Robot system for hot repairing of coke oven chamber bottom brick in narrow space and construction method

Abstract

This invention discloses a robotic system and construction method for hot repair of bottom bricks in the confined space of a coke oven carbonization chamber. The system includes a tracked walking mechanism, a material conveying platform, a base, a robot, a brick replacement mechanism, and an imaging mechanism. The tracked walking mechanism moves along the bottom of the carbonization chamber. The material conveying platform transports bricks to the material collection point. The base provides stable support for the robot. The robot is equipped with a cooling unit to ensure it operates at high temperatures. The brick replacement device includes a T-shaped support, the top of which connects to the end of the robot. A mortar application mechanism is located at the front end, and a cleaning mechanism is located at the rear end. The cleaning mechanism includes a brick milling component, a brick joint milling component, a brick clamping component, and a ash removal component. During repair work, the imaging mechanism performs a detailed scan of the bottom bricks in the coke oven carbonization chamber. The robot moves the brick replacement mechanism to the damaged area, cleans, applies mortar, installs a brick, and completes the repair work. This system can accurately complete the hot repair of the bottom bricks in the carbonization chamber.

Description

Technical Field

[0001] This invention belongs to the technical field of coke oven carbonization chamber repair devices, and more specifically, relates to a robot system and construction method for hot repair of the bottom bricks in the narrow space of a coke oven carbonization chamber. Background Technology

[0002] During coke oven production, coal is charged into the carbonization chamber under air-isolated conditions and undergoes a series of stages, including drying, pyrolysis, melting, bonding, solidification, and shrinkage, ultimately transforming into coke. Due to the compression and stripping effects during coal conversion, the bottom bricks of the carbonization chamber are susceptible to wear, cracking, and even damage. To ensure uninterrupted production, repair work on the bottom bricks of the carbonization chamber needs to be carried out under hot conditions, including the inspection, cleaning, removal, and re-laying of damaged surfaces. These repair measures ensure the normal operation of the coke oven.

[0003] Chinese invention patent CN102925167B discloses a device for constructing bricks at the bottom of the carbonization chamber during hot repair of a coke oven. The device includes a long, narrow frame with a handle at one end and a telescopic rod at the other. Wheels are mounted on both sides of the telescopic rod, forming a handcart structure. Along the wheel's forward direction, a flattening roller, an ash trough, and a bottom brick clamp are sequentially installed on the telescopic rod. The bottom brick clamp is a two-claw clamping structure and is connected to a control handle via a control line. The control handle is mounted on the handle. The ash trough has a feeding mechanism and is connected to a feeding control handle via a control line, which is also mounted on the handle. However, in this patent, the construction personnel are located outside the carbonization chamber, making it impossible to accurately assess the damaged surface inside. Furthermore, the device cannot repair the bottom bricks of the carbonization chamber.

[0004] On the other hand, the application of robots in coke oven masonry is also developing rapidly. In recent years, advancements in manufacturing have spurred significant progress in the application of robots in the construction field. Compared to traditional manual masonry methods, robots offer greater load-bearing capacity, higher accuracy, and higher efficiency. In response, coke oven design units and refractory brick manufacturers have begun developing refractory bricks and masonry structures suitable for automated robotic coke oven construction. Construction units are also attempting to develop coke oven body masonry systems involving robots. For example, Chinese invention patent CN115433595B discloses a coke oven body masonry system, which consists of an articulated robot, a masonry execution end, a refractory slurry conveyor, a ground rail, and a vertical lifting platform. While this patented masonry system can construct coke oven bodies, its overall size is too large, making it unsuitable for construction within the confined space of the carbonization chamber. Furthermore, the system cannot inspect and repair the working surface of the bricks at the bottom of the carbonization chamber under high-temperature conditions.

[0005] In summary, the currently available coke oven hot repair carbonization chamber bottom brick masonry devices are mainly used for replacing the bottom bricks as a whole, and cannot be used for excavation and repair of the bottom bricks in deep carbonization chambers. Existing coke oven body masonry systems are mainly suitable for newly built coke ovens, and in high-temperature working environments, the normal operation of robots faces the challenge of heat accumulation, which may lead to robot performance degradation, malfunction, or scrapping.

[0006] Therefore, there is an urgent need to develop a robotic system capable of hot repairing bricks at the bottom of the confined space of the coke oven carbonization chamber, and to develop corresponding construction methods to achieve unmanned operation and ensure the inspection and repair of the working surface of the bricks at the bottom of the carbonization chamber under high-temperature working conditions. Summary of the Invention

[0007] To address the problem that existing coke oven bricklaying equipment cannot inspect and repair the bottom bricks of the carbonization chamber in a confined, high-temperature environment, this invention provides a robotic system and construction method for hot repair of the bottom bricks in the confined space of the coke oven carbonization chamber.

[0008] To achieve the above objectives, the present invention provides a robotic system for hot repair of bricks at the bottom of a coke oven carbonization chamber in a confined space. The system includes: a tracked walking mechanism for supporting the upper structure and moving along the bottom of the carbonization chamber; a conveying platform located on top of the tracked walking mechanism, which transports bricks to a receiving point; a base located on top of the conveying platform, which provides fixed support for the robot; and a brick replacement device located at the end of the robot, including a T-shaped support, a mortar application mechanism and a cleaning structure respectively connected to the front and rear ends of the bottom of the T-shaped support; the cleaning structure includes a hexagonal seat rotatably connected to the rear end of the bottom of the T-shaped support, and a brick milling assembly, a brick joint milling assembly, a brick clamping assembly, and a ash removal assembly respectively located on the sides of the hexagonal seat. The mortar application mechanism includes a displacement component and a mortar squeezing component; an imaging mechanism located on the side of the conveying platform; and a control unit, which controls the tracked walking mechanism to enter the site, processes the scanning data of the bottom bricks of the coke oven carbonization chamber collected by the imaging mechanism, plans the repair walking path and brakes the corresponding repair operation steps, and controls the robot to drive the brick replacement device to align with the damaged area, so that the cleaning mechanism sequentially performs brick milling, brick joint milling, picking up the damaged bricks, and blowing out the residue to complete the cleaning operation. The mortar squeezing component is controlled by the displacement component to accurately apply mortar to the bottom and side of the damaged area, and the brick clamping component removes the bricks from the conveying platform and accurately places them into the damaged area to complete the repair work.

[0009] Furthermore, the robot also includes multiple heat insulation layers disposed within the shell structure, as well as a water cooling unit disposed within the inner shell.

[0010] Furthermore, the robot's joints are equipped with joint guards, which are omnidirectional and made of high-temperature wear-resistant materials.

[0011] Furthermore, the mortar application mechanism also includes a support platform, whose center is vertically and fixedly connected to the front end of the bottom of the T-shaped support, and whose front end is provided with a displacement component; the displacement component includes an X-axis linear slide and a Y-axis linear slide; there are two sets of Y-axis linear slides, which are arranged parallel to each other along the Y-axis at the front end of the support platform; the X-axis linear slides are arranged along the X-axis on the two sets of Y-axis linear slides, and are driven to move linearly along the Y-axis; the mortar squeezing component is arranged on the X-axis linear slide and is driven to move linearly along the X-axis; the mortar squeezing component is connected to a storage box on the robot through a conveying pipe to apply mortar to the bottom and sides of the damaged area.

[0012] Furthermore, the hexagonal base is a hexagonal disk-shaped structure, with its center rotatably connected to the rear end of the T-shaped support via a rotating shaft disk. The rotating shaft disk is communicatively connected to the control unit, and under the control of the control unit, the rotating shaft disk drives the hexagonal base to rotate precisely to a specified angle.

[0013] Furthermore, the brick milling assembly includes a brick milling cutter, which rotates and is displaced under the drive of the robot to precisely mill the broken bricks; the brick joint milling assembly includes a brick joint milling cutter, which rotates and is displaced under the drive of the robot to precisely mill and clean the brick joints; the brick clamping assembly includes a chuck, which is displaced under the drive of the robot to clamp and transport the milled broken bricks; the dust removal assembly includes a high-pressure nozzle, which is connected to a high-pressure gas tank pipeline on the robot, and blows out high-pressure gas under the control of the control unit to blow away the milling residue at the broken parts.

[0014] Furthermore, the tracked walking mechanism includes a base frame, tracks, and a walking transmission assembly.

[0015] Furthermore, the material conveying platform is located on top of the tracked walking mechanism and includes a support, a frame, rollers, a belt, and a drive assembly. Multiple sets of supports are provided, with their bottoms symmetrically fixed to both sides of the base frame, and their tops providing fixed support to the frame. Multiple rollers are spaced parallel to each other on the frame. The drive assembly is used to drive the rollers to rotate. A belt is fitted around the outer circumference of the multiple rollers, and the rotation of the rollers drives the belt to reciprocate for material conveying.

[0016] Furthermore, the base includes a top plate, columns, cylinders, and pads; multiple sets of columns are symmetrically fixed on both sides of the top of the frame; the bottom of the top plate is fixedly connected to the top of multiple columns, which is used to support and install the robot; four sets of cylinders are symmetrically fixed on the top of the top plate in pairs, and the piston rod ends are fixedly connected to the pads.

[0017] According to another aspect of the present invention, a construction method for a robotic system for hot repair of the bottom bricks in a confined space of a coke oven carbonization chamber is also provided, comprising the following steps:

[0018] S100: Loading: Place bricks on the material platform and replenish refractory mortar and high-pressure gas;

[0019] S200: Entry inspection. The tracked walking mechanism transports the hot repair robot system to the coking chamber of the coke oven. The imaging mechanism begins to perform a detailed scan of the bottom bricks of the coke oven coking chamber from multiple angles to obtain accurate hot repair information and transmit it to the outside of the oven in real time.

[0020] S300: Based on coke oven imaging data, plan the repair walking path and formulate corresponding repair operation steps;

[0021] S400: The tracked walking mechanism walks to the designated point according to the planned repair walking path, and the robot drives the brick replacement device to align with the damaged area;

[0022] S500: The cleaning mechanism sequentially performs brick milling, brick joint milling, picks up broken bricks, and blows out residue at the damaged area to complete the cleaning operation;

[0023] S600: The grouting assembly applies grout to the bottom and sides of the damaged area;

[0024] S700: The brick clamping assembly removes bricks from the material conveying platform and precisely places them into the damaged area to complete the repair work.

[0025] S800: The tracked walking mechanism moves to the next damaged area according to the planned repair walking path, and the robot performs the corresponding repair work until all repair work in the carbonization chamber is completed and then leaves the site.

[0026] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0027] 1. The thermal repair robot system of the present invention, by combining a high-precision imaging mechanism with an intelligent control unit, realizes the accurate detection and repair of the bottom bricks in the narrow space of the coke oven carbonization chamber; wherein the imaging mechanism includes a laser scanner, a thermal imaging camera, a high-temperature camera and an image acquisition device, which can provide high-definition, high-resolution imaging of the bottom bricks in the coke oven carbonization chamber, and realize accurate identification and positioning of brick defects; the control unit analyzes and intelligently judges the imaging data to realize the positioning, classification and priority ranking of coke oven defects.

[0028] 2. The thermal repair robot system of the present invention, through the articulated robot's flexible movement capability and precise position adjustment, enables the coordinated work of multiple mechanisms such as the brick milling component, brick joint milling component, brick clamping component, ash cleaning component, and mortar application mechanism, to accurately repair damaged bricks at the bottom of the coke oven carbonization chamber. Simultaneously, to ensure the robot can operate stably and continuously in high-temperature environments, multiple heat insulation layers are installed in the robot's shell structure to reduce heat conduction within the shell. Furthermore, the robot's inner shell is equipped with a water-cooling unit, with water-cooling pipes laid on the inner shell wall. This water-cooling unit effectively cools the interior of the shell, reducing temperature rise and providing excellent thermal protection. The robot's joints employ a universal structure to provide flexibility and protection, preventing damage to the joints from dust, particulate matter, and heat radiation, thereby effectively ensuring the robot's stable operation in high-temperature environments.

[0029] 3. The thermal repair robot system of the present invention, through high-precision imaging detection of the imaging mechanism, uses a brick milling mechanism, a brick joint milling mechanism, a brick clamping mechanism, a ash cleaning mechanism, and a mortar application mechanism to clean, apply mortar, and install bricks at the damaged area, thereby improving the accuracy and efficiency of detection and repair of the bottom bricks of the coke oven carbonization chamber. Compared with traditional manual operation and repair tools, it has higher precision and work efficiency.

[0030] 4. The hot repair robot system of the present invention can effectively realize the accurate detection and repair of the bottom bricks of the coke oven carbonization chamber, improve work efficiency and repair quality, reduce hot repair risks, simplify the hot repair process, and realize routine detection and hot repair of the carbonization chamber. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the construction scenario of the robot system for hot repair of the bottom bricks in the confined space of the coke oven carbonization chamber in an embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the robot system for hot repair of the bottom bricks in the confined space of the coke oven carbonization chamber according to the present invention;

[0033] Figure 3 A side view of a robotic system for hot repair of bricks at the bottom of a coke oven carbonization chamber, in a confined space.

[0034] Figure 4 for Figure 2 Enlarged view of point A;

[0035] Figure 5 for Figure 3 Enlarged view of point B;

[0036] Figure 6 This is a flowchart illustrating the construction method steps of the robotic system for hot repair of the bottom bricks in the confined space of the coke oven carbonization chamber, as described in an embodiment of the present invention.

[0037] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0038] 1- Tracked traveling mechanism, including: 101- Base frame, 102- Track, 103- Travel transmission assembly;

[0039] 2-Material conveying platform, including: 201-support frame, 202-frame body, 203-roller, 204-conveyor belt;

[0040] 3-Base, including: 301-Top plate, 302-Column, 303-Cylinder, 304-Padded block;

[0041] 4-Robot, including: 401-Robot end effector;

[0042] 5-Brick replacement device, including: 501-T-shaped support, 502-hexagonal seat, 503-rotating shaft disc, 504-milling component, 505-brick clamping component, 5051-clamp, 506-cleaning component, 5061-high-pressure air tank, 507-mortar laying mechanism, 5071-bearing platform, 5072-Y-direction linear slide, 5073-X-direction linear slide, 5074-grouting component, 5075-storage box, 5076-conveying pipe;

[0043] 6-Imaging mechanism;

[0044] 7-Bricks. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0046] like Figure 1-5As shown, this invention provides a robotic system for hot repair of bricks at the bottom of a coke oven carbonization chamber in a confined space. The system includes a tracked walking mechanism 1, a material conveying platform 2, a base 3, a robot 4, a brick replacement mechanism 5, and an imaging mechanism 6. The tracked walking mechanism 1 supports the upper structure and allows movement at the bottom of the carbonization chamber. The material conveying platform 2 includes a roller 203 and a conveyor belt 204 mounted on top of the tracked walking mechanism 1, which work together to transport bricks 7 to the material collection point. The base 3 includes a top plate 301, a cylinder 303, and a pad 304. The cylinder 303 pushes the pad 304 against the side wall of the carbonization chamber, providing stable support for the top plate 301. The robot 4 is fixedly mounted on the top plate 301. The brick replacement device 5 includes a T-shaped support 501, the top of which is connected to the end of the robot 4. A mortar application mechanism 507 is located at the front end, and a cleaning mechanism is located at the rear end. The cleaning mechanism includes a hexagonal seat 502 rotatably connected to the bottom rear end of the T-shaped support 501, and a brick milling assembly 504, a brick joint milling assembly, a brick clamping assembly 505, and a mortar cleaning assembly 506, respectively located on the sides of the hexagonal seat 502. The imaging mechanism 6 is located on the side of the material conveying platform 2. During repair work, the tracked walking mechanism 1 transports the hot repair robot system to the coking chamber of the coke oven. The imaging mechanism 6 performs a detailed scan of the bottom bricks of the coke oven's coking chamber, obtaining accurate hot repair information and transmitting it to the outside of the oven in real time. Based on the assessment of the damaged area, the robot 4 moves the brick replacement mechanism 5 to the damaged area. The robot then rotates the hexagonal base 502, sequentially cleaning the damaged area using the brick milling assembly 504, the brick joint milling assembly, the brick clamping assembly 505, and the ash cleaning assembly 506. After completion, the robot rotates the T-shaped support 501, allowing the mortar application mechanism 507 to apply mortar to the damaged area. Finally, the brick clamping assembly 505 picks up the brick 7 from the conveying platform 2 and places it at the damaged area, completing the repair work. The hot repair robot system of this invention can improve the accuracy and efficiency of coke oven inspection and repair, thereby completing the hot repair task of the bottom bricks of the coking chamber.

[0047] like Figure 2-3 As shown in the embodiment of the invention, the tracked walking mechanism 1 is a mechanism used to support and enable machine movement. It adapts to the plane at the bottom of the carbonization chamber where slag exists, and includes a base frame 101, a track 102, and a walking transmission assembly 103. The base frame 101 is used to mount a power assembly to drive the walking transmission assembly 103 to move the track 102. Furthermore, the base frame 101 can also support the upper structure. The track 102 provides a stable contact area and strong grip, enabling it to cope with complex working environments and possessing a certain load-bearing capacity. Simultaneously, the track 102 uses high-temperature resistant and wear-resistant materials to ensure long-term use under harsh conditions such as high temperatures and slag.

[0048] The material conveying platform 2 is located on top of the tracked walking mechanism 1 and includes a support 201, a frame 202, rollers 203, a belt 204, and a drive assembly. Multiple sets of supports 201 are symmetrically fixed at their bottoms on both sides of the base frame 101, and their tops provide fixed support for the frame 202. Multiple rollers 203 are spaced parallel to each other on the frame 202. The drive assembly drives the rollers 203 to rotate. A belt 204 is fitted around the outer circumference of each roller 203; the rotation of the rollers 203 drives the belt 204 to reciprocate for material conveying. The conveying platform 2 is communicatively connected to the control unit of the thermal repair robot system, and data is uploaded via a speed sensor to achieve automatic start / stop and speed adjustment functions. To ensure the normal operation of the material conveying platform 2 in high-temperature environments, its external structure is made of high-temperature resistant materials, and reasonable heat insulation protection measures are adopted to reduce heat conduction and radiation.

[0049] In this embodiment of the invention, the base 3 includes a top plate 301, columns 302, cylinders 303, and pads 304. Multiple sets of columns 302 are symmetrically fixed on both sides of the top of the frame 202, avoiding interference with the conveyor belt 204 transporting bricks 7. The bottom of the top plate 301 is fixedly connected to the top of multiple columns 302, serving to support and fix the robot 4. Four sets of cylinders 303 are symmetrically fixed in pairs on the top of the top plate 301, with the piston rod end fixedly connected to the pad 304. Driven by the cylinders, the piston rods cause the pads 304 to abut against the side wall of the carbonization chamber, thereby providing stable support to the top plate 301 and ensuring the smooth operation of the robot 4.

[0050] In this embodiment of the invention, the robot 4 includes a base, a rotating base, an upper arm, a forearm, a wrist body, and a wrist. Each joint is driven by a servo motor. With the help of the joint robot control unit and high-precision imaging vision technology, the robot end effector 401 can be precisely positioned and adjusted in a confined space to complete tasks such as detection, cleaning, removal, and masonry of the damaged area of ​​the bottom bricks in the coke oven carbonization chamber.

[0051] To ensure that robot 4 can operate stably and continuously in high-temperature environments, multiple heat insulation layers can be installed in the shell structure of robot 4 to reduce heat conduction inside the shell. In addition, the inner shell of the robot is also equipped with a water-cooling unit, which includes water-cooling pipes laid on the inner shell wall of robot 4. When the water-cooling unit operates, it can effectively cool the inner shell wall of robot 4, reduce the temperature rise, and provide good thermal protection.

[0052] Furthermore, the joints of the robot 4 are equipped with joint guards, which employ a universal structure to provide flexibility and protection, preventing damage to the joints from dust, particulate matter, and heat radiation. The joint guards are made of high-temperature wear-resistant materials and have an added heat insulation layer based on the same principle to reduce heat conduction to the joints, thereby ensuring the reliable operation of the robot 4 in high-temperature environments.

[0053] In this embodiment of the invention, for the in-furnace robot system operating in a high-temperature environment, all components and materials possess the durability and stability required for high-temperature conditions, ensuring that robot 4 can efficiently and safely complete its tasks during the maintenance of the bottom bricks in the carbonization chamber. Through appropriate insulation design and material selection, robot 4 can operate stably in a high-temperature environment, providing reliable support for maintenance work.

[0054] like Figure 3-5 As shown in the embodiment of the present invention, the brick replacement mechanism 5 includes a T-shaped support 501, a mortar laying mechanism 507, and a cleaning mechanism.

[0055] The T-shaped support 501 has an inverted T-shaped structure. Its top is fixedly connected to the robot end 401 and is driven by the robot 4 to rotate and adjust its posture. Its bottom two ends are respectively connected to the mortar laying mechanism 507 and the cleaning mechanism.

[0056] The cleaning mechanism includes a hexagonal base 502 rotatably connected to the rear end of the bottom of a T-shaped support 501, and a brick milling assembly 504, a brick joint milling assembly, a brick clamping assembly 505, and a dust removal assembly 506 respectively disposed on the sides of the hexagonal base 502. The hexagonal base 502 has a hexagonal disc-shaped structure, with its center rotatably connected to the rear end of the T-shaped support 501 via a rotating shaft 503. The rotating shaft 503 is communicatively connected to a control unit, which controls the hexagonal base 502 to rotate precisely to a specified angle. The brick milling assembly 504, brick joint milling assembly, brick clamping assembly 505, and dust removal assembly 506 are respectively disposed on the sides of the hexagonal base 502. The brick milling assembly 504 includes a brick milling cutter, which, by rotating and being displaced by the robot 4, can precisely mill damaged bricks. The brick joint milling assembly includes a brick joint milling tool, which, through rotation of the milling cutter and displacement driven by the robot 4, can precisely mill and clean the brick joints. The brick clamping assembly 505 includes a chuck 5051, which, driven by the robot 4, is displaced to clamp and transport the milled and broken brick pieces; furthermore, the chuck 5051 can also clamp intact bricks and place them at the damaged area to complete the repair work. The ash removal assembly 506 includes a high-pressure nozzle, which is connected to a high-pressure air tank 5061 located on the robot 4. Under the control of the control unit, it blows out high-pressure gas to remove the milling residue at the damaged area, preventing it from affecting subsequent grouting and other repair operations.

[0057] The mortar application mechanism 507 is located at the bottom front end of the T-shaped support 501 and includes a support platform 5071, a displacement component, and a mortar squeezing component 5074. The center of the support platform 5071 is vertically and fixedly connected to the bottom front end of the T-shaped support 501. The displacement component includes an X-direction linear slide 5073 and a Y-direction linear slide 5072. Two sets of Y-direction linear slides 5072 are provided and are arranged parallel to each other along the Y-direction at the front end of the support platform 5071. The X-direction linear slides 5073 are arranged along the X-direction on the two sets of Y-direction linear slides 5072 and are driven by the Y-direction linear slides 5072 to move linearly along the Y-direction. The mortar squeezing component 5074 is located on the X-direction linear slides 5073 and is driven by the X-direction linear slides 5073 to move linearly along the X-direction. The mortar squeezing component 5074 is connected to the storage box 5075 on the robot 4 through a conveying pipe 5076 to apply mortar to the bottom and sides of the damaged area. In this embodiment of the invention, during the application of grout, based on the information of the damaged area scanned by the imaging mechanism 6, after the cleaning operation is completed, the robot 4 drives the grout application mechanism 507 to move to the damaged area to complete the initial grout application positioning adjustment; through the information of the damaged area, the control unit controls the Y-direction linear slide 5072 and the X-direction linear slide 5073 to drive the grout squeezing assembly 5074 to perform precise grout application work along the X and Y directions.

[0058] In this embodiment of the invention, the imaging mechanism 6 employs high-precision imaging equipment, such as a laser scanner, thermal imaging camera, and high-temperature camera, which can perform high-definition, high-resolution imaging of the coke oven surface, providing images of damaged bricks at the bottom of the carbonization chamber. Through imaging technology, defects and cracks in the bricks at the bottom of the carbonization chamber can be accurately identified and analyzed. Utilizing advanced computer vision technology and image processing algorithms, damaged bricks, cracks, and damaged areas can be quickly and accurately identified and located. The imaging mechanism 6 is installed on the frame 202 of the conveying platform 2, and can synchronously transmit hot repair information of the bottom bricks in the confined space of the coke oven carbonization chamber back to the outside of the oven from multiple angles. Operators can remotely operate the system through feedback. The imaging mechanism 6 is covered with heat-insulating material to reduce external heat conduction. Simultaneously, cooling fins, radiators, or other heat dissipation devices are installed on the outer surface of the imaging mechanism 6 to further reduce the temperature of the outer surface.

[0059] In this embodiment of the invention, the control unit can perform functions such as machine learning, image processing, and path planning, enabling it to analyze and intelligently judge coke oven imaging data, and to locate, classify, and prioritize coke oven defects. The intelligent control system can also optimize and guide the robot's operation and repair process in real time based on the detection results and repair plans, thereby improving work efficiency and repair quality.

[0060] In this embodiment of the invention, the cooling unit ensures that the robot 4 operates normally in a high-temperature working environment. A continuous cooling system is employed, using a circulating cooling medium to remove heat from the robot 4's interior and maintain the robot 4's operating environment temperature below 70°C. Considering high-temperature resistance and thermal conductivity, the cooling medium can be a high-temperature liquid or gas. Furthermore, the outer surface of the robot 4 is covered with heat-insulating material to reduce external heat conduction. Additionally, cooling fins, radiators, or other heat dissipation devices can be installed on the outer surface of the robot 4 to further reduce its temperature.

[0061] In this embodiment of the invention, the high-precision imaging detection of the imaging mechanism 6 is used to clean, apply mortar, and install bricks 7 at the damaged area by the brick milling mechanism 503, brick joint milling mechanism, brick clamping mechanism 505, ash cleaning mechanism 506, and mortar application mechanism 507. This improves the accuracy and efficiency of brick detection and repair at the bottom of the coke oven carbonization chamber. Compared with traditional manual operation and repair tools, it has higher precision and work efficiency.

[0062] like Figure 6 As shown, the present invention also provides a construction method for a robotic system for hot repair of the bottom bricks in the confined space of a coke oven carbonization chamber, comprising the following steps:

[0063] S100: Loading material, placing bricks 7 on material platform 2, and replenishing refractory mortar and high-pressure gas;

[0064] S200: Entry inspection. The tracked walking mechanism 1 transports the hot repair robot system into the coking chamber of the coke oven. The imaging mechanism 6 begins to perform a detailed scan of the bottom bricks of the coke oven coking chamber from multiple angles to obtain accurate hot repair information and transmit it to the outside of the oven in real time.

[0065] S300: Based on coke oven imaging data, plan the repair walking path and formulate corresponding repair operation steps;

[0066] S400: Tracked walking mechanism 1 walks to the designated point according to the planned repair walking path, and robot 4 drives brick replacement device 4 to align with the damaged area;

[0067] S500: The cleaning mechanism sequentially performs brick milling, brick joint milling, picks up broken bricks, and blows out residue at the damaged area to complete the cleaning operation;

[0068] S600: The grouting assembly 5074 applies grout to the bottom and sides of the damaged area;

[0069] S700: The brick clamping assembly 505 removes the brick 7 from the material conveying platform 2 and precisely places it into the damaged area to complete the repair work.

[0070] S800: Tracked walking mechanism 1 walks to the next damaged area according to the planned repair walking path, and robot 2 performs the corresponding repair work until all repair work in the carbonization chamber is completed and then leaves the site.

[0071] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robotic system for hot repair of the bottom bricks in the confined space of a coke oven carbonization chamber, characterized in that, include: Tracked walking mechanism used to support the superstructure and move at the bottom of the carbonization chamber; The tracked walking mechanism includes a base frame, tracks, and a walking transmission assembly; A material conveying platform located on top of the tracked walking mechanism transports bricks to the material collection point. The material conveying platform, located on top of the tracked walking mechanism, includes a support frame, a frame body, rollers, a belt body, and a drive assembly. Multiple sets of supports are provided, with their bottoms symmetrically fixed to both sides of the base frame, and their tops providing fixed support to the frame body. Multiple rollers are arranged parallel to each other on the frame body. The drive assembly drives the rollers to rotate. A belt body is fitted around the outer circumference of the multiple rollers; the rotation of the rollers drives the belt body to reciprocate for material conveying operations. The base located at the top of the material conveying platform provides fixed support for the robot; A brick replacement device located at the end of a robot includes a T-shaped support, a mortar application mechanism, and a cleaning structure connected to the front and rear ends of the bottom of the T-shaped support, respectively. The cleaning structure includes a hexagonal seat rotatably connected to the rear end of the bottom of the T-shaped support, and a brick milling assembly, a brick joint milling assembly, a brick clamping assembly, and a mortar cleaning assembly located on the sides of the hexagonal seat. The mortar application mechanism includes a displacement assembly and a mortar squeezing assembly. The mortar application mechanism also includes a support platform, the center of which is vertically fixed to the front end of the bottom of the T-shaped support, and its front end... The system is equipped with a displacement assembly, which includes an X-axis linear slide and a Y-axis linear slide. Two sets of Y-axis linear slides are arranged parallel to each other along the Y-axis at the front end of the support platform. The X-axis linear slides are positioned along the X-axis on the two sets of Y-axis linear slides, and are driven to move linearly along the Y-axis. A grouting assembly is positioned on the X-axis linear slides and is driven to move linearly along the X-axis. The grouting assembly is connected to a storage bin on the robot via a conveying pipe, and applies grout to the bottom and sides of the damaged area. An imaging mechanism located on the side of the material conveying platform; The system includes a control unit that controls the tracked walking mechanism to enter the site, processes the scanning data of the bottom bricks in the coke oven carbonization chamber collected by the imaging mechanism, plans the repair walking path and formulates corresponding repair operation steps, and controls the robot to drive the brick replacement device to align with the damaged area. The cleaning mechanism then sequentially performs brick milling, brick joint milling, picks up the damaged bricks, and blows out the residue to complete the cleaning operation. The system also controls the grouting component to accurately apply mortar to the bottom and sides of the damaged area under the drive of the displacement component, and the brick clamping component to remove the bricks from the material conveying platform and accurately place them into the damaged area to complete the repair work.

2. The robotic system for hot repair of the bottom bricks in the confined space of a coke oven carbonization chamber according to claim 1, characterized in that, The robot also includes multiple heat insulation layers within the shell structure, as well as a water-cooling unit within the inner shell.

3. The robotic system for hot repair of the bottom bricks in the confined space of a coke oven carbonization chamber according to claim 2, characterized in that, The robot's joints are equipped with joint guards, which are omnidirectional and made of high-temperature wear-resistant materials.

4. A robotic system for hot repair of the bottom bricks in the confined space of a coke oven carbonization chamber according to any one of claims 1-3, characterized in that, The hexagonal base is a hexagonal disk-shaped structure, with its center rotatably connected to the rear end of the T-shaped support via a rotating shaft. The rotating shaft is communicatively connected to the control unit, and under the control of the control unit, the rotating shaft drives the hexagonal base to rotate precisely to a specified angle.

5. A robotic system for hot repair of the bottom bricks in the confined space of a coke oven carbonization chamber according to any one of claims 1-3, characterized in that, The brick milling assembly includes a brick milling cutter, which rotates and is displaced under the drive of the robot to precisely mill the broken bricks; the brick joint milling assembly includes a brick joint milling cutter, which rotates and is displaced under the drive of the robot to precisely mill and clean the brick joints; the brick clamping assembly includes a clamping head, which is displaced under the drive of the robot to clamp and transport the milled broken bricks; the dust removal assembly includes a high-pressure nozzle, which is connected to a high-pressure gas tank pipeline on the robot, and blows out high-pressure gas under the control of the control unit to blow away the milling residue at the broken parts.

6. A robotic system for hot repair of the bottom bricks in the confined space of a coke oven carbonization chamber according to any one of claims 1-3, characterized in that, The base includes a top plate, columns, cylinders, and pads; multiple sets of columns are symmetrically fixed on both sides of the top of the frame; the bottom of the top plate is fixedly connected to the top of multiple columns, which is used to support and install the robot; four sets of cylinders are symmetrically fixed on the top of the top plate in pairs, and the piston rod ends are fixedly connected to the pads.

7. A construction method for a robotic system for hot repair of the bottom bricks in a confined space of a coke oven carbonization chamber according to any one of claims 1-6, characterized in that, Includes the following steps: S100: Loading: Place bricks on the material platform and replenish refractory mortar and high-pressure gas; S200: Entry inspection. The tracked walking mechanism transports the hot repair robot system to the coking chamber of the coke oven. The imaging mechanism begins to perform a detailed scan of the bottom bricks of the coke oven coking chamber from multiple angles to obtain accurate hot repair information and transmit it to the outside of the oven in real time. S300: Based on coke oven imaging data, plan the repair walking path and formulate corresponding repair operation steps; S400: The tracked walking mechanism walks to the designated point according to the planned repair walking path, and the robot drives the brick replacement device to align with the damaged area; S500: The cleaning mechanism sequentially performs brick milling, brick joint milling, picks up broken bricks, and blows out residue at the damaged area to complete the cleaning operation; S600: The grouting assembly applies grout to the bottom and sides of the damaged area; S700: The brick clamping assembly removes bricks from the material conveying platform and precisely places them into the damaged area to complete the repair work. S800: The tracked walking mechanism moves to the next damaged area according to the planned repair walking path, and the robot performs the corresponding repair work until all repair work in the carbonization chamber is completed and then leaves the site.

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