機以同樣地可行駛的方式定位及設置，它係呈 一吊車跑動車（Kranlaufkatze)形式。因此該行駛機設成與該 可行驶的載具的跑動方向成橫向及正交的方式，一工業機 器人或機器人（1)或手動機器（H anti ermas chine)固定及設置 在該行駛機上。如此’該機器人（1)宜包含一個伸縮裝置， 它具有二個可伸縮且互相設成直角的臂部段，中該臂部段 一端設計成可轉動的方式，另一端設計成可移入及移出的 方式，因此利用一臂部段可使它在其臂部段上定位在不同 © 之可變高度處。該二可伸縮的臂部段之一設有一夾持工具 ‘作操作工具’因此機器人（1)具有所要的功能，藉著將機 器人（1)設置在該行驶車（它同樣也可相於可在行駛軌道上 行驶的吊車載具上），該機器人不但可利用其伸縮管臂或臂 部段的旋轉及移入/移出運動及移行，也可以雙軸方式一次 行駛軌道運動/移行，一次垂直於行駛軌道運動/移行。這點 使得機器人（1)的運動和行驶的可能方式上有較大的可變 性，行駛軌道可設計成呈圓形軌道方式的吊車設備，但也 可設計成沿軌道導進的圓形軌道或部分圓形軌道形式。沿 著這種方式延伸的行駛軌道設有及形成數個工作活動位 置，機器人（1)在這些工作活動位置各作一定的工作活動。 所要執行的工作活動係在人/工作者/操作者（2)與機器 人（1)互動之下進行。機器人（1)設有一個機器人控制手段， 匕有一相關的人-機器人介面，這些元件有_齊通通為一機 器人互動系統的構件，該系統包含影響人—機器人介面的 操作方式及操作模式，這些不同的操作種類舆操作模式係 35 201023998 設計成配合及/或可配合機器人的不同自動化程度及/戈 工作空間中的二個互動夥伴：「人（2)與機器人〇)」在不同 的前後時間及/或地點的定位。此外，在圖i〜圖3的實施例 中’還有一個受監視的保護範圍或安全範圍（4)與該機器人 (1)相關聯。此範圍被二個受監視的入口範圍和一個壁部 段（6)以及鋼液盛桶（9)之要加工的範圍所圍住，安全範圍（句 以及受監視的入口範圍（5)利用感測器（它們形成一安全感 測器系統）經由機器人控制手段依所選之工作模式及依，活 動之操作種類而定將對應的機器人動作釋出：特別是如果 ◎ 工作者或操作者（2)進入該安全範圍，則該感測器會反應， 這些機器人動作在於：機器人（1)進到與進入的工作者或操 作者（2)互動的狀態，機器人（1)將其工作速度慢下來，機器 人（1)停下來及/或機器人（1)回駛到一靜止位置。也可由該安 全感測器系統造成其他動作。 圖1顯示人~機器人互動的第一互動方式，其中該二 個元件人（2)與機器人（1)有地點和時間的隔離，且該機器 人互動系統係在一操作方式_全自動或部分操縱中，其巾〇 在部分操縱方式的情形中，操作者（2)用手利用一「操作者 控制台」（3)控制機器人⑴。在圖】所示的缚造通道燒通 (Aufbrennen ’英：burning 〇r⑹咖〇f⑽❶⑷的工作活動 中’機器人⑴作此燒通的活動，因為這種活動的潛在危險 IM艮大故刀配給機器人⑴。機器人⑴在無操作者⑺的情 形下完全獨立地將铸造通道燒通。換言之，操作者⑺則是 在受監視的安全範，）外，在例外條件，鑄造通道的燒通 36 201023998 作業也可考慮用「遠操縱」。如此，在此情形中，該位在 安全範圍（4)外的操作者（2)利用其操作者控制台 器人（1)。由於在此互動形式中’工作者/操作者（2)係位在機 器人（1)的運動及工作空間外，也就是在其受監視的安全範 圍（4)外，因此該控制手段（特別是上述的安全控制手段形式 者）或保險控制手段使機器人（1)以全體（全工作速度）運動， 這點一直進行到該監視安全範圍（4)及/或入口範圍（5)的感 測器安全系統或此範圍相關安全感測器系統檢出到有人在 ® 為止。。如果有人[例如工作者（2)]進入該受監視的安全範疇 (4)或他走過該受監視的入口範圍，則機器人停留夠久 的時間暫不作該燒通程序的調整作業（這種作業由機器人控 制手段造成），並將實際的工作程序停下。 圖2的第二互動形式顯示機器人（1)與工作者/操作者的 時間上的隔離（非同時在一地），其中並無地點的隔離，因為 機器人（1)和工作者/操作者係位在受監視的安全範圍（4)。在 ❹此位置時’機器人⑴宜在半自動的操作種類中操作。在此 定位場合，作一種將移動器箱打開的工作過程。這種工作 動對於操作者（2)既不會有人體工學上的負荷也無危險 性，另方面如用自動化則要將機器人（1)裝設成可全自動作 此活動的所要操作的感測器成本就很高。因此對應於這種 根據機器人互動系統及上述的哲學，對於這種工作活動所 選用的操作模式中，係由操作者或工作者（2)作此工作活 動，而機器人（1)安全地停住。 圖3的第三互動形式顯示機器人（1)與操作者（2)在時間 37 201023998 上和地點上係共同地合作，因此機器人⑴與操作者（2)之間 設有位置上a時間先後的隔離，在此互動形<中在此實 施例中的操作種類為半自動或手操作，利用此種類，所作 工作活動係將-新的移動器板放入—鋼液盛桶(9)的底中， 由於移動器板重量很大，因此這種把新的移動器板放入的 過程操作者⑺而言，在人體工學的觀點很有問題，但另方 面’將移動器板放入鋼液盛桶⑼的底中的作業在地點因素 上要準確的感測。基於這邊界限制條件，在此情形中，此 ❹ 處利用該機器人互㈣統作—種人—人互動，使機器人⑴ 在其運動空間中有X作者（2)在的情形下將移動器板到鋼液 盛桶⑷附近，然後操作者（2)利㈣「操作㈣台」（3)作手 控制來控制機器人⑴，因此機器人受操作者⑺控制將移動 器板放入鋼液盛桶⑼的底上的移動器箱中，以將此工作活 動或此工作過程結束。 機器人⑴可設計成位置固定（stationar，英：stati0而y) 〇 、：'人’具有單一工作範圍以作連續重複之重覆活動， 二可叹一些類Μ，在Λ中將數個機器人組合而合作並在 :冶：操作裝置或一冶金工程或滾屋工程設備或裝置(例如 廢的連續鱗造設傷)作不同的活動或行動，此處這 特別設計成行動的多功能機器人形式。 整體上’利用本發明特別是利用該行驶單元造成一種 :工：空間擴大的裝置，㈣置上設置或可設置操作 別是機^，它們有不同的構造方式，㈣目、 承載…控制種類’該操作器具之可用的構造方式及類 38 201023998 型的例子有拉索機器人（Seilzugroboter)史卡拉機器人 (ScaraToboter)及折臂機器人（Knickarmroboter)、或平行運動 機構（Parallelkinematik)及其組合。 這種擴大（機器人的）工作空間的裝置，舉例而言， 可做成橋式吊車形式或門吊車形式或其組合。 特別構造方式’例如由工業機器人與門機器人或橋式 機器人的組合可將一種擴大工作空間的問吊車或橋式吊車 的優點與現代工業機器人的具大潛力合而為一。曰J robot; the next stage can be an industrial robot with a simple sensor system (such as an optical thumb); the next stage is an industrial robot with a simple sensor system that can sense the external environment. The system is subject to at least some of the control and operation of 32 201023998; the next ^ ^ , . , , ^ segment has a complex sensor = system (Pak - (four) (10) system), it can be money and evaluation The outside world is based on the situation, and the event is based on the situation; the last stage is a robot with a complex sensor system that transcends people, such as a robot with a right-resolution camera (such as a thermal camera). The reception is said to be handled in a relevant analysis and controller; it is particularly concerned with scary autonom robots or kogmitiv robot systems. 〇❹ These industrial robots with scaled “machine-like” and scalable automation are used in the fields of metallurgy, metallurgical engineering or rolling machine engineering equipment, and combined with each other and with the manual of Xingren The combination of activities, the basic conception of the ergonomics of the metallurgical operating device, the beauty of the female work, and the basic concept of the all-rounder meet the 0. Here, one or several systems can be double-tuned. The scope of protection (they are dynamically designed according to the robot's work activities, depending on the position of the robot, depending on the working position of the robot, and are designed to be of the same size, and designed to be appropriate, different, and modified). This concept also supports the basic concepts of ergonomic and safe work in individual metallurgical operating devices in the field of metallurgical equipment. In order to accommodate the human-robot mutual assistance, the sand-father work between the human-robots that enables the activity or activity to proceed further is performed by the person outside the thermal range and/or danger range of each device. Therefore, it is also possible to set up various industrial operators in the area of metallurgical operation equipment 10, A a or / gold engineering or rolling machine engineering equipment, so that the industrial and personal work The range becomes more flexible and expands, and it ensures that the activity or your work or the like is safe outside the heat and/or danger range of each metallurgical operating device or outside the working position or working range of each of the valleys. By. The present invention will be described in detail below with reference to the examples of the drawings. [Embodiment] Figure 1 is in the middle of a barrel rack (Pfannenstand, English: ladderstand) (7) in a metallurgical engineering equipment in a barrel movement (8) for inspection and maintenance [pflege] The mode of action of an inventive device (which forms a robotic interactive system) during a work activity at a steel tank (9) (Stahlpfanne, English: steel ladle), where Figure 1 shows in a schematic manner The burn-through working activity of the casting channel, Figure 2 shows the movement of the mover box D in a schematic manner, and Figure 3 shows in a schematic manner the activity of a new mover board. 〇盛桶架 (7) is a device of a metallurgical crucible or a rolling machine according to the invention, the device is provided with a protection range or a safety range (4), and the range is detected by the detecting component, the protection range or the safety range The extension range (Ausdehnung, English) and functional aspects of (4) vary or are designed to be changeable in a manner not shown in the robot activity and/or robot working position. In addition, the robot (1) (especially an industrial robot) is arranged in a manner not shown to have a running track on a running device that can be driven on a traveling track (it is in the form of a crane track composed of two $ T-shaped steel). The form can be associated with the robot (1), wherein a driving device is provided on the running track (that is, on the crane track), in the form of a traveling scooter, which can be designed as a driving vehicle. With the carrier method in the form of (Kram •, ~ k δ off. crone carrier), the load can be described as P-track or crane track and guided movement and driving. In a crane of this kind, it is possible to position and set a driving machine in the same manner as the driving device. It is in the form of a crane running vehicle (Kranlaufkatze). Therefore, the traveling machine is set to be transverse and orthogonal to the running direction of the travelable vehicle, and an industrial robot or robot (1) or manual machine (H anti ermas chine) is fixed and disposed on the traveling machine. . Thus, the robot (1) should include a telescopic device having two arm segments that are telescopic and mutually at right angles, wherein one end of the arm portion is designed to be rotatable and the other end is designed to be movable in and out. The way, therefore, the use of an arm section allows it to be positioned at a variable height of different © on its arm section. One of the two telescopic arm sections is provided with a gripping tool 'as an operating tool' so that the robot (1) has the desired function by placing the robot (1) in the traveling vehicle (it is also comparable On the hanging vehicle on the traveling track, the robot can not only use the rotation and movement/movement movement and movement of the telescopic tube arm or the arm section, but also can track the movement/movement once in a double-axis manner, once perpendicular to Orbital motion/movement. This makes the robot (1) have greater variability in the way it moves and travels. The track can be designed as a circular track-type crane device, but it can also be designed as a circular track guided along the track or Part of the circular track form. The traveling track extending in this manner is provided with a plurality of work activities, and the robot (1) performs certain work activities at the work activities. The work activities to be performed are carried out under the interaction of the person/worker/operator (2) and the robot (1). The robot (1) is provided with a robot control device, and has a related human-robot interface. These components have a component of a robot interaction system, and the system includes an operation mode and an operation mode that affect the human-robot interface. Different types of operation 舆 Operating mode 35 201023998 Designed to match and/or match the different degrees of automation of the robot and two interactive partners in the /Ge workspace: "People (2) and Robot 〇)" at different times before and after And/or location of the location. Furthermore, in the embodiment of Figures i to 3, there is also a monitored protection range or safety range (4) associated with the robot (1). This range is surrounded by the two monitored inlet ranges and one wall section (6) and the range of the molten steel tank (9) to be processed. The safety range (sentence and monitored inlet range (5) utilization sense The detectors (which form a safety sensor system) release the corresponding robot actions via the robot control means according to the selected working mode and the type of operation of the activity: especially if the worker or operator (2) When entering the safe range, the sensor will react. These robot actions are: the robot (1) enters the state of interaction with the entering worker or operator (2), and the robot (1) slows down its working speed. The robot (1) stops and/or the robot (1) returns to a rest position. Other actions can be caused by the safety sensor system. Figure 1 shows the first interaction mode of human-robot interaction, wherein the two The component person (2) is isolated from the robot (1) in a place and time, and the robot interaction system is in an operation mode _ fully automatic or partial manipulation, in the case of a partial manipulation mode, the operator (2) Use the "Operator Console" (3) to control the robot (1) by hand. In the work flow of the Aufbrennen 'English: burning 〇r (6) curry f (10) ❶ (4), the robot (1) This burn-in activity, because of the potential danger of this activity, IM 艮 knife distribution robot (1). The robot (1) completely burns the casting channel independently without the operator (7). In other words, the operator (7) is subject to In addition to the safety condition of the monitoring, in exceptional conditions, the firing channel of the casting channel 36 201023998 can also be considered for "remote maneuvering". Thus, in this case, the operator outside the safe range (4) (2 Use its operator console man (1). In this interactive form, the 'worker/operator (2) is in the movement and working space of the robot (1), ie in its monitored safety In addition to the range (4), the control means (especially the above-mentioned safety control means) or the insurance control means causes the robot (1) to move at the whole (full working speed), and this point continues until the monitoring safety range (4) ) and/or the sensor range of the entry range (5) or the safety sensor system of this range is detected until someone is in the ®. If someone [eg worker (2)] enters the monitored safety category (4) Or he walks through the monitored entrance range, and the robot stays for a long time for the adjustment operation of the burn-through program (this kind of work is caused by the robot control means), and stops the actual work program. The second interactive form of Figure 2 shows the time separation of the robot (1) from the worker/operator (not at the same time), where there is no isolation of the location because the robot (1) and the worker/operator are It is in the monitored safety range (4). In this position, the 'robot (1) should operate in a semi-automatic type of operation. In this positioning case, a working process of opening the mover box is made. This kind of work has neither ergonomic load nor danger to the operator (2). In other cases, if the robot is used, the robot (1) should be installed to be fully automatic for the operation of the activity. The cost of the sensor is high. Therefore, corresponding to this robot interaction system and the above-mentioned philosophy, the operation mode selected for such a work activity is performed by the operator or worker (2), and the robot (1) is safely stopped. . The third interactive form of FIG. 3 shows that the robot (1) and the operator (2) cooperate together at time 37 201023998 and at the place, so that the robot (1) and the operator (2) are provided with a positional time. Isolation, in this interactive form <the type of operation in this embodiment is semi-automatic or hand-operated, with which the work activity is to place the new mover plate into the bottom of the molten steel bucket (9) In the process operator (7) putting the new mover board into the process, the ergonomic point of view is very problematic, but in other respects, the mover board is placed in the steel. The work in the bottom of the liquid tank (9) is accurately sensed in terms of location. Based on this boundary constraint condition, in this case, the robot uses the robot to interact with each other to create a human-human interaction, so that the robot (1) has the X author in its motion space (2). Near the molten steel tank (4), the operator (2) Lee (4) "Operation (4) table" (3) is used to control the robot (1), so the robot is controlled by the operator (7) to place the mover plate into the molten steel tank (9). In the bottom of the mover box, to this work activity or the end of this work process. The robot (1) can be designed to be fixed (stationar, English: stati0 and y) 〇,: 'People' has a single working range for repeated repetition of repeated activities, and two can sigh some kind of Μ, in the Λ 将 several robots combined In cooperation, there are different activities or actions for the operation of the device or a metallurgical engineering or rolling house engineering equipment or device (for example, waste continuous scales), which is specially designed as a multi-functional robot in action. Overall, the invention utilizes the driving unit to create a device: a device that expands the space, (4) a setting or a settable operation, and a different configuration, (4) a mesh, a bearing, a control type. Useful constructions and types of the operating device 38 Examples of the 201023998 type are a Seilzugroboter ScaraToboter and a Knickarmroboter, or a parallel motion mechanism (Parallelkinematik) and combinations thereof. Such a device for expanding the (robot) workspace, for example, may be in the form of a bridge crane or a door crane or a combination thereof. The special construction method, for example, by the combination of an industrial robot and a door robot or a bridge robot, can combine the advantages of a crane or bridge crane that expands the working space with the great potential of modern industrial robots.
在呈橋式吊車形式的實施例中，在一個包含各數個工 作位置的範圍上架設的（亦即架設在承載結構如鷹架或支 架上的）裝置係設有與地板連接的或無著地（flurfrei)(亦即 固定在天花板或壁上的）跑動執道，至少有一個設有行駛 的吊車橋件設在該軌道上，該吊車橋件上又有一同樣設有 行駛機的跑動車，該跑動車又有一個導引柱，具有驅動器， 以作垂直運動，且該跑動車的末端上固定著一操作器具， 特別是-折臂機器Λ，此操作器可垂直站立超出頭部：也 :側向安裝。各依此操作器具的運動軸與關節的類形而 定’產生不同形狀的工作空$，例如方形或圓柱形，或空 間狀（例如在拉索機器人的場合）。 橋式吊車構1^方式可使用各種不同的實施例：該裝 置可設成直線橋式吊橋形式，立 .巾料式其卫作範圍—如-條線跨越 的門（LlnienP°ml)]或可設置成懸臂橋式吊橋形式。對於 知·的距離，在縣劈鬥r Δ, 加的運叙〒ml)可垂直於吊車縱軸作附 力口的運動，而在做成单 橋式吊車的場合，該操作器具也 39 201023998 可在一大面積範圍任意定位（平面門）。 在接到操作器具的相同的吊 U的吊車橋上可有利地設一傳統 的升降螺線。 在做成門吊車的形式時，在一個包含數個工作位置的 範圍上方設有與地板結合的「跑動軌道」以供承載結構/機 架之用，因此該門吊車可+ 在個在地板上延伸的「軌條跑 軌」/軌道跑軌上運動。在—盔勒 仕無軌的變更例的範中，可採 另-變更方式’使門吊車用輪子行駛，或設以一履帶行駛 機。門申車的橋的其他構造相當於橋式吊車構造。 各依該擴大工作空間的裝置所選的類型（直線門、懸臂 門及平面門）對應地造成直線形式或平面形式或空間形式的 工作空間擴充。 當該擴充（機器人）工作空間的裝置的構造方式為橋式 吊車及門吊車的組合時’跑動軌道係固定在承載結構上(支 架構造方式）以及另外還設在地板上，俾使承在結構/機架能 行駛’這點可同樣上如上述的二個變更例中實施。 由於該裝置的設計跨越數個工作位置，故跑動構造建 構成與軌條及軌道結合的構造方式時，係設在有鐵水流出 之虞的危險範圍之外。 要使用在冶金及滾壓工程裝置（熱範圍、操作數百分斤 到以嘲計的重型部件在周圍場所的運送，用於大型及重麼 機器的用途）’則對於上述裝置的結構的要件彳艮複雜，因此 各種所述的結構設計對應地穩定及強固。 如此有利地選用的實施例可使得因為擴充工作空間的 201023998 裝置造成的工作範圍内的任何點都 1』點都忐到達，且因此有任意 多的數目的工作位置與一機器人相關聯。 ’、 工作範圍内的任何 目的工作位置與一 如果如此選設的實施例另外造成的 點都能接近到達’且因此有任意多的數 機器人相關聯。 ❹ 鲁 如果如此選設的實施例另外與一種動態的安全概念結 合’亦即與-個隨機器人一齊運動的保護範圍結合，則一 種自動化系統在人體卫學、卫作安全性、㈣最佳化，以 及能提高方面的所有優點都可完全兼具。 如此有利地選料實施例可使㈣間（龍門）(p〇rtai) 造成的工作範圍内的各點都能到達，且因此可設任意大的 數目的工作位置，特別是當它們係設在各種不同高度時尤 然。同樣有利的是這種實施例使得地板範圍可保持淨空，， 因此一工作者也可在能（暫時停下的）機器人附近無障礙地 工作，換言之，其路徑不會受妨礙（無障礙的工場地板及工 作平台）。在該操作器具的一種可變通的自動化解決方案方 式的實施例（它使機器人與工作者直接合作）該擴充工作空 間有另外的優點，因為該操作器具，特別是機器人（但也可 為操縱器）還可保持在人的逗留空間外（工作者在工廠地板 位面’操作器具在其上方）。 還可視需要地將該系統合到各設備的程序引導系統， 如此實際的操作模式，工作進度以及感測器的觀測情形可 被進一部通知。 在此’在本發明的範疇中也可使用一種方法它構成 41 201023998 -種操作方法’以操作各設備範疇，而將至少 。 具結合在該擴充工作空間的裝置’該方法的特點為用―： 序電腦或-中央引導裝置將控制信號送到該擴充卫作空 的裝置及/或該操作器具（特別是機器人卜 圖4顯示一種擴充工作空間的裝置，呈橋式吊橋的形 :。在此’該橋式吊車的形式。在此，該橋式吊車跨 &平台（73)的整個寬度範鳴。在此實施例中宜設有二個吊 車橋（86)’它們各具有—跑動車（71)及—世界性機器人⑽）。In an embodiment in the form of a bridge crane, the device that is erected over a range containing a plurality of working positions (i.e., mounted on a load bearing structure such as a scaffold or bracket) is provided with or without a floor. The ground (flurfrei) (that is, fixed on the ceiling or the wall) runs on at least one of the crane bridges on the rail, and the crane bridge has a running machine. In the motor car, the running car has a guiding column with a drive for vertical movement, and an operating device is fixed on the end of the running car, in particular, a folding arm machine, the operator can stand vertically beyond the head : Also: sideways installation. Each of the operating axes of the operating device and the shape of the joint will produce a differently shaped working space $, such as a square or cylindrical shape, or a space (e.g., in the case of a cable robot). A variety of different embodiments can be used for the bridge crane structure: the device can be set up in the form of a linear bridge suspension bridge, and the range of the towel-type material, such as a line crossing door (LlnienP°ml) or Can be set in the form of a cantilever bridge suspension bridge. For the distance of knowing, in the county r bucket r Δ, plus the movement 〒 ml) can be perpendicular to the longitudinal axis of the crane as the movement of the attachment port, and in the case of a single-bridge crane, the operating device is also 39 201023998 Can be positioned anywhere in a large area (planar door). A conventional lifting screw can advantageously be provided on the same crane bridge to which the operating device is attached. In the form of a door crane, a "running track" combined with the floor is provided above the range containing a plurality of working positions for carrying the structure/frame, so the door crane can be + on the floor The upper "track track" / track running on the track. In the example of the modified example of the helmetless track, the door-lift can be driven by wheels or a crawler can be used. The other structure of the bridge of the door-in truck is equivalent to the bridge crane structure. The types selected by the devices that extend the workspace (linear doors, cantilever doors, and plane doors) correspondingly create a work space expansion in the form of a straight line or a flat form or space. When the device of the expansion (robot) workspace is constructed in the combination of a bridge crane and a door crane, the 'running track system is fixed on the load-bearing structure (the bracket construction method) and additionally on the floor, so that the bearing The structure/frame can be driven 'this can be similarly implemented in the two modified examples described above. Since the design of the device spans several working positions, the running structure is constructed in a manner that combines with the rail and the rail, and is outside the danger range in which the molten iron flows out. To use the metallurgical and rolling engineering equipment (heat range, operation of hundreds of centimeters to mocking heavy-duty components in the surrounding area for the use of large and heavy machines) The 彳艮 is complex, so the various described structural designs are correspondingly stable and strong. An embodiment that is advantageously selected such that any point within the working range caused by the 201023998 device that expands the workspace arrives at a point, and thus an arbitrarily large number of working positions are associated with a robot. Any work location within the scope of work and a point that is otherwise caused by the embodiment thus selected can be approached to reach' and thus have any number of robots associated with each other. If the embodiment chosen in this way is combined with a dynamic security concept, that is, combined with a range of protection that moves with the robot, an automation system is optimized in human health, security, and (4) optimization. And all the advantages of being able to improve can be completely combined. Advantageously, the material selection embodiment allows the points in the working range caused by the (four) (long door) (p〇rtai) to be reached, and thus an arbitrarily large number of working positions can be set, in particular when they are Especially at various heights. It is also advantageous that such an embodiment allows the floor area to remain clear, so that a worker can also work unobstructed near a robot that can be (temporarily stopped), in other words, the path is not hindered (accessible workshop) Floor and work platform). An embodiment of a flexible automated solution approach to the operating device (which allows the robot to work directly with the worker) has the additional advantage of the extended working space, since the operating device, in particular the robot (but also a manipulator) ) It can also be kept outside the person's stay (the worker is on top of the factory floor) with the operating device above it. The system can also be coupled to the program guidance system of each device as needed, such that the actual mode of operation, the progress of the work, and the observations of the sensor can be further notified. It is also possible in the context of the present invention to use a method which constitutes 41 201023998 - Operation Method ' to operate the various device categories, and at least. A device incorporating the expanded workspace 'This method is characterized by the use of a: computer or a central guiding device to send control signals to the device and/or the operating device (especially the robot Figure 4) A device for expanding a working space is shown in the form of a bridge suspension bridge: in the form of the overhead crane. Here, the entire width of the overhead crane spans the & platform (73). In this embodiment Zhongyi has two crane bridges (86), each of which has a running car (71) and a world-class robot (10).
如果分配器流槽（75)位在鑄造位置，則在圖4右邊具有 跑動車叫與機器人（R7)的吊車橋（86)和它相配合如此， 該具有跑動車與機器人的吊車橋就在分配器流槽(75)作所 ^在此例中，工作領域甚至有一部分位在被該擴大工作 工間的裝置所圍住的空間之外’藉著設計成折臂機器人方 式，在此例+中’機器人（R7)也可在由載具結才冓圖圍成的範 圍外作活動。 舉例而言，可在一冶金工程設備的铸造平台（73)的範圍 〇 中作以下工作： 一更換隱藏者 —更換浸管（Tauchrohr) —在分配管中測量溫度及採取檢體 —將覆蓋粉加入分配器中 在序列缚告時將結合捏或分離板放置 本發明裝置的應用的另一例子係為一種設有數個傾斜 42 201023998 枱的盛體位置，在該處作煉銅廠中在鑄造盛桶的維修工作 【圖式簡單說明】 圖1係機器人與操作者的第一種互動形式的示意圖。 圖2係機器人與操作者的第二種互動形式的示意圖。 圖3係機器人與操作者的第三種互動形式的示意圖。 圖4係一機器人配合一橋式吊橋的—使用範圍的示意 ❹If the distributor chute (75) is in the casting position, there is a running bridge called the robot (R7) and the crane bridge (86) on the right side of Fig. 4, and the crane bridge with the running car and the robot is The distributor flow cell (75) is used in this example, and even a part of the work area is located outside the space enclosed by the device of the enlarged work space, by way of designing a folding arm robot, in this case + Medium 'Robot (R7) can also be used outside the range enclosed by the vehicle. For example, the following work can be performed in the scope of a casting platform (73) of a metallurgical engineering plant: a replacement of the hidden person - replacement of the dip tube (Tauchrohr - measurement of temperature in the distribution pipe and taking the sample - will cover the powder Another example of the application of the apparatus of the present invention to incorporate a pinch or separator plate in a dispenser when added to a dispenser is a body position having a plurality of tilts 42 201023998, where it is cast in a copper smelter. Maintenance work of the barrel [Simplified illustration] Figure 1 is a schematic diagram of the first interaction between the robot and the operator. Figure 2 is a schematic diagram of a second form of interaction between the robot and the operator. Figure 3 is a schematic diagram of a third form of interaction between the robot and the operator. Figure 4 is a schematic diagram of the use range of a robot with a bridge suspension bridge.
【主要元件符號說明】 0) 機器人（工業機器人） (2) 人 (3) 操作者控制器 (4) 保護範圍/安全範圍 (5) 入口範圍 (6) 壁部段 ⑺ 盛桶架 (8) 盛桶移動器 (9) 鋼液盛桶 (R7) 機器人 (71) 跑動本 (73) 禱造平台 (75) 分配器流槽 (86) 吊車橋 43[Main component symbol description] 0) Robot (industrial robot) (2) Person (3) Operator controller (4) Protection range / safety range (5) Entrance range (6) Wall section (7) Barrel rack (8) Bucket mover (9) Steel tank (R7) Robot (71) Run this (73) Prayer platform (75) Distributor chute (86) Crane bridge 43