Intelligent Brick Allocation System for Coke Oven Bricklaying

Abstract

The present application discloses an intelligent brick distribution system for coke oven bricklaying. The system mainly includes a brick handling robot and a brick distribution robot. On both sides of the brick distribution robot are a single-type brick placement area and a brick distribution area, and both areas are marked. First, the brick handling robot is used to sort the bricks by material, specification, and type in the refractory material warehouse, stack them on a special brick board, and finally transport them to the single-type brick placement area and place them according to the planned markings. Then, the brick distribution robot distributes bricks according to the daily plan for coke oven masonry, with people in their positions, bricks in their positions, positioning of the distribution board, and fixed-point masonry, as well as in the reverse order of bricklaying. Through the brick handling robot and the brick distribution robot, intelligent management of brick handling in and out of the warehouse and accurate brick distribution according to design requirements are carried out, thereby improving the accuracy and work efficiency of brick handling in and out of the warehouse and brick distribution.

Description

Technical Field

[0001] The present application relates to the technical field of coking construction, and in particular to an intelligent brick matching system for coke oven bricklaying. Background Art

[0002] With the development of large-volume coke oven technology, coke oven design is constantly innovating. The brickwork involved is sent from the brick factory to the construction site for warehousing management. The size deviation of brickwork is set to a certain reasonable range. The length error of bricks is negative tolerance or positive tolerance. The brick seams between bricks may exceed the qualified range. It is necessary to unpack and check the size error, and then classify and stack them. Due to the large amount of bricks, they need to be stacked in a high direction, and the amount of bricks picked up in and out of the warehouse is relatively large. The conventional method requires multiple people to pass in a chain manner. When entering the warehouse, it needs to be passed from a low place to a high place for stacking. When leaving the warehouse, it needs to be passed from a high place to a low place for stacking. Then the panel distribution personnel will carry out panel distribution construction according to the daily plan for the coke oven masonry construction, with fixed positions, brick positioning, positioning panel distribution, and fixed-point masonry to meet the requirements of the next day's masonry. A single coke oven requires more than 30,000 tons of refractory materials and nearly a thousand types of bricks, which are completely dependent on manual labor and forklifts for warehousing and brick matching, which is time-consuming, labor-intensive and inefficient. In addition, faced with such complex materials, specifications and quantities, manual errors are prone to occur during the brick matching process. Summary of the invention

[0003] In view of this, the present application provides an intelligent brick matching system for coke oven bricklaying, which can improve the accuracy and work efficiency of brick warehousing and brick matching.

[0004] The present application provides a coke oven bricklaying intelligent brick matching system, comprising:

[0005] A brick loading and unloading robot is used to move bricks to the single-model brick placement area;

[0006] And, a brick-matching robot, including an intelligent recognition mechanism, a second joint robot, a vacuum gripper and a ground rail, the vacuum gripper being installed at the end of the second joint robot, the intelligent recognition mechanism being used to identify bricklaying so that the second joint robot can stack bricks in a single-model brick placement area to a brick-matching area, and the ground rail being used to carry the movement required by the second joint robot during brick stacking operations.

[0007] Optionally, the single-model brick placement area and the brick matching area are each provided with an identification structure.

[0008] Optionally, the brick storage and retrieval robot includes a body, walking wheels, a column robot and a rotating lifting platform. The column robot is used for grabbing bricks, and the rotating lifting platform is used for high-direction adjustment during the brick grabbing process.

[0009] Optionally, the running wheel is a Mecanum wheel.

[0010] Optionally, the column robot includes a first rotating table, a first column, a first vertical rail, a lifting platform, and a first articulated robot. The first rotating table is axially connected to the vehicle body. The first column is fixedly connected to the first rotating table. A first vertical rail is provided on one side of the first column. The first articulated robot moves up and down along the first vertical rail through the lifting platform.

[0011] Optionally, the rotating and lifting table includes a second rotating table, a second column, a second vertical rail, a track seat, a forklift, and a counterweight. The second rotating table is axially connected to the vehicle body. The second column is fixedly connected to the second rotating table. A second vertical rail is provided on one side of the second column. The forklift moves up and down along the second vertical rail through the track seat. A counterweight is provided on the other side of the second column. A lifting rack is provided on the second column. A lifting drive motor is provided on the track seat. A gear is provided at the output end of the lifting drive motor and meshes with the lifting rack.

[0012] Optionally, the lifting drive motor is synchronously controlled by the controller of the first articulated robot for lifting adjustment, and the rotation control of the second rotating table is synchronously controlled by the controller of the first articulated robot for rotation adjustment.

[0013] Optionally, the grasping component of the first articulated robot is a vacuum sucker.

[0014] Optionally, the ground rail includes a track frame, a translation rack, a moving bottom plate, a translation drive motor, and a gear. The translation rack is fixedly installed on the inner or outer side of the track frame. The moving bottom plate is movably installed on the upper surface of the track frame. The translation drive motor is fixedly installed on the upper surface of the moving bottom plate. A gear is provided at the output end of the translation drive motor and meshes with the translation rack. The translation drive motor is synchronously controlled by the controller of the articulated robot for horizontal movement.

[0015] The intelligent brick matching system for coke oven bricklaying provided above, through the brick handling robot and the brick matching robot, conducts intelligent management of brick storage and retrieval and accurately matches bricks according to design requirements, thereby improving the accuracy and working efficiency of brick storage and retrieval and brick matching. Description of the Drawings

[0016] The following, in conjunction with the drawings, through a detailed description of the specific embodiments of the present application, will make the technical solutions and other beneficial effects of the present application obvious.

[0017] Figure 1 It is the overall structure diagram of the intelligent brick matching system for coke oven bricklaying provided by the embodiment of the present application;

[0018] Figure 2 It is the structure diagram of the brick handling robot provided by the embodiment of the present application;

[0019] Figure 3 It is the schematic diagram of the rotation of the second rotating table and the lifting state of the forklift provided by the embodiment of the present application;

[0020] Figure 4 Structural diagram of the brick - matching robot provided by the embodiment of the present application;

[0021] Figure 5 Side view of the brick - matching side of the brick - matching robot provided by the embodiment of the present application;

[0022] Figure 6 Schematic diagram of brick - matching in the brick - matching area provided by the embodiment of the present application.

[0023] Among them, the component identifications in the figure are as follows:

[0024] 110 - Brick handling robot; 111 - Vehicle body; 112 - Traveling wheels; 113 - Column robot; 1131 - Rotating platform 1; 1132 - Column 1; 1133 - Vertical rail 1; 1134 - Lifting platform; 1135 - First joint robot; 1136 - Rotating platform drive motor; 114 - Rotating and lifting platform; 1141 - Rotating platform 2; 1142 - Column 2; 1143 - Vertical rail 2; 1144 - Rail seat; 1145 - Forklift; 1146 - Counterweight; 1147 - Lifting rack; 1148 - Lifting drive motor; 120 - Brick - matching robot; 122 - Second joint robot; 115, 123 - Vacuum suction device; 124 - Ground rail; 1241 - Rail frame; 1242 - Translation rack; 1243 - Moving bottom plate; 1244 - Translation drive motor; 1245 - Gear; 1246 - Pneumatic equipment; 200 - Bricklaying; 210 - Brick board; 300 - Single - type brick placement area; 400 - Brick - matching area; 500 - Identification structure. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0026] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0027] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0028] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0029] The present application provides an intelligent brick matching system for coke oven bricklaying, as Figure 1 shown, mainly including a No. 1 robot (brick handling robot 110) and a No. 2 robot (brick matching robot 120).

[0030] The No. 1 robot mainly includes a vehicle body 111, Mecanum wheels, a column robot 113, and a rotary lifting platform 114. Among them, the column robot 113 and the rotary lifting platform 114 are respectively arranged on both sides of the vehicle body 111. The column robot 113 grabs bricks, and the rotary lifting platform 114 performs height adjustment according to the brick grabbing range. After the rotary lifting platform 114 is filled with bricks, it rotates 180 degrees and places the fully loaded brick board 210 in the single-type brick placement area 300.

[0031] The Mecanum wheel is an omnidirectional motion device that can achieve motion modes such as forward movement, lateral movement, diagonal movement, rotation, and their combinations. A circle of independent planetary wheels with an inclination angle of 45° is arranged in the circumferential direction of the central wheel of the Mecanum wheel. These planetary wheels decompose the forward speed of the central wheel into two directions, X and Y. Therefore, the wheel can slide laterally to achieve forward and lateral movement. Then, relying on the directions and speeds of their respective wheels, the final synthesis of these forces generates a resultant force vector in any required direction, thus ensuring that this platform can move freely in the direction of the final resultant force vector without changing the direction of the wheels themselves.

[0032] The column robot 113 includes a first rotating table 1131, a first column 1132, a first vertical rail 1133, a lifting platform 1134, and a first articulated robot 1135. The first rotating table 1131 is axially connected to the vehicle body 111 and is drivingly connected through a rotating table drive motor 1136. The first column 1132 is fixedly connected to the first rotating table 1131. A first vertical rail 1133 is provided on one side of the first column 1132. The articulated robot moves up and down along the first vertical rail 1133 through the lifting platform 1134. The first articulated robot, also known as an articulated robotic arm or a multi-joint robot, is a six-axis articulated robot used in this example. The mechanical body mainly consists of a base part, a turntable part, a large arm part, a small arm part, a wrist body part, a wrist, etc. The joints of the mechanical body are driven by servo motors, and the joints cooperate with each other to adjust the position and posture of the end of the articulated robot in space. Combined with the omnidirectional motion device and the lifting platform 1134, the working range of the horizontal and vertical movement of the articulated robot is extended. Under the precise identification, positioning and control of the articulated robot controller and the high-precision three-dimensional vision technology, the work of selecting and stacking bricks is completed.

[0033] The grasping device of the first articulated robot can adopt a fixture or a suction device. The vacuum suction device 115 in this example is a sponge vacuum suction cup. By adopting honeycomb suction holes, each hole is independently controlled. When sucking the product, the vacuum will be automatically turned on. Once it touches a hole or an uneven place, these suction holes will automatically close, so as to maintain the non-leakage of the entire vacuum system and achieve the effect of successful handling. An independent one-way valve is built into each hole of the sponge vacuum suction cup to prevent vacuum leakage when the object to be sucked is smaller than the sponge suction cup or the object to be sucked is not completely covered in the suction cup. The one-way valve will automatically close when not in contact with the object, without affecting its operation. The sponge vacuum suction cup is built with a vacuum generator and is driven by compressed air. The pneumatic equipment 1246 is synchronously controlled by the articulated robot controller to adjust the cylinder expansion and contraction.

[0034] The rotary lifting table 114 includes a second rotary table 1141, a second column 1142, a second vertical rail 1143, a rail seat 1144, a forklift 1145 and a counterweight 1146. The second rotary table 1141 is axially connected to the vehicle body 111. The second column 1142 is fixedly connected to the second rotary table 1141. A second vertical rail 1143 is provided on one side of the second column 1142. The forklift 1145 moves up and down along the second vertical rail 1143 through the rail seat 1144. A counterweight 1146 is provided on the other side of the second column 1142. A lifting rack 1147 is provided on the second column 1142. A lifting drive motor 1148 is provided on the rail seat 1144. A gear is provided at the output end of the lifting drive motor 1148 and meshes with the lifting rack 1147. The lifting drive motor 1148 is synchronously controlled by the articulated robot controller for lifting adjustment. The rotation control of the second rotary table 1141 is synchronously controlled by the articulated robot controller for rotation adjustment. When the rotary lifting table 114 is filled with bricks, it rotates 180 degrees and places the fully loaded brick board 210 in the single-type brick placement area 300.

[0035] The No. 2 robot mainly includes an intelligent recognition mechanism (not shown in the figure), a second articulated robot 122, a vacuum suction device 123 and a ground rail 124. Among them, the vacuum suction device 123 is installed at the end of the second articulated robot 122, and the second articulated robot 122 moves along the ground rail 124.

[0036] The intelligent recognition mechanism is a high-precision three-dimensional vision technology that can accurately identify and position the bricklaying 200 for control, and realize the brick matching operation of the bricklaying 200.

[0037] The second articulated robot 122, also known as an articulated robotic arm or a multi-joint robot. The six-axis articulated robot used in this example has a mechanical body mainly composed of a base part, a turntable part, a large arm part, a small arm part, a wrist body part, a wrist, etc. The joints of the mechanical body are driven by servo motors, and the joints cooperate with each other to adjust the position and posture of the end of the articulated robot in space. Combining with the ground rail 124 to expand the working range of the horizontal movement of the articulated robot, under the precise identification and positioning control of the articulated robot controller and the high-precision three-dimensional vision technology, the work of selecting and matching bricks for the bricklaying 200 is completed.

[0038] The grasping device of the second articulated robot 122 can adopt a fixture or a suction device. The vacuum suction device 123 in this example is the same as that used by the brick handling robot 110.

[0039] The ground rail 124 includes a rail frame 1241, a translation rack 1242, a moving bottom plate 1243, a translation drive motor 1244, and a gear 1245. The translation rack 1242 is fixedly installed on the inner or outer side of the rail frame 1241. The moving bottom plate 1243 is movably installed on the upper surface of the rail frame 1241. The translation drive motor 1244 is fixedly installed on the upper surface of the moving bottom plate 1243. The output end of the translation drive motor 1244 is provided with the gear 1245. The gear 1245 meshes with the translation rack 1242. The translation drive motor 1244 is synchronously controlled by the articulated robot controller to perform horizontal movement.

[0040] On both sides of the No. 2 robot are a single-type brick placement area 300 and a brick matching area 400, and identification structures 500 are provided in both areas. First, use the No. 1 robot in the refractory material warehouse to sort the bricks 200 by single type according to the material, specification, and model, stack them on the special brick board 210, and finally transport them to the single-type brick placement area 300 and place them in accordance with the planned identification structure 500. Then, the No. 2 robot stacks the bricks 200 to be laid later on the bottom of the pallet in the brick matching area 400 and the bricks 200 laid earlier on the upper part of the pallet in the brick matching area 400 according to the daily plan for the construction of the coke oven masonry, with people in fixed positions, bricks in fixed positions, positioning of the matching board, fixed-point masonry, and the reverse order of laying the bricks 200.

[0041] It should be noted that the present application has made the following obvious intellectual contributions to the related technologies:

[0042] 1. The intelligent brick matching system for coke oven bricks of the present application mainly includes a No. 1 robot (brick storage and retrieval robot 110) and a No. 2 robot (brick matching robot 120). On both sides of the No. 2 robot are a single-type brick placement area 300 and a brick matching area 400, and identification structures 500 are provided in both areas. First, use the No. 1 robot in the refractory material warehouse to sort the bricks 200 by single type according to the material, specification, and model, stack them on the special brick board 210, and finally transport them to the single-type brick placement area 300 and place them in accordance with the planned identification structure 500. Then, the No. 2 robot matches the bricks according to the daily plan for the construction of the coke oven masonry, with people in fixed positions, bricks in fixed positions, positioning of the matching board, fixed-point masonry, and the reverse order of laying the bricks 200. Through the brick storage and retrieval robot 110 and the brick matching robot 120, intelligent management of brick storage and retrieval and accurate brick matching according to design requirements are carried out, thereby improving the accuracy and work efficiency of brick storage and retrieval and brick matching.

[0043] 2. The No. 1 robot mainly includes a vehicle body 111, traveling wheels 112, a column robot 113, and a rotary lifting table 114. Among them, the column robot 113 and the rotary lifting table 114 are respectively arranged on both sides of the vehicle body 111. The column robot 113 grabs bricks, and the rotary lifting table 114 adjusts its height according to the brick-grabbing range. After the rotary lifting table 114 is filled with bricks, it rotates 180 degrees and places the fully loaded brick board 210 in the single-type brick placement area 300.

[0044] 3. The No. 2 robot mainly includes an intelligent recognition mechanism, a second articulated robot 122, a vacuum suction device 123, and a ground rail 124. Among them, the vacuum suction device 123 is installed at the end of the articulated robot, and the second articulated robot 122 runs along the ground rail 124. The intelligent recognition mechanism is a high-precision three-dimensional vision technology that can accurately identify and position the bricklaying 200 to realize the brick-matching operation of the bricklaying 200.

[0045] 4. The vacuum suction devices 115 and 123 adopt a sponge vacuum suction cup. By using honeycomb-shaped suction holes, each hole is independently controlled. When sucking refractory bricks, the vacuum will be automatically turned on. Once it touches a hole or a groove, these suction holes will automatically close, so as to maintain the non-leakage of the entire vacuum system and achieve the effect of successfully sucking irregular bricks, adapting to the suction of different types of bricks.

[0046] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered by the protection scope of the present application.

Claims

1. An intelligent brick matching system for coke oven bricklaying, characterized in that, Including: A brick storage and retrieval robot for transporting bricks for bricklaying to the single-type brick placement area; And, a brick matching robot, including an intelligent recognition mechanism, a second joint robot, a vacuum suction device, and a ground rail. The vacuum suction device is installed at the end of the second joint robot. The intelligent recognition mechanism is used to identify bricks for bricklaying so that the second joint robot stacks the bricks for bricklaying in the single-type brick placement area to the brick matching area. The ground rail is used to carry the second joint robot during the brick stacking operation; The brick storage and retrieval robot includes a vehicle body, driving wheels, a column robot, and a rotating and lifting platform. The column robot is used to grasp bricks for bricklaying, and the rotating and lifting platform is used to perform height adjustment during the brick grasping process; The driving wheels are Mecanum wheels; The column robot includes a first rotating platform, a first column, a first vertical rail, a lifting platform, and a first joint robot. The first rotating platform is axially connected to the vehicle body. The first column is fixedly connected to the first rotating platform. A first vertical rail is provided on one side of the first column. The first joint robot moves up and down along the first vertical rail through the lifting platform; The rotating and lifting platform includes a second rotating platform, a second column, a second vertical rail, a track seat, a forklift, and a counterweight. The second rotating platform is axially connected to the vehicle body. The second column is fixedly connected to the second rotating platform. A second vertical rail is provided on one side of the second column. The forklift moves up and down along the second vertical rail through the track seat. A counterweight is provided on the other side of the second column. A lifting rack is provided on the second column. A lifting drive motor is provided on the track seat. A gear is provided at the output end of the lifting drive motor and meshes with the lifting rack; The lifting drive motor is synchronously controlled by the controller of the first joint robot for lifting adjustment, and the rotation control of the second rotating platform is synchronously controlled by the controller of the first joint robot for rotation adjustment; The grasping component of the first joint robot is a vacuum suction device; The vacuum suction device is a sponge vacuum suction cup. By adopting honeycomb suction holes, each hole is independently controlled. When sucking refractory bricks, the vacuum is automatically turned on. Once it touches a hole or a groove, these suction holes are automatically closed to maintain the airtightness of the entire vacuum system; The intelligent recognition mechanism uses high-precision three-dimensional vision technology to accurately identify and position bricks for bricklaying.

2. The intelligent brick matching system for coke oven bricklaying according to claim 1, characterized in that, Identification structures are provided in the single-type brick placement area and the brick matching area respectively.

3. The intelligent brick matching system for coke oven bricklaying according to claim 1, characterized in that, The ground rail includes a track frame, a translation rack, a moving bottom plate, a translation drive motor, and a gear. The translation rack is fixedly installed on the inner or outer side of the track frame. The moving bottom plate is movably installed on the upper surface of the track frame. The translation drive motor is fixedly installed on the upper surface of the moving bottom plate. A gear is provided at the output end of the translation drive motor and meshes with the translation rack. The translation drive motor is synchronously controlled by the joint robot controller for horizontal movement.

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