CN114179128A - Safety protection system and metallurgical processing equipment - Google Patents
Safety protection system and metallurgical processing equipment Download PDFInfo
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- CN114179128A CN114179128A CN202111626175.XA CN202111626175A CN114179128A CN 114179128 A CN114179128 A CN 114179128A CN 202111626175 A CN202111626175 A CN 202111626175A CN 114179128 A CN114179128 A CN 114179128A
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- 238000012545 processing Methods 0.000 title claims abstract description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 37
- 230000001960 triggered effect Effects 0.000 claims description 17
- 238000005272 metallurgy Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 description 4
- 238000005070 sampling Methods 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 230000000903 blocking effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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Abstract
The invention provides a safety protection system and metallurgical processing equipment, and relates to the technical field of metallurgy. The safety protection system comprises fixed longitudinal beams, fixed cross beams, movable longitudinal beams, movable cross beams, iron chains, air cylinders and safety warning lamps, wherein one end of each movable longitudinal beam is rotatably arranged on the fixed cross beam through a second rotating pin; the movable cross beam is rotatably arranged at the other end of each movable longitudinal beam through a third rotating pin; the cylinder includes cylinder body and telescopic link, and the cylinder body rotationally installs on fixed longeron through first rotating pin, and the tip of telescopic link rotationally connects on removing the longeron through the fourth rotating pin, and the safety warning light is used for according to the signal of falling and lifting up the signal, shows the light of the colour that corresponds and sends the prompt tone. The metallurgical processing equipment comprises the safety protection system. The safety protection system is flexible in structure, can hardly occupy space in a laid-down state, and can completely meet the safety protection requirements of the industrial robot.
Description
Technical Field
The invention relates to the technical field of metallurgy, in particular to a safety protection system and metallurgical processing equipment.
Background
In the field of metallurgical technology, the use of industrial robots is becoming more and more common. According to the requirements of industrial robots on safe production, in the working process, the moving space of the arm and the end effector thereof should avoid personnel entering, otherwise, safety accidents are easily caused. Therefore, when the robot works, the robot needs to be considered to be free from obstacles in the working space and to ensure that people or other equipment cannot invade the working space. When the robot is not in operation, it is desirable to enhance isolation of the hazard source while ensuring that workers can conveniently and safely engage in other work near the robot or pass through the work area of the robot. Therefore, how to design a safety protection device of an industrial robot to meet the requirements is a crucial task.
The safety protection of the industrial robot is realized mainly by the following schemes:
the first scheme is as follows: a partially fixed fence is used. The working space of the industrial robot is enclosed by a construction fence, a movable door is reserved, and the door is manually opened when the robot needs to be overhauled or enters the working space to perform other operations. Although the construction investment amount is low, the fence is not flexible enough and occupies a large space, and workers are influenced to enter the operation or pass through the fence. At present metallurgical production field, most industrial robot is the transformation use after, if do not consider specially when building the factory and set up the special workspace of industrial robot, then set up fixed rail and often can hinder original passageway, or get into this region for the workman and engage in other work and cause the trouble. Therefore, fencing is more often not used in the field.
Scheme II: an electronic fence is adopted. Namely, a virtual robot working space is set through a camera or a laser system, and when a person intrudes, an alarm is sent or a command is sent to stop the robot. This approach does not fundamentally solve the security problem. There is no physical interruption, so that the robot cannot enter the robot during operation. Furthermore, at some point the robot cannot stop working immediately, for example when performing thermometric sampling work, the insertion of the robot's lance system into the molten steel is not allowed to stay too long, if at that time a command is given to stop the robot, the lance or even the robot equipment will be burnt. Obviously, the safety protection device arranged by the camera or the laser system has higher investment cost and larger maintenance workload.
Disclosure of Invention
The invention aims to provide a safety protection system and metallurgical processing equipment, which have flexible structures, can hardly occupy space in a laid-down state and can completely meet the safety protection requirements of an industrial robot.
Embodiments of the invention may be implemented as follows:
in a first aspect, an embodiment of the present invention provides a safety protection system, where the safety protection system includes:
the fixed longitudinal beam is fixedly arranged on the ground;
the fixed cross beam is used for being horizontally and fixedly arranged on the ground;
one end of each movable longitudinal beam is rotatably arranged on the fixed cross beam through a second rotating pin;
the movable cross beam is rotatably arranged at the other end of each movable longitudinal beam through a third rotating pin;
the cylinder body is rotatably arranged on the fixed longitudinal beam through a first rotating pin, and the end part of the telescopic rod is rotatably connected to the movable longitudinal beam through a fourth rotating pin;
the falling detection switch is arranged on the left side of the second rotating pin of the fixed cross beam and used for sending a falling signal under the condition that the movable longitudinal beam is recovered to the fixed cross beam;
the lifting detection switch is arranged on the upper side of a second rotating pin on the fixed cross beam and is used for sending a lifting signal when the movable longitudinal beam is lifted relative to the fixed cross beam;
and the safety warning lamp is used for displaying the light with the corresponding color and giving out prompt sound according to the falling signal and the lifting signal.
The safety protection system provided by the embodiment of the invention has the beneficial effects that:
1. the safety protection system occupies small area and needs small space for action, almost does not occupy field space in a laid state, is very suitable for being applied to metallurgical industrial fields with insufficient space, and can adapt to most of transformation requirements;
2. the safety protection system has simple structure and low cost, is driven by the cylinder, and has simple and reliable operation and small maintenance workload;
3. the safety warning lamp of safety protection system and industrial robot realize the linkage for the operating condition of system is judged to the colour and the prompt tone that the personnel can simply pass through the safety warning lamp, foresees danger in advance.
In an alternative embodiment, the safety warning lights include green, red and yellow lights;
under the condition that protection work is not required to be executed, the air cylinder is controlled to recover the movable longitudinal beam to the fixed cross beam, the falling detection switch is triggered, and a green light in the safety warning light is turned on based on a falling signal;
under the condition that the operation is started after the preset time, when the protection work needs to be executed, controlling a yellow light in a safety warning light to be on and giving out a warning sound;
under the condition that protection work is being executed, the air cylinder is controlled to lift the movable longitudinal beam, the lifting detection switch is triggered, and the red light in the safety warning light is lightened based on the lifting signal;
when the movable longitudinal beam is lifted up with respect to the fixed cross beam, the lift-up detection switch sends a lift-up signal, and the industrial robot starts operation based on the lift-up signal.
In an alternative embodiment, the safety shield system further comprises:
the iron chain is connected to the middle part of the movable longitudinal beam and bridged on all the movable longitudinal beams;
and the telescopic rod is connected to the movable longitudinal beam through the tripod.
In an alternative embodiment, a tripod comprises:
the end part of the telescopic rod is rotatably connected to the tip end through a fourth rotating pin;
two bottoms, equal fixed connection is on same root removal longeron, and two bottoms set up along the length direction interval of removing the longeron.
Like this, the cylinder passes through the tripod and rotationally connects and obtain moving on the longeron, can make the cylinder balanced to moving the driving force or the pulling force of longeron, and is more smooth-going to moving the drive of longeron, avoids appearing the dead condition of card.
In an optional embodiment, the fixed cross beam is provided with a first U-shaped groove, an opening of the first U-shaped groove faces the direction of the movable cross beam, one end of the movable longitudinal beam is rotatably connected in the first U-shaped groove, and two ends of the second rotating pin are respectively connected to two side walls of the first U-shaped groove and penetrate through one end of the movable longitudinal beam.
In an optional embodiment, the opening width of the first U-shaped groove is greater than the width of the movable longitudinal beam, and the cylinder can drive the movable longitudinal beam and the iron chain to be recovered into the first U-shaped groove of the fixed cross beam.
Like this, under the condition of cylinder laid down the removal longeron, remove longeron and iron chain and can retrieve to the first U type inslot of fixed cross beam, compact structure not only has reduced the occupation space of system, has played the effect of accomodating and protecting to removal longeron and iron chain moreover.
In an optional embodiment, the movable cross beam is provided with a second U-shaped groove, an opening of the second U-shaped groove faces the direction of the fixed cross beam, the other end of the movable longitudinal beam is rotatably connected in the second U-shaped groove, and two ends of a third rotating pin are respectively connected to two side walls of the second U-shaped groove and penetrate through the other end of the movable longitudinal beam.
In an optional embodiment, the opening width of the second U-shaped groove is greater than the width of the movable longitudinal beam, and the cylinder can drive the second U-shaped groove of the movable cross beam to cover the movable longitudinal beam and the iron chain.
Like this, under the condition of cylinder laid down the removal longeron, the second U type groove of travelling beam can cover and establish on removal longeron and iron chain, and compact structure has not only reduced the occupation space of system, has played the effect of accomodating and protecting to removal longeron and iron chain moreover.
In a second aspect of the safety warning light warning sound, an embodiment of the present invention provides a metallurgical processing apparatus, which includes:
a ladle;
the industrial robot is arranged on one side of the ladle;
at least one safety protection system of the preceding embodiment is installed in the working space of an industrial robot.
In an optional embodiment, the industrial robot is arranged on a platform channel located on one side of the ladle, at least three safety protection systems are installed on the platform channel, one safety protection system spans between the ladle and the industrial robot, and one safety protection system is respectively arranged on two opposite sides of the platform channel located on the two opposite sides of the industrial robot in the length direction.
In an optional embodiment, under the condition that the industrial robot does not execute operation, the side rails are controlled to be erected, the two channel rails are put down, the lifting detection switches on the side rails are triggered to send lifting signals, the falling detection switches on the two channel rails are triggered to send falling signals, and green lights in the safety warning lights are turned on based on the lifting signals and the falling signals;
under the condition that the industrial robot starts to execute operation after a preset time, controlling a yellow light in the safety warning light to be on and giving out a warning sound;
lift up at two passageway railings, face the limit railing and fall the back, lift up detection switch on the passageway railing and triggered, send and lift up the signal, face the detection switch that falls on the limit railing and triggered, send and fall the signal, industrial robot begins the operation based on lifting up the signal and falling the signal.
The metallurgical processing equipment provided by the embodiment of the invention has the beneficial effects that:
1. by arranging a plurality of safety protection systems in the working space of the industrial robot, the industrial robot can not only ensure that the arm and the working object of the industrial robot are free from obstruction when the industrial robot works, but also play a role in protecting personnel from falling from the working surface of the industrial robot and preventing the personnel from mistakenly intruding;
2. the control and the state detection of the safety protection system can be incorporated into the work flow of the industrial robot, the safety protection system can be linked with the industrial robot, manual operation is not needed, the automation level of the whole system is improved, the protection capability of the safety protection system can be further improved, and meanwhile, the personnel can enter and pass conveniently to the greatest extent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a safety protection system according to a first embodiment of the present invention in a raised state;
FIG. 2 is an enlarged schematic view of detail A of FIG. 1;
fig. 3 is a schematic structural diagram of a safety protection system according to a first embodiment of the present invention in a laid-down state;
FIG. 4 is a schematic front view of a metallurgical processing apparatus according to a second embodiment of the present invention;
fig. 5 is a schematic top view of a metallurgical processing apparatus according to a second embodiment of the present invention.
Icon: 100-a safety protection system; 110-fixed stringers; 120-a fixed cross beam; 130-moving the stringer; 140-moving the beam; 150-iron chain; 160-a tripod; 161-tip; 162-bottom end; 170-a cylinder; 171-cylinder body; 172-telescoping rods; 180-a first rotation pin; 190-a second rotation pin; 200-a third rotation pin; 210-a fall detection switch; 220-lift detection switch; 230-safety warning light; 240-fourth rotation pin; 300-metallurgical processing equipment; 310-a steel ladle; 320-an industrial robot; 330-side railing; 340-channel balustrade; 350-platform channel.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
First embodiment
Referring to fig. 1, the present embodiment provides a safety protection system 100, and the safety protection system 100 includes a fixed longitudinal beam 110, a fixed cross beam 120, a movable longitudinal beam 130, a movable cross beam 140, an iron chain 150, a tripod 160, and a cylinder 170.
The fixed longitudinal beam 110 is vertically and fixedly installed on the ground. The fixed beam 120 is horizontally and fixedly installed on the ground. One end of each moving longitudinal beam 130 is rotatably mounted on the fixed cross beam 120 by a second rotation pin 190. The moving beam 140 is rotatably mounted to the other end of each moving longitudinal beam 130 by a third rotation pin 200. An iron chain 150 is connected to the middle of the moving longitudinal beam 130 and bridges over all the moving longitudinal beams 130. The cylinder 170 includes a cylinder body 171 and an extension rod 172, the cylinder body 171 is rotatably mounted on the fixed longitudinal beam 110 by a first rotation pin 180, an end of the extension rod 172 is rotatably connected to the moving longitudinal beam 130 by a fourth rotation pin 240, and preferably, the extension rod 172 is connected to the moving longitudinal beam 130 by a tripod 160.
Thus, the safety protection system 100 occupies a small area and requires a small space for action, hardly occupies the field space in a laid-down state, is very suitable for being applied to a metallurgical industry field with insufficient space, and can meet the majority of transformation requirements; moreover, the safety protection system 100 has a simple structure, is low in cost, is driven by the cylinder 170, is simple and reliable to operate, and has small maintenance workload.
Referring to fig. 1 and 2, the tripod 160 includes a tip 161 and two bottom ends 162, and the end of the telescopic rod 172 is rotatably connected to the tip 161 by a fourth rotating pin 240; two bottom 162 equal fixed connection are on same root removal longeron 130, and two bottom 162 set up along the length direction interval of removing longeron 130. Therefore, the air cylinder 170 is rotatably connected with the movable longitudinal beam 130 through the tripod 160, so that the pushing force or the pulling force of the air cylinder 170 on the movable longitudinal beam 130 is balanced, the movable longitudinal beam 130 is driven more smoothly, and the situation of blocking is avoided.
The safety protection system 100 further comprises a falling detection switch 210, a lifting detection switch 220 and a safety warning light 230, wherein the falling detection switch 210 is installed on the fixed cross beam 120 on the left side of the second rotating pin 190, and the falling detection switch 210 is used for sending a falling signal when the movable longitudinal beam 130 is recovered to the fixed cross beam 120; a lift detection switch 220 is installed on the fixed cross member 120 on the upper side of the second pivot pin 190, the lift detection switch 220 being used to send a lift signal in the case where the moving longitudinal member 130 is lifted with respect to the fixed cross member 120; the safety warning light 230 is used for displaying light with corresponding color and giving out prompt sound according to the falling signal and the lifting signal. Like this, the linkage is realized with industrial robot 320 to safety warning light 230 of safety protection system 100 for the operating condition of system can be judged through the colour and the warning sound of safety warning light 230 simply to the personnel, foresees danger in advance.
Specifically, the safety warning light 230 can be installed on the top end of the fixed longitudinal beam 110, and the safety warning light 230 includes a green light, a red light and a yellow light, and can also emit a warning sound.
Referring to fig. 3, the fixed beam 120 has a first U-shaped groove (not shown), an opening of the first U-shaped groove faces the direction of the movable beam 140, one end of the movable beam 130 is rotatably connected in the first U-shaped groove, and two ends of the second rotating pin 190 are respectively connected to two sidewalls of the first U-shaped groove and penetrate one end of the movable beam 130. The width of the opening of the first U-shaped groove is greater than the width of the movable longitudinal beam 130, and the cylinder 170 can drive the movable longitudinal beam 130 and the iron chain 150 to be recovered into the first U-shaped groove of the fixed cross beam 120. Thus, under the condition that the air cylinder 170 is used for laying down the movable longitudinal beam 130, the movable longitudinal beam 130 and the iron chain 150 can be recovered into the first U-shaped groove of the fixed cross beam 120, the structure is compact, the occupied space of the system is reduced, and the movable longitudinal beam 130 and the iron chain 150 are stored and protected.
The movable cross beam 140 has a second U-shaped groove (not shown), the opening of the second U-shaped groove faces the direction of the fixed cross beam 120, the other end of the movable longitudinal beam 130 is rotatably connected in the second U-shaped groove, and both ends of the third rotating pin 200 are respectively connected to both sidewalls of the second U-shaped groove and penetrate the other end of the movable longitudinal beam 130. The opening width of the second U-shaped groove is larger than the width of the movable longitudinal beam 130, and the cylinder 170 can drive the second U-shaped groove of the movable cross beam 140 to cover the movable longitudinal beam 130 and the iron chain 150. Thus, under the condition that the air cylinder 170 is laid down on the movable longitudinal beam 130, the second U-shaped groove of the movable cross beam 140 can cover the movable longitudinal beam 130 and the iron chain 150, so that the structure is compact, the occupied space of the system is reduced, and the movable longitudinal beam 130 and the iron chain 150 are stored and protected.
Preferably, the fixed beam 120 and the movable beam 140 may be made of U-shaped channel steel, so that the fixed beam 120 directly has a first U-shaped groove thereon, and the movable beam 140 directly has a second U-shaped groove thereon.
The working principle of the safety protection system 100 provided by the embodiment is as follows:
referring to fig. 1, when the telescopic rod 172 of the control cylinder 170 retracts, the movable longitudinal beam 130 is in a vertical state relative to the fixed cross beam 120 to function as a guardrail, and at this time, the safety protection system 100 is in a raised state.
Referring to fig. 3, when the telescopic rod 172 of the control cylinder 170 extends, the movable longitudinal beam 130 and the iron chain 150 are retracted into the fixed cross beam 120, and the movable cross beam 140 and the fixed cross beam 120 are in a close-fitting state, at this time, the safety protection system 100 is in a laid-down state.
The working process of the safety warning light 230 of the safety protection system 100 provided by the embodiment is as follows:
under the condition that the protection work is not required to be executed, the air cylinder 170 is controlled to recover the movable longitudinal beam 130 to the fixed cross beam 120, the falling detection switch 210 is triggered, and the green light in the safety warning light 230 is turned on based on the falling signal;
when the operation is started after the preset time, and the protection work needs to be executed, controlling a yellow light in the safety warning light 230 to be on and giving out a warning sound;
under the condition that the protection work is being executed, the control cylinder 170 lifts the movable longitudinal beam 130, the lifting detection switch 220 is triggered, and the red light in the safety warning light 230 is turned on based on the lifting signal;
when the movable longitudinal beam 130 is lifted up with respect to the fixed cross beam 120, the lift detection switch 220 sends a lift signal, and the industrial robot 320 starts the operation based on the lift signal.
The safety protection system 100 provided by the embodiment has the advantages that:
1. the safety protection system 100 occupies a small area, requires a small space for action, hardly occupies the field space in a laid-down state, is very suitable for being applied to a metallurgical industry field with insufficient space, and can meet the majority of transformation requirements;
2. the safety protection system 100 has a simple structure and low manufacturing cost, is driven by the air cylinder 170, and is simple and reliable in operation and small in maintenance workload;
3. the safety protection system 100 can be linked with the industrial robot 320, so that reliable safety protection is provided, and the entering and passing of personnel are facilitated to the greatest extent possible;
4. the personnel can know the working state of the industrial robot 320 by observing the state of their safety warning lights 230, thereby predicting danger.
Second embodiment
Referring to fig. 4 and 5, the present embodiment provides a metallurgical processing plant 300, wherein the metallurgical processing plant 300 comprises a ladle 310, an industrial robot 320 and the safety shield system 100 provided in the first embodiment.
The industrial robot 320 is disposed on the platform channel 350 at one side of the ladle 310, and the industrial robot 320 is used for measuring and sampling the temperature of the material in the ladle 310. Three safety shield systems 100 are mounted on the platform channel 350, and one safety shield system 100 is spanned between the ladle 310 and the industrial robot 320 as an edge rail 330. One safety shield system 100 is disposed on each of opposite sides of the industrial robot 320 in the length direction of the platform passageway 350 as a passageway balustrade 340.
When the industrial robot 320 needs to perform temperature measurement sampling work, the limb railing 330 is controlled to be put down, and the downward movement of the arm of the industrial robot 320 is not affected. When the operation of the industrial robot 320 is completed, the control limb railing 330 is erected to play a role in preventing personnel from falling.
When the industrial robot 320 needs to execute temperature measurement sampling work, the control channel handrail 340 is erected to play a safety protection role, and personnel can not pass through. When the work of the industrial robot 320 is completed, the control passage rail 340 is put down and the personnel can pass.
To save costs, the safety warning light 230 may be set up only one at one side of the aisle railings 340, rather than having to set up one for each railing.
The working flow of the metallurgical processing equipment 300 provided by the embodiment is as follows:
in the initial state, the industrial robot 320 does not execute the operation, at this time, the side rail 330 is erected, the two passage rails 340 are put down, the corresponding lift detection switches 220 on the side rail 330 are triggered to send out the lift signals, and the fall detection switches 210 on the two passage rails 340 are triggered to send out the fall signals. The lifting signal and the falling signal are transmitted to the automatic control system, and the automatic control system controls the green light in the safety warning light 230 to be on, so that the safety is shown, and personnel can pass or enter the area to work.
When the industrial robot 320 is about to perform work, the automatic control system controls the yellow light in the safety warning light 230 to be on, and simultaneously, an alarm sound is given out to indicate that the industrial robot 320 is about to start, and people working in the area are reminded to leave as soon as possible. After a warning has passed for a period of time (e.g., 30 seconds), or if safety has been confirmed, the automated control system issues a command to erect both aisle railings 340 while the adjacent balustrades 330 are lying down.
When the two passage railings 340 are lifted and fall near the side railing 330, the lifting detection switch 220 on the corresponding passage railing 340 is triggered, the falling detection switch 210 on the side railing 330 is triggered, a signal is sent to the industrial robot 320 at the moment to allow the industrial robot to start working, and meanwhile, the red light in the safety warning light 230 is controlled to be on to indicate that the industrial robot 320 is working and the passage is dangerous, so that people are forbidden to pass.
The metallurgical processing equipment 300 provided by the embodiment has the beneficial effects that:
1. by arranging the safety protection systems 100 and the plurality of safety protection systems 100 in the working space of the industrial robot 320, the purpose that when the industrial robot 320 works, the arms and the working objects of the industrial robot are not blocked is achieved, the protection of personnel falling from the working surface of the industrial robot 320 is achieved, and the function of preventing the personnel from mistakenly intruding is achieved;
2. can be brought into industrial robot 320 work flow with the control of safety protection system 100 and state detection, can with industrial robot 320 linkage, do not need manual operation, improved entire system's automation level, can further improve its protective capacities, make things convenient for personnel to get into and pass the most probably simultaneously.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A safety shield system, comprising:
the fixed longitudinal beam (110) is fixedly arranged on the ground;
the fixed cross beam (120) is used for being horizontally and fixedly arranged on the ground;
a plurality of moving longitudinal beams (130), wherein one end of each moving longitudinal beam (130) is rotatably arranged on the fixed cross beam (120) through a second rotating pin (190);
a moving cross beam (140) rotatably mounted at the other end of each moving longitudinal beam (130) by a third rotating pin (200);
the air cylinder (170) comprises a cylinder body (171) and an expansion rod (172), the cylinder body (171) is rotatably mounted on the fixed longitudinal beam (110) through a first rotating pin (180), and the end part of the expansion rod (172) is rotatably connected to the movable longitudinal beam (130) through a fourth rotating pin (240);
a falling detection switch (210) installed on the fixed cross beam (120) on the left side of the second rotation pin (190), the falling detection switch (210) being used for sending a falling signal when the moving longitudinal beam (130) is retracted onto the fixed cross beam (120);
a lift detection switch (220) mounted on the fixed cross member (120) above the second pivot pin (190), the lift detection switch (220) being configured to signal a lift if the moving side member (130) is lifted relative to the fixed cross member (120);
and the safety warning lamp (230) is used for displaying light with corresponding color and giving out prompt sound according to the falling signal and the lifting signal.
2. The safety shield system according to claim 1, wherein the safety warning light (230) comprises a green light, a red light, and a yellow light;
under the condition that the protection work does not need to be executed, the air cylinder (170) is controlled to recover the movable longitudinal beam (130) onto the fixed cross beam (120), the falling detection switch (210) is triggered, and the green light in the safety warning light (230) is turned on based on the falling signal;
under the condition that the operation is started after the preset time, when the protection work needs to be executed, the yellow lamp in the safety warning lamp (230) is controlled to be turned on and an alarm sound is given out;
in the case of performing a protection work, controlling the air cylinder (170) to lift the moving longitudinal beam (130), triggering the lift detection switch (210), and lighting the red light in the safety warning light (230) based on the lift signal;
when the movable longitudinal beam (130) is lifted relative to the fixed cross beam (120), the lift detection switch (220) sends out the lift signal, and the industrial robot (320) starts operation based on the lift signal.
3. The safety shield system of claim 1, further comprising:
the iron chain (150) is connected to the middle part of the moving longitudinal beam (130) and bridged on all the moving longitudinal beams (130);
a tripod (160), said telescoping rod (172) being connected to said moving stringer (130) by said tripod (160).
4. The safety shield system of claim 2, wherein said tripod (160) comprises:
a tip (161), an end of the telescopic rod (172) being rotatably connected to the tip (161) by the fourth rotating pin (240);
two bottom (162), equal fixed connection is in same root remove on longeron (130), and two bottom (162) are followed the length direction interval of removing longeron (130) sets up.
5. The safety protection system according to claim 1, wherein the fixed cross beam (120) has a first U-shaped groove, an opening of the first U-shaped groove faces a direction of the movable cross beam (140), one end of the movable longitudinal beam (130) is rotatably connected in the first U-shaped groove, two ends of the second rotating pin (190) are respectively connected to two side walls of the first U-shaped groove and penetrate through one end of the movable longitudinal beam (130), a width of the opening of the first U-shaped groove is greater than a width of the movable longitudinal beam (130), and the air cylinder (170) can drive the movable longitudinal beam (130) and the iron chain (150) to be retracted into the first U-shaped groove of the fixed cross beam (120).
6. The safety protection system according to claim 1, wherein the movable cross beam (140) is provided with a second U-shaped groove, the opening of the second U-shaped groove faces the direction of the fixed cross beam (120), the other end of the movable longitudinal beam (130) is rotatably connected in the second U-shaped groove, and two ends of the third rotating pin (200) are respectively connected to two side walls of the second U-shaped groove and penetrate through the other end of the movable longitudinal beam (130).
7. The safety shield system according to claim 6, characterized in that the second U-shaped groove has an opening width larger than the width of the movable longitudinal beam (130), and the air cylinder (170) can drive the second U-shaped groove of the movable transverse beam (140) to cover the movable longitudinal beam (130) and the iron chain (150).
8. A metallurgical processing apparatus, characterized in that it comprises:
a ladle (310);
an industrial robot (320) disposed at one side of the ladle (310);
the safety shield system of at least one claim 1, mounted in a workspace of said industrial robot (320).
9. The metallurgical processing plant according to claim 8, characterized in that the industrial robot (320) is arranged on a platform channel (350) on one side of the ladle (310), that at least three safety shield systems are mounted on the platform channel (350), that one safety shield system is spanned between the ladle (310) and the industrial robot (320), and that one safety shield system is arranged on each of the opposite sides of the industrial robot (320) in the length direction of the platform channel (350).
10. The metallurgical processing plant according to claim 9, characterized in that in case of an industrial robot (320) not performing work, the side rail (330) is controlled to be erected, the two passage rails (340) are lowered, the lift detection switch (220) on the side rail (330) is triggered, the lift signal is issued, the fall detection switches (210) on the two passage rails (340) are triggered, the fall signal is issued, and a green light in the safety warning light (230) is lit based on the lift signal and the fall signal;
under the condition that the industrial robot (320) starts to execute operation after a preset time, controlling a yellow lamp in the safety warning lamp (230) to be turned on and giving out a warning sound;
after the two channel railings (340) are lifted and the adjacent side railing (330) is laid down, the lifting detection switch (220) on the channel railing (340) is triggered to send out the lifting signal, the laying detection switch (210) on the adjacent side railing (330) is triggered to send out the laying signal, and the industrial robot (320) starts to work based on the lifting signal and the laying signal.
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| CN202111626175.XA CN114179128B (en) | 2021-12-28 | 2021-12-28 | Safety protection system and metallurgical processing equipment |
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| CN202111626175.XA CN114179128B (en) | 2021-12-28 | 2021-12-28 | Safety protection system and metallurgical processing equipment |
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| CN114179128B (en) | 2023-12-01 |
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