A rotary arm type coke oven temperature measuring robot and a temperature measuring algorithm

Abstract

The application is specifically a rotary arm type coke oven temperature measuring robot and a temperature measuring algorithm, which solves the problems of large error and inability to comprehensively cover the temperature of the bottom area of the vertical flue in the existing two ways of collecting the temperature of the combustion chamber of a large coke oven. The rotary arm type coke oven temperature measuring robot comprises a vehicle chassis, a walking mechanism is arranged on the vehicle chassis, a base is fixed on the vehicle chassis, a main rotating shaft is rotatably supported in the inner cavity of the base, a rotating plate is fixed at the top end of the main rotating shaft, a temperature measuring mechanism is installed on the left part of the rotating plate, and a cover lifting mechanism is installed on the right part of the rotating plate; a rotating drive mechanism is installed on the right side of the base. The application achieves the purpose of comprehensively covering the temperature of the bottom area of the vertical flue, improves the degree of automation, realizes the temperature measurement of multiple point fan-shaped arc trajectories by the temperature measuring robot, greatly improves the temperature measurement accuracy, reduces the error, further reduces the labor intensity of the workers, and improves the production efficiency of the coking plant.

Description

Technical Field

[0001] This invention relates to the field of coke oven temperature measurement technology, specifically a rotary arm coke oven temperature measurement robot and its temperature measurement algorithm. Background Technology

[0002] In the coke production process, temperature control in the coke oven combustion chamber plays an extremely important role in coking time and coke quality. One of the keys to refined coking is to accurately measure the combustion chamber temperature in real time. Only by measuring the temperature accurately can we achieve the goal of meeting coke quality requirements while minimizing gas consumption.

[0003] Currently, the main methods for collecting the temperature of the combustion chamber of large coke ovens are as follows: Method 1 is to manually collect the temperature of the combustion chamber from the top of the coke oven at regular intervals; Method 2 is to use a temperature measuring robot to collect the temperature of the combustion chamber from the top of the coke oven.

[0004] However, the on-site environment of large coke ovens is harsh (high temperature and high pollution). Operators also need to complete temperature measurements within a specified time, which is labor-intensive and requires multiple operators to work together. The temperature collected in this way will have a large error. Most of the existing temperature measuring robots use infrared thermometers to measure the temperature once or at multiple points along a diameter. This method cannot fully cover the temperature of the bottom area of ​​the vertical flue, and the measured temperature will have a large error.

[0005] Therefore, it is necessary to invent a rotary arm coke oven temperature measuring robot and a temperature measuring algorithm to solve the above problems. Summary of the Invention

[0006] To address the problems of large errors and inability to fully cover the temperature of the bottom area of ​​the vertical flue in the two existing methods for collecting the temperature of the combustion chamber of large coke ovens, this invention provides a rotary arm coke oven temperature measuring robot and a temperature measuring algorithm.

[0007] This invention is achieved using the following technical solution:

[0008] A rotary arm coke oven temperature measuring robot, as shown in the attached figure. Figure 1 ~Appendix Figure 5 As shown, the device includes a chassis frame with a traveling mechanism mounted on it. A cylindrical base with an open top is fixed to the chassis frame. A main rotating shaft, which extends vertically and extends beyond the base, is rotatably supported within the base cavity. A transversely oriented, elongated rotating plate is fixed to the top of the main rotating shaft. A temperature measuring mechanism is mounted on the left side of the rotating plate, and a lid-lifting mechanism is mounted on the right side. A rotary drive mechanism for driving the main rotating shaft is mounted on the right side of the base.

[0009] The temperature measuring mechanism includes a temperature measuring rotating shaft rotatably supported on a rotating plate and arranged vertically. A support plate is horizontally fixed at the bottom end of the temperature measuring rotating shaft. A temperature measuring electric push rod is horizontally mounted on the support plate. An infrared thermometer is mounted at the tail end of the temperature measuring electric push rod. A temperature measuring motor that drives the temperature measuring rotating shaft to rotate is mounted on the rotating plate. The lid lifting mechanism includes a lid lifting electric push rod fixed on the rotating plate. An electromagnet is fixed at the tail end of the lid lifting electric push rod.

[0010] In this invention, the walking structure enables automatic movement and accurate positioning of the fire viewing hole cover; the rotary drive structure drives the main rotating shaft to rotate, thereby switching between the temperature measuring mechanism and the cover lifting mechanism; in the temperature measuring mechanism, the temperature measuring motor drives the temperature measuring rotating shaft to rotate, while the temperature measuring electric push rod can extend and retract. The combination of these two allows the infrared thermometer to measure the temperature at multiple points along a fan-shaped arc trajectory at the fire viewing hole, and the average value of the measured multiple temperature points is taken to ensure temperature accuracy; in the cover lifting mechanism, an energized electromagnet is used to magnetically attract the fire viewing hole cover, which is simple and quick to operate, without wasting too much time, freeing up time for subsequent temperature measurement.

[0011] Furthermore, as shown in the appendix Figure 1 As shown, the walking mechanism includes four walking wheels arranged in a rectangle, a walking motor that drives the walking wheels, a track laid on the top of the coke oven and located next to the fire-viewing hole cover, a tracking sensor that cooperates with the track and is located on the lower surface of the chassis, a photoelectric baffle located next to the fire-viewing hole cover, and a photoelectric switch that cooperates with the photoelectric baffle and is installed on the chassis.

[0012] When moving, the tracking sensor works in conjunction with the track to ensure that the robot always moves along the track. During the movement, when the photoelectric switch receives light reflected from the photoelectric baffle, the walking motor stops, and the robot moves forward a certain distance under inertia and then stops naturally, stopping right next to the fire hole cover (the inertial travel distance can be calculated based on the robot's mass and the surface friction of the furnace top). This achieves the automatic start and stop of the robot.

[0013] Furthermore, as shown in the appendix Figure 3 As shown, the rotary drive mechanism includes a horizontal mounting plate fixed on the base, a rotary motor mounted on the horizontal mounting plate, a main pulley fixedly mounted on the output shaft of the rotary motor, and a driven pulley fixedly mounted on the upper part of the main rotary shaft. The driven pulley and the main pulley are connected by belt drive.

[0014] The mechanical transmission structure consisting of a rotary motor, a main pulley, a driven pulley, and a belt enables the rotation of the main rotating shaft.

[0015] Furthermore, as shown in the appendix Figure 4As shown, the main rotating shaft has two movable cavities distributed horizontally and opposite to each other on its side wall. Each movable cavity contains a locking rod. One end of each locking rod is fixedly connected to a movable block located inside the movable cavity, and the other end is fixedly connected to a locking head located outside the movable cavity with a fan-shaped cross-section. The arc surfaces of both locking heads face the rear. A locking groove that mates with the locking head is provided on the inner side wall of the base near the fire hole cover. A gasket that contacts the side wall of the main rotating shaft is fitted on the locking rod. A spring fitted on the locking rod is provided between the locking head and the gasket.

[0016] When the main rotating shaft rotates, the locking head slides on the inner wall of the base. At this time, the spring is in a compressed state, and the end of the locking rod is located at the bottom of the movable cavity. When the main rotating shaft rotates 90° clockwise, the spring extends, causing the locking head to slide into the locking groove under the elastic force of the spring, completing the rotational positioning of the temperature measuring mechanism or the lid lifting mechanism. After the temperature measurement or lid lifting is completed, the main rotating shaft rotates in the opposite direction, and the locking head slides out of the locking groove naturally along its arc surface under the rotation of the rotary motor, thus completing the conversion between the temperature measuring mechanism and the lid lifting mechanism.

[0017] Furthermore, as shown in the appendix Figure 2 As shown, a main controller is installed on the chassis, and a battery pack is mounted on the main controller; a temperature controller is installed on the left side of the rotating plate, and a battery pack I is mounted on the temperature controller; the temperature controller, the electric push rod for lifting the cover, the walking motor, the tracking sensor, the photoelectric switch, and the rotating motor are all electrically connected to the main controller; the electric push rod for temperature measurement, the infrared thermometer, and the temperature measuring motor are all electrically connected to the temperature controller.

[0018] Furthermore, a support bearing and a support bearing I are provided between the base and the main rotating shaft; a bearing is provided between the temperature measuring rotating shaft and the rotating plate; a clamp is fixed on the upper side of the support plate and fitted onto the side wall of the temperature measuring rotating shaft, and a fixing nut is fixed on the lower side and screwed onto the temperature measuring rotating shaft; a buffer block is fixed between the electric push rod for lifting the cover and the electromagnet; protective boxes are provided on the periphery of the base and on the upper part of the temperature measuring mechanism.

[0019] A temperature measurement algorithm for a rotary arm coke oven temperature measurement robot is implemented using the following steps:

[0020] Step S1: Start the temperature measuring robot and use the walking mechanism to accurately position it so that the temperature measuring robot reaches the position of the fire viewing hole cover;

[0021] Under the control of the main controller, the temperature measuring robot moves along the track on the top of the coke oven. When the temperature measuring robot moves to the side of the photoelectric baffle, the photoelectric switch is blocked by the photoelectric baffle, the walking motor stops running, and the temperature measuring robot moves forward a short distance under the action of inertia and stops right next to the fire viewing hole cover.

[0022] Step S2: Activate the rotary drive mechanism so that the lifting mechanism is directly above the fire vent cover; activate the lifting mechanism to raise the fire vent cover to a certain height, exposing the fire vent.

[0023] Start the rotary motor, and the rotating plate rotates 90° clockwise, so that the electric push rod for lifting the cover reaches directly above the flaming hole cover. Then, stop the rotary motor. Next, start the electric push rod for lifting the cover, so that the electromagnet descends. The flaming hole cover is lifted by the magnetic attraction of the electromagnet, first to a certain height, then pause for 2 seconds to release the gas in the flaming hole, and then continue to lift. Then, start the rotary motor again, so that the rotating plate rotates 180° counterclockwise, so that the infrared thermometer reaches directly above the flaming hole (the original flaming hole cover). Then, stop the rotary motor.

[0024] Step S3: Activate the rotary drive mechanism to bring the temperature measuring mechanism directly above the viewing hole; activate the temperature measuring mechanism to measure the temperature inside the viewing hole until the measurement is complete; the temperature measurement includes the following steps:

[0025] Step S3: Activate the rotary drive mechanism to bring the temperature measuring mechanism directly above the viewing hole; activate the temperature measuring mechanism to measure the temperature inside the viewing hole until the measurement is complete; the temperature measurement includes the following steps:

[0026] Step S3.1: Initialize values: Number of pushes of the temperature measuring electric actuator N = 0; Average temperature T inside the observation hole avg =0; Preset temperature threshold T=t℃; Preset number of pushes N n =M (M is a positive integer);

[0027] Step S3.2: Start the temperature measuring motor and infrared thermometer. The temperature measuring rotating shaft rotates clockwise or counterclockwise, thereby driving the infrared thermometer to move along a fan-shaped arc trajectory. At the same time, the infrared thermometer rotates every T seconds. t (ms) Acquire a temperature value once and record the first real-time temperature value T. 11 T 12 T 13 …; When the real-time temperature value is less than the preset temperature threshold T, the temperature measuring motor and infrared thermometer are turned off, and the first average temperature T1 is calculated (values ​​less than t are removed during the calculation), and the average temperature T is recorded. avg =T1; Simultaneously record the rotation angle θ0 of the infrared thermometer;

[0028] Step S3.3: Start the temperature measuring electric push rod. The temperature measuring electric push rod begins to extend. After the temperature measuring electric push rod extends L (mm), stop the temperature measuring electric push rod and record the number of times the temperature measuring electric push rod is pushed N=N+1.

[0029] Step S3.4: Determine whether the number of pushes N of the temperature measuring electric actuator is less than or equal to the preset number of pushes N. nIf the number of times the temperature measuring electric actuator is pushed N is less than the preset number of times N, then... n Continue with step S3.5; if the number of times the temperature measuring electric actuator is pushed N = the preset number of pushes N n The temperature measurement is now complete. The temperature inside the flame hole is the average temperature T. avg Simultaneously, the electric temperature measuring push rod and infrared thermometer are retracted to their original positions to prepare for temperature measurement at the next fire observation hole.

[0030] Step S3.5: Start the temperature measuring motor and infrared thermometer. The temperature measuring rotating shaft rotates in reverse or forward, thereby driving the infrared thermometer to move along a fan-shaped arc trajectory. At the same time, the infrared thermometer rotates every T seconds. t (ms) Acquire a temperature value once and record the real-time temperature value T. i1 T i2 T i3 …; When the real-time temperature value is less than the preset temperature threshold T and the detected rotation angle θ of the infrared thermometer is greater than θ0, the temperature measuring motor and the infrared thermometer are shut down, and the average temperature T for this measurement is calculated. i (Values ​​less than t are discarded during calculation); if the average temperature T avg >The average temperature T i Then the average temperature T avg If the average temperature T remains unchanged, avg <The average temperature T i Then the average temperature T avg =T i Continue with step S3.3;

[0031] Step S4: Start the rotary drive mechanism and restore it to its initial position;

[0032] Start the rotary motor, and the rotating plate rotates 180° clockwise, so that the smoldering hole cover and the lifting mechanism are directly above the smoldering hole (original smoldering hole cover). Start the lifting electric push rod to lower the smoldering hole cover. Stop the electromagnet and let the smoldering hole cover fall freely to the smoldering hole, completing the return operation of the smoldering hole cover.

[0033] Start the rotary motor, and the rotating plate will rotate 90° counterclockwise until it is parallel to the track. Then, turn off the rotary motor. Next, start the walking motor so that the temperature measuring robot can walk along the track and continue to measure the temperature at the next fire hole cover.

[0034] Step S5: Repeat steps S1 to S4 until the temperature of the last viewing hole is measured; after the temperature measurement is completed, turn off the temperature measuring robot.

[0035] Further, in step S3.3, the temperature-measuring electric push rod and the infrared thermometer are activated. The temperature-measuring electric push rod begins to extend, while the infrared thermometer extends every T seconds. t(ms) Acquire a temperature value once and record the real-time temperature value T. a1 T a2 T a3 …(a is a positive integer); after the temperature measuring electric actuator extends L (mm), the temperature measuring electric actuator is turned off, and the average temperature T is calculated. a (Values ​​less than t are discarded during calculation); if the average temperature T avg >The average temperature T a Then the average temperature T avg Unchanged; if the average temperature T avg <The average temperature T a Then the average temperature T avg =T a Record the number of times the temperature measuring electric actuator is pushed, N = N + 1.

[0036] Furthermore, in step S3.5, if the average temperature T avg >The average temperature T i Then the average temperature T avg The control remains unchanged, while simultaneously retracting the electric temperature-measuring push rod and infrared thermometer to their original positions, preparing for temperature measurement at the next viewing hole; if the average temperature T avg <The average temperature T i Then the average temperature T avg =T i Continue with step S3.3.

[0037] Furthermore, the rotation angle θ of the infrared thermometer is a real-time changing angle value.

[0038] This invention features a reasonable and reliable structural design, achieving comprehensive temperature measurement of the bottom area of ​​the vertical flue. It also enables automatic start and stop of the temperature-measuring robot, improving positioning accuracy and automation. Furthermore, the main rotating shaft and rotating drive mechanism facilitate the conversion between the temperature-measuring mechanism and the lid-lifting mechanism. Secondly, it achieves temperature measurement along a multi-point fan-shaped arc trajectory and calculates the average temperature value, significantly improving measurement accuracy and reducing errors. Finally, it reduces the labor intensity of operators while improving the production efficiency of the coking plant. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of the present invention.

[0040] Figure 2 This is a front view schematic diagram of the present invention.

[0041] Figure 3 This is a schematic diagram of the rotary drive mechanism in this invention.

[0042] Figure 4This is a schematic diagram of the locking head in this invention.

[0043] Figure 5 This is a schematic diagram of the temperature measuring mechanism in this invention.

[0044] Figure 6 This is a schematic diagram of the initial position of the infrared thermometer in step S3 of this invention.

[0045] Figure 7 This is a schematic diagram of the temperature measurement trajectory of the infrared thermometer in Embodiment 2 of the present invention.

[0046] Figure 8 This is a schematic diagram of the temperature measurement trajectory of the infrared thermometer in Embodiment 1 of the present invention.

[0047] In the diagram: 1-Chassis frame, 2-Base, 3-Main rotating shaft, 4-Rotating plate, 5-Temperature measuring rotating shaft, 6-Support plate, 7-Temperature measuring electric push rod, 8-Infrared thermometer, 9-Temperature measuring motor, 10-Lid lifting electric push rod, 11-Electromagnet, 12-Walking wheel, 13-Walking motor, 14-Fire inspection port cover, 15-Trajectory line, 16-Trajectory sensor, 17-Photoelectric baffle, 18-Photoelectric switch, 19-Horizontal mounting plate, 20-Rotating motor, 21-Main pulley, 22-Driven pulley, 23 - Belt, 24-Moving cavity, 25-Locking rod, 26-Moving block, 27-Locking head, 28-Locking groove, 29-Spring, 30-Washer, 31-Main controller, 32-Battery pack, 33-Temperature controller, 34-Battery pack I, 35-Support bearing, 36-Support bearing I, 38-Clamping clamp, 39-Fixing nut, 40-Buffer block, 41-Protective box, 42-Mounting cavity, 43-Snap-fit ​​block, 44-Driving gear, 45-Driven gear, A-Initial position of infrared thermometer 8. Detailed Implementation Example 1

[0048] A temperature measurement algorithm for a rotary arm coke oven temperature measurement robot, as shown in the attached figure. Figure 6 Appendix Figure 8 As shown, the algorithm is implemented using the following steps:

[0049] Step S1: Start the temperature measuring robot and use the walking mechanism to accurately position it so that the temperature measuring robot reaches the position of the fire viewing hole cover 14.

[0050] Step S2: Activate the rotation drive mechanism so that the lifting mechanism reaches directly above the fire hole cover 14; activate the lifting mechanism to raise the fire hole cover 14 to a certain height, exposing the fire hole.

[0051] Step S3: Start the rotary drive mechanism so that the temperature measuring mechanism is directly above the observation hole; start the temperature measuring mechanism to measure the temperature inside the observation hole until the temperature measurement is completed;

[0052] At this time, the diameter of the inspection hole cover 14 is 150mm; the initial position A of the infrared thermometer 8 is located 20mm below the horizontal diameter of the inspection hole cover 14 and 18mm away from the edge of the inspection hole cover 14.

[0053] Temperature measurement includes the following steps:

[0054] Step S3.1: Initialize values: Number of pushes of the temperature measuring electric actuator 7 N=0; Average temperature T inside the inspection hole avg =0; Preset temperature threshold T=200℃; Preset number of pushes N n =4; The initial length O1A of the temperature measuring electric push rod 7 is 100mm, and the extension length each time is 30mm, as shown in the attached figure. Figure 8 As shown;

[0055] Step S3.2: Start the temperature measuring motor 9 and the infrared thermometer 8. The temperature measuring rotating shaft 5 rotates clockwise, thereby driving the infrared thermometer 8 to move along a fan-shaped arc trajectory. At the same time, the infrared thermometer 8 collects a temperature value every 100ms and records the first real-time temperature value T. 11 =1219℃, T 12 =1209℃, T 13 =1218℃, T 14 =1216℃, T 15 =1203℃; When the real-time temperature value is less than the preset temperature threshold T, the temperature measuring motor 9 and the infrared thermometer 8 are turned off, and the first average temperature T1 is calculated as 1213℃ (values ​​less than 200℃ are removed during calculation), and the average temperature T is recorded. avg =T1=1213℃; at the same time, the rotation angle θ0 of the infrared thermometer 8 was recorded as 14.31°.

[0056] Step S3.3: Start the temperature measuring electric push rod 7. The temperature measuring electric push rod 7 starts to extend at a speed of 100mm / s. When the temperature measuring electric push rod 7 extends 30mm, stop the temperature measuring electric push rod 7 and record the number of pushes of the temperature measuring electric push rod 7 N=N+1=1.

[0057] Step S3.4: At this time, the number of pushes N of the electric push rod 7 is less than the preset number of pushes N. n The temperature measuring motor 9 and infrared thermometer 8 are started, and the temperature measuring rotating shaft 5 reverses, thereby driving the infrared thermometer 8 to move in the opposite direction along a fan-shaped arc trajectory. At the same time, the infrared thermometer 8 collects a temperature value every 100ms and records the second real-time temperature value T. 21 =1212℃, T 22 =1216℃, T 23 =1223℃, T 24 =1221℃, T 25 =1224℃, T26 =1219℃, T 27 =1210℃, T 28 =1222℃, T 29 =1224℃, T 210 =1220℃, T 211 =1221℃, T 212 =1215℃, T 213 =1217℃, T 214 =1211℃, T 215 =1212℃; When the real-time temperature value is less than the preset temperature threshold T and the rotation angle θ of the infrared thermometer 8 is greater than 14.31°, the temperature measuring motor 9 and the infrared thermometer 8 are turned off, and the second average temperature T2 = 1217.8℃ is calculated (values ​​less than t are removed during the calculation); at this time, the average temperature T avg <Second average temperature T2, then average temperature T avg =T2=1217.8℃;

[0058] Step S3.5: Start the temperature measuring electric push rod 7. The temperature measuring electric push rod 7 starts to extend at a speed of 100mm / s. When the temperature measuring electric push rod 7 extends 30mm, stop the temperature measuring electric push rod 7; record the number of times the temperature measuring electric push rod 7 is pushed N=N+1=2.

[0059] Step S3.6: At this time, the number of times the electric actuator 7 is pushed N is less than the preset number of times N. n The temperature measuring motor 9 and infrared thermometer 8 are started, and the temperature measuring rotating shaft 5 rotates clockwise, thereby driving the infrared thermometer 8 to move along a fan-shaped arc trajectory. At the same time, the infrared thermometer 8 collects a temperature value every 100ms and records the third real-time temperature value T. 31 =1218℃, T 32 =1217℃, T 33 =1224℃, T 34 =1225℃, T 35 =1224℃, T 36 =1214℃, T 37 =1210℃, T 38 =1223℃, T 39 =1224℃, T 310 =1224℃, T 311 =1221℃, T 312 =1215℃, T 313 =1215℃, T 314 =1211℃, T 315=1212℃; When the real-time temperature value is less than the preset temperature threshold T and the rotation angle θ of the infrared thermometer 8 is greater than 14.31°, the temperature measuring motor 9 and the infrared thermometer 8 are turned off, and the third average temperature T3 = 1218.46℃ is calculated (values ​​less than 200℃ are removed during calculation); at this time, the average temperature T avg <The third average temperature T3, then the average temperature T avg =T3=1218.46℃;

[0060] Step S3.7: Start the temperature measuring electric push rod 7. The temperature measuring electric push rod 7 starts to extend at a speed of 100mm / s. When the temperature measuring electric push rod 7 extends 30mm, stop the temperature measuring electric push rod 7; record the number of times the temperature measuring electric push rod 7 is pushed N=N+1=3.

[0061] Step S3.8: At this time, the number of pushes N of the electric push rod 7 is less than the preset number of pushes N. n The temperature measuring motor 9 and infrared thermometer 8 are started, and the temperature measuring rotating shaft 5 reverses, thereby driving the infrared thermometer 8 to move in the opposite direction along a fan-shaped arc trajectory. At the same time, the infrared thermometer 8 collects a temperature value every 100ms and records the third real-time temperature value T. 41 =1217℃, T 42 =1216℃, T 43 =1224℃, T 44 =1225℃, T 45 =1223℃, T 46 =1213℃, T 47 =1210℃, T 48 =1223℃, T 49 =1222℃, T 410 =1223℃, T 411 =1221℃, T 412 =1215℃, T 413 =1212℃, T 414 =1211℃, T 415 =1211℃, T 416 =1210℃; When the real-time temperature value is less than the preset temperature threshold T and the rotation angle θ of the infrared thermometer 8 is greater than 14.31°, the temperature measuring motor 9 and the infrared thermometer 8 are turned off, and the third average temperature T4 is calculated as 1217.25℃ (values ​​less than 200℃ are removed during calculation); at this time, the average temperature T avg >The fourth average temperature T4, then the average temperature T avg =T3=1218.46℃;

[0062] Step S3.9: Start the temperature measuring electric push rod 7. The temperature measuring electric push rod 7 starts to extend at a speed of 100mm / s. When the temperature measuring electric push rod 7 extends 30mm, stop the temperature measuring electric push rod 7; record the number of times the temperature measuring electric push rod 7 is pushed N=N+1=4.

[0063] Step S3.10: At this time, the number of times the temperature measuring electric push rod 7 is pushed N = the preset number of pushes N. n The temperature measurement is now complete. The temperature inside the flame hole is the average temperature T. avg =T3=1218.46℃; at the same time, control the electric temperature measuring push rod 7 and the infrared thermometer 8 to retract to their original positions to prepare for the temperature measurement of the next fire observation hole;

[0064] Step S4: Start the rotary drive mechanism and return it to its initial position; this completes the temperature measurement operation of one fire observation hole.

[0065] The rotation angle θ of the infrared thermometer 8 is a real-time changing angle value. Example 2

[0066] A temperature measurement algorithm for a rotary arm coke oven temperature measurement robot, as shown in the attached figure. Figure 6 Appendix Figure 7 As shown, the algorithm is implemented using the following steps:

[0067] Step S1: Start the temperature measuring robot and use the walking mechanism to accurately position it so that the temperature measuring robot reaches the position of the fire viewing hole cover 14.

[0068] Step S2: Activate the rotation drive mechanism so that the lifting mechanism reaches directly above the fire hole cover 14; activate the lifting mechanism to raise the fire hole cover 14 to a certain height, exposing the fire hole.

[0069] Step S3: Start the rotary drive mechanism so that the temperature measuring mechanism is directly above the observation hole; start the temperature measuring mechanism to measure the temperature inside the observation hole until the temperature measurement is completed;

[0070] At this time, the diameter of the fire viewing hole cover 14 is 100mm; the initial position A of the infrared thermometer 8 is located 15mm above the horizontal diameter of the fire viewing hole cover 14 and 11mm away from the edge of the fire viewing hole cover 14.

[0071] Temperature measurement includes the following steps:

[0072] Step S3.1: Initialize values: Number of pushes of the temperature measuring electric actuator 7 N=0; Average temperature T inside the inspection hole avg =0; Preset temperature threshold T=200℃; Preset number of pushes N n =2; The initial length O1A of the temperature measuring electric push rod 7 is 80mm, and the extension length each time is 20mm, as shown in the attached figure. Figure 7As shown;

[0073] Step S3.2: Start the temperature measuring motor 9 and the infrared thermometer 8. The temperature measuring rotating shaft 5 rotates clockwise, which in turn drives the infrared thermometer 8 to move along a fan-shaped arc trajectory. At the same time, the infrared thermometer 8 collects a temperature value every 50ms and records the first real-time temperature value T. 11 =1223℃, T 12 =1225℃, T 13 =1224℃, T 14 =1216℃, T 15 =1210℃, T 16 =1210℃; When the real-time temperature value is less than the preset temperature threshold T, the temperature measuring motor 9 is turned off, and the first average temperature T1 is calculated as 1218℃ (values ​​less than 200℃ are removed during calculation), and the average temperature T is recorded. avg =T1=1218℃; Simultaneously record the rotation angle θ0=24.85° of the infrared thermometer 8;

[0074] Step S3.3: Start the temperature measuring electric push rod 7. The temperature measuring electric push rod 7 begins to extend at a speed of 100mm / s. At the same time, the infrared thermometer 8 collects a temperature value every 50ms and records the second real-time temperature value T. 21 =1228℃, T 22 =1229℃, T 23 =1228℃, T 24 =1227℃; After the temperature measuring electric push rod 7 extends 20mm, it is turned off, and the second average temperature T2 is calculated as 1228℃ (values ​​less than 200℃ are removed during the calculation); At this time, the average temperature T avg <Second average temperature T2, then average temperature T avg =T2=1228℃; Record the number of times the temperature measuring electric push rod 7 is pushed, N=N+1=1;

[0075] Step S3.4: At this time, the number of pushes N of the electric push rod 7 is less than the preset number of pushes N. n The temperature measuring motor 9 is started, and the temperature measuring rotating shaft 5 reverses, thereby driving the infrared thermometer 8 to move in the opposite direction along a fan-shaped arc trajectory. At the same time, the infrared thermometer 8 collects a temperature value every 100ms and records the third real-time temperature value T. 31 =1225℃, T 32 =1227℃, T 33 =1227℃, T 34 =1228℃, T 35 =1226℃, T 36 =1222℃, T 37 =1221℃, T 38 =1220℃, T 39=1218℃, T 310 =1219℃; When the real-time temperature value is less than the preset temperature threshold T and the rotation angle θ of the infrared thermometer 8 is greater than 24.85°, the temperature measuring motor 9 is turned off, and the third average temperature T3 = 1223.3℃ is calculated (values ​​less than 200℃ are removed during calculation); at this time, the average temperature T avg >The third average temperature T3, then the average temperature T avg Unchanged, T avg =T2=1228℃;

[0076] Step S3.5: Start the temperature measuring electric push rod 7. The temperature measuring electric push rod 7 begins to extend at a speed of 100mm / s. At the same time, the infrared thermometer 8 collects a temperature value every 50ms and records the fourth real-time temperature value T. 41 =1217℃, T 42 =1219℃, T 43 =1222℃; After the temperature measuring electric push rod 7 extends 20mm, it is turned off, and the fourth average temperature T4 is calculated as 1219.33℃ (values ​​less than 200℃ are removed during calculation); At this time, the average temperature T avg >The fourth average temperature T4, then the average temperature T avg Unchanged, T avg =T2=1228℃; Record the number of times the temperature measuring electric push rod 7 is pushed, N=N+1=2;

[0077] Step S3.6: At this time, the number of times the temperature measuring electric push rod 7 is pushed N = the preset number of pushes N. n The temperature measurement is now complete. The temperature inside the flame hole is the average temperature T. avg =T2=1228℃; Turn off the infrared thermometer 8, and at the same time control the temperature measuring electric push rod 7 and the infrared thermometer 8 to retract to their original positions to prepare for the temperature measurement of the next fire observation hole;

[0078] Step S4: Start the rotary drive mechanism and return it to its initial position; this completes the temperature measurement operation of one fire observation hole.

[0079] The rotation angle θ of the infrared thermometer 8 is a real-time changing angle value. Example 3

[0080] A temperature measurement algorithm for a rotary arm coke oven temperature measurement robot is implemented using the following steps:

[0081] Step S1: Start the temperature measuring robot and use the walking mechanism to accurately position it so that the temperature measuring robot reaches the position of the fire viewing hole cover 14.

[0082] Step S2: Activate the rotation drive mechanism so that the lifting mechanism reaches directly above the fire hole cover 14; activate the lifting mechanism to raise the fire hole cover 14 to a certain height, exposing the fire hole.

[0083] Step S3: Start the rotary drive mechanism so that the temperature measuring mechanism is directly above the observation hole; start the temperature measuring mechanism to measure the temperature inside the observation hole until the temperature measurement is completed;

[0084] At this time, the diameter of the inspection hole cover 14 is 110mm; the initial position A of the infrared thermometer 8 is located on the horizontal diameter of the inspection hole cover 14 and 10mm away from the edge of the inspection hole cover 14.

[0085] Temperature measurement includes the following steps:

[0086] Step S3.1: Initialize values: Number of pushes of the temperature measuring electric actuator 7 N=0; Average temperature T inside the inspection hole avg =0; Preset temperature threshold T=200℃; Preset number of pushes N n =4; The initial length O1A of the temperature measuring electric push rod 7 is 80mm, and the length of each extension is 20mm;

[0087] Step S3.2: Start the temperature measuring motor 9 and the infrared thermometer 8. The temperature measuring rotating shaft 5 rotates clockwise, thereby driving the infrared thermometer 8 to move along a fan-shaped arc trajectory. At the same time, the infrared thermometer 8 collects a temperature value every 100ms and records the first real-time temperature value T. 11 =1220℃, T 12 =1223℃, T 13 =1225℃, T 14 =1221℃, T 15 =1220℃, T 16 =1221℃; When the real-time temperature value is less than the preset temperature threshold T, the temperature measuring motor 9 and the infrared thermometer 8 are turned off, and the first average temperature T1 is calculated as 1221.66℃ (values ​​less than 200℃ are removed during calculation), and the average temperature T is recorded. avg =T1=1221.66℃; Simultaneously record the rotation angle θ0=28.19° of the infrared thermometer 8;

[0088] Step S3.3: Start the temperature measuring electric push rod 7. The temperature measuring electric push rod 7 starts to extend at a speed of 100mm / s. When the temperature measuring electric push rod 7 extends 20mm, stop the temperature measuring electric push rod 7; record the number of times the temperature measuring electric push rod 7 is pushed N=N+1=1.

[0089] Step S3.4: At this time, the number of pushes N of the electric push rod 7 is less than the preset number of pushes N. nThe temperature measuring motor 9 and infrared thermometer 8 are started, and the temperature measuring rotating shaft 5 reverses, thereby driving the infrared thermometer 8 to move in the opposite direction along a fan-shaped arc trajectory. At the same time, the infrared thermometer 8 collects a temperature value every 100ms and records the second real-time temperature value T. 21 =1226℃, T 22 =1229℃, T 23 =1229℃, T 24 =1226℃, T 25 =1225℃, T 26 =1228℃, T 27 =1231℃, T 28 =1227℃, T 29 =1229℃, T 210 =1226℃, T 211 =1230℃, T 212 =1226℃; When the real-time temperature value is less than the preset temperature threshold T and the rotation angle θ of the infrared thermometer 8 is greater than 28.19°, the temperature measuring motor 9 and the infrared thermometer 8 are turned off, and the second average temperature T2 = 1227.67℃ is calculated (values ​​less than 200℃ are removed during the calculation); at this time, the average temperature T avg <Second average temperature T2, then average temperature T avg =T2=1227.67℃;

[0090] Step S3.5: Start the temperature measuring electric push rod 7. The temperature measuring electric push rod 7 starts to extend at a speed of 100mm / s. When the temperature measuring electric push rod 7 extends 20mm, stop the temperature measuring electric push rod 7; record the number of times the temperature measuring electric push rod 7 is pushed N=N+1=2.

[0091] Step S3.6: At this time, the number of times the electric actuator 7 is pushed N is less than the preset number of times N. n The temperature measuring motor 9 and infrared thermometer 8 are started, and the temperature measuring rotating shaft 5 rotates clockwise, thereby driving the infrared thermometer 8 to move along a fan-shaped arc trajectory. At the same time, the infrared thermometer 8 collects a temperature value every 100ms and records the third real-time temperature value T. 31 =100℃, T 32 =120℃, T 33 =99℃, T 34 =1228℃, T 35 =1227℃, T 36 =1226℃, T 37 =1227℃, T 38 =1228℃, T 39 =1228℃, T 310 =1227℃, T 311 =1226℃, T 312 =1225℃, T313 =1226℃, T 314 =1226℃, T 315 =1229℃, T 316 =1227℃, T 317 =1225℃, T 318 =1228℃, T 319 =1226℃, T 320 =1221℃; When the real-time temperature value is less than the preset temperature threshold T, and the rotation angle θ of the infrared thermometer 8 is greater than 28.19°, the temperature measuring motor 9 and the infrared thermometer 8 are turned off, and the third average temperature T3 = 1226.47℃ is calculated (values ​​less than 200℃ are removed during calculation); at this time, the average temperature T avg >The third average temperature T3, then the average temperature T avg Unchanged, T avg =T2=1227.67℃;

[0092] Step S3.7: The average temperature T at this time avg >The third average temperature T3 is reached, and the temperature measurement ends. The temperature inside the flame hole is the average temperature T. avg =T2=1227.67℃; At the same time, control the temperature measuring electric push rod 7 and the infrared thermometer 8 to retract to their original positions to prepare for the temperature measurement of the next fire observation hole;

[0093] Step S4: Start the rotary drive mechanism and return it to its initial position; this completes the temperature measurement operation of one fire observation hole.

[0094] The rotation angle θ of the infrared thermometer 8 is a real-time changing angle value.

[0095] It should be noted that the preset temperature threshold T and preset number of pushes N mentioned in the three embodiments of the present invention are... n The initial length O1A of the temperature-measuring electric push rod 7 and the extension length L of the temperature-measuring electric push rod 7 each time are determined according to the actual situation of the inspection hole; at the same time, the maximum rotation angle θ of the infrared thermometer 8 can be determined according to the initial position A of the infrared thermometer 8. max And the rotation angle θ of the infrared thermometer 8 is greater than θ max As a criterion for shutting down the temperature measuring motor 9;

[0096] The maximum angle θ max The angle between the tangent line to the viewing hole passing through point O1 and the straight line passing through point O1 and the intersection point, where the intersection point is the tangent point between the arc trajectory of the infrared thermometer 8 and the viewing hole.

[0097] In the specific implementation process, as shown in the attached document Figure 4As shown, the process of forming the movable cavity 24 is as follows: two fan-shaped mounting cavities 42 are opened on the side wall of the base 2. A groove is opened on the opposite inner wall of the two mounting cavities 42. A fastening block 43 is fixedly connected in each of the two mounting cavities 42. Each fastening block 43 is provided with a groove I that matches the groove. The groove and the groove I fasten together to form the movable cavity 24.

[0098] The fastening block 43 is fixedly connected to the inner wall of the mounting cavity 42 by bolts, so that the fastening block 43 can be disassembled for easy maintenance and installation;

[0099] As attached Figure 2 As shown, a drive gear 44 is fixedly mounted on the output shaft of the temperature measuring motor 9, and a driven gear 45 that meshes with the drive gear 44 is fixedly mounted on the temperature measuring rotating shaft 5.

[0100] The structural design of the driving gear 44 and the driven gear 45 enables the drive transmission of the temperature measuring rotary shaft 5;

[0101] A pressure sensor is installed on the electromagnet 11 to detect whether the electromagnet 11 and the fire hole cover 14 are in good contact by the pressure change.

[0102] The infrared thermometer 8 is a high-precision coaxial laser infrared thermometer.

[0103] Rotary motor 20, temperature measuring motor 9, and walking motor 13 are all stepper motors.

[0104] As attached Figure 6 As shown, the diameter of the fire viewing cover 14 is 80mm to 200mm. When using the photoelectric switch 18 for positioning and parking, it will not stop accurately at the center of the fire viewing cover 14. In fact, after the car stops and rotates, the initial position A of the infrared thermometer 8 is located within 1 / 2L above and below the horizontal diameter edge of the fire viewing cover 14, where L ranges from 0mm to 40mm. Considering that the positions of a row of fire viewing covers 14 may not be on a horizontal line, after the rotating plate 4 rotates, the initial position A of the infrared thermometer 8 is 10mm to 30mm away from the edge of the fire viewing cover 14.

[0105] In the description of this invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0106] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rotary arm coke oven temperature measuring robot, characterized in that: Includes a chassis (1), on which a traveling mechanism is provided; a cylindrical base (2) with an open top is fixed on the chassis (1), and a main rotating shaft (3) arranged vertically and extending beyond the base (2) is rotatably supported in the inner cavity of the base (2); a rotating plate (4) arranged horizontally and in the shape of a strip is fixed at the top of the main rotating shaft (3); a temperature measuring mechanism is installed on the left side of the rotating plate (4) and a lid lifting mechanism is installed on the right side; a rotary drive mechanism for driving the main rotating shaft (3) to rotate is installed on the right side of the base (2); The temperature measuring mechanism includes a temperature measuring rotating shaft (5) rotatably supported on a rotating plate (4) and arranged vertically. A support plate (6) is horizontally fixed at the bottom end of the temperature measuring rotating shaft (5). A temperature measuring electric push rod (7) is horizontally installed on the support plate (6). An infrared thermometer (8) is installed at the tail end of the temperature measuring electric push rod (7). A temperature measuring motor (9) that drives the temperature measuring rotating shaft (5) to rotate is installed on the rotating plate (4). The lid lifting mechanism includes a lid lifting electric push rod (10) fixed on the rotating plate (4). An electromagnet (11) is fixed at the tail end of the lid lifting electric push rod (10). The main rotating shaft (3) has two movable cavities (24) arranged in opposite directions along the left and right sides. Each movable cavity (24) has a locking rod (25) movably installed in it. One end of each locking rod (25) is fixedly connected to a movable block (26) located in the movable cavity (24), and the other end is fixedly connected to a locking head (27) located outside the movable cavity (24) with a fan-shaped cross section. The arc surfaces of the two locking heads (27) face the rear side. A locking groove (28) that cooperates with the locking head (27) is provided on the inner side wall of the base (2) near the fire hole cover (14). A gasket (30) that contacts the side wall of the main rotating shaft (3) is sleeved on the locking rod (25). A spring (29) sleeved on the locking rod (25) is provided between the locking head (27) and the gasket (30).

2. The rotary arm coke oven temperature measuring robot according to claim 1, characterized in that: The walking mechanism includes four rectangularly distributed walking wheels (12), a walking motor (13) that drives the walking wheels (12) to walk, a track (15) laid on the top of the coke oven and located next to the fire viewing hole cover (14), a tracking sensor (16) that cooperates with the track (15) and is located on the lower surface of the chassis (1), a photoelectric baffle (17) located next to the fire viewing hole cover (14), and a photoelectric switch (18) that cooperates with the photoelectric baffle (17) and is installed on the chassis (1).

3. The rotary arm coke oven temperature measuring robot according to claim 2, characterized in that: The rotary drive mechanism includes a horizontal mounting plate (19) fixed on the base (2), a rotary motor (20) mounted on the horizontal mounting plate (19), a main pulley (21) fixedly mounted on the output shaft of the rotary motor (20), and a secondary pulley (22) fixedly mounted on the upper part of the main rotating shaft (3). The secondary pulley (22) and the main pulley (21) are connected by a belt (23).

4. The rotary arm coke oven temperature measuring robot according to claim 3, characterized in that: The chassis (1) is equipped with a main controller (31), and a battery pack (32) is installed on the main controller (31); a temperature controller (33) is installed on the left side of the rotating plate (4), and a battery pack I (34) is installed on the temperature controller (33); the temperature controller (33), the electric push rod for lifting the lid (10), the walking motor (13), the tracking sensor (16), the photoelectric switch (18) and the rotating motor (20) are all electrically connected to the main controller (31); the electric push rod for temperature measurement (7), the infrared thermometer (8) and the temperature measuring motor (9) are all electrically connected to the temperature controller (33).

5. The rotary arm coke oven temperature measuring robot according to claim 1, characterized in that: A support bearing (35) and a support bearing I (36) are provided between the base (2) and the main rotating shaft (3); a bearing is provided between the temperature measuring rotating shaft (5) and the rotating plate (4); a clamp (38) is fixed on the upper side of the support plate (6) and fitted onto the side wall of the temperature measuring rotating shaft (5), and a fixing nut (39) is fixed on the lower side and screwed onto the temperature measuring rotating shaft (5); a buffer block (40) is fixed between the electric push rod (10) for lifting the cover and the electromagnet (11); a protective box (41) is provided on the periphery of the base (2) and on the upper part of the temperature measuring mechanism.

6. A temperature measurement algorithm for a rotary arm coke oven temperature measurement robot, the algorithm being implemented based on the rotary arm coke oven temperature measurement robot as described in claim 4, characterized in that: The algorithm is implemented using the following steps: Step S1: Start the temperature measuring robot and use the walking mechanism to accurately position it so that the temperature measuring robot reaches the position of the fire viewing hole cover (14); Step S2: Start the rotation drive mechanism so that the lifting mechanism reaches directly above the fire hole cover (14); start the lifting mechanism to raise the fire hole cover (14) to a certain height to expose the fire hole; Step S3: Activate the rotary drive mechanism to bring the temperature measuring mechanism directly above the viewing hole; activate the temperature measuring mechanism to measure the temperature inside the viewing hole until the measurement is complete; the temperature measurement includes the following steps: Step S3.1: Initialize values: Number of pushes of the temperature measuring electric push rod (7) N=0; Average temperature T inside the observation hole avg =0; Preset temperature threshold T=t℃; Preset number of pushes N n =M (M is a positive integer); Step S3.2: Start the temperature measuring motor (9) and the infrared thermometer (8). The temperature measuring rotating shaft (5) rotates forward or backward, thereby driving the infrared thermometer (8) to move along a fan-shaped arc trajectory. At the same time, the infrared thermometer (8) rotates every T. t (ms) Acquire a temperature value once and record the first real-time temperature value T. 11 T 12 T 13 …; When the real-time temperature value is less than the preset temperature threshold T, the temperature measuring motor (9) and the infrared thermometer (8) are turned off, and the first average temperature T1 is calculated (values ​​less than t are removed during the calculation), and the average temperature T is recorded. avg =T1; Simultaneously record the rotation angle θ0 of the infrared thermometer (8); Step S3.3: Start the temperature measuring electric push rod (7), the temperature measuring electric push rod (7) begins to extend, and when the temperature measuring electric push rod (7) extends L (mm), stop the temperature measuring electric push rod (7), and record the number of times the temperature measuring electric push rod (7) is pushed N=N+1; Step S3.4: Determine whether the number of pushes N of the temperature measuring electric push rod (7) is less than or equal to the preset number of pushes N. n If the number of pushes N of the temperature measuring electric push rod (7) is less than the preset number of pushes N n Continue with step S3.5; if the number of pushes N of the temperature measuring electric push rod (7) equals the preset number of pushes N. n The temperature measurement is now complete. The temperature inside the flame hole is the average temperature T. avg At the same time, control the temperature measuring electric push rod (7) and the infrared thermometer (8) to retract to their original positions to prepare for the temperature measurement of the next fire viewing hole; Step S3.5: Start the temperature measuring motor (9) and the infrared thermometer (8). The temperature measuring rotating shaft (5) rotates in reverse or forward, thereby driving the infrared thermometer (8) to move along a fan-shaped arc trajectory. At the same time, the infrared thermometer (8) rotates every T. t (ms) Acquire a temperature value once and record the real-time temperature value T. i1 T i2 T i3 …; When the real-time temperature value is less than the preset temperature threshold T and the rotation angle θ of the infrared thermometer (8) is greater than θ0, the temperature measuring motor (9) and the infrared thermometer (8) are turned off, and the average temperature T is calculated. i (Values ​​less than t are discarded during calculation); if the average temperature T avg >The average temperature T i Then the average temperature T avg If the average temperature T remains unchanged, avg <The average temperature T i Then the average temperature T avg =T i Continue with step S3.3; Step S4: Start the rotary drive mechanism and restore it to its initial position; Step S5: Repeat steps S1 to S4 until the temperature of the last viewing hole is measured; after the temperature measurement is completed, turn off the temperature measuring robot.

7. The temperature measurement algorithm of a rotary arm coke oven temperature measuring robot according to claim 6, characterized in that: In step S3.3, the temperature-measuring electric push rod (7) and the infrared thermometer (8) are activated. The temperature-measuring electric push rod (7) begins to extend, and at the same time, the infrared thermometer (8) extends every T seconds. t (ms) Acquire a temperature value once and record the real-time temperature value T. a1 T a2 T a3 …(a is a positive integer); after the temperature measuring electric push rod (7) extends L (mm), the temperature measuring electric push rod (7) is turned off, and the average temperature T is calculated. a (Values ​​less than t are discarded during calculation); if the average temperature T avg >The average temperature T a Then the average temperature T avg Unchanged; if the average temperature T avg <The average temperature T a Then the average temperature T avg =T a Record the number of times the temperature measuring electric push rod (7) is pushed, N = N + 1.

8. The temperature measurement algorithm of a rotary arm coke oven temperature measurement robot according to claim 6, characterized in that: In step S3.5, if the average temperature T avg >The average temperature T i Then the average temperature T avg The temperature remains unchanged, and the electric push rod (7) and infrared thermometer (8) are simultaneously retracted to their original positions to prepare for the temperature measurement of the next viewing hole; if the average temperature T avg <The average temperature T i Then the average temperature T avg =T i Continue with step S3.

3.

9. The temperature measurement algorithm of a rotary arm coke oven temperature measurement robot according to claim 6, characterized in that: The rotation angle θ of the infrared thermometer (8) is a real-time changing angle value.

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