High-precision imaging coke oven sidewall thermal repair robot system and construction method

Abstract

The application discloses a coke oven sidewall thermal repair robot system with high imaging precision and a construction method. The system comprises a crawler walking mechanism, a lifting platform, a robot, an imaging device, a lineation device, a brick replacement mechanism and a control unit. The crawler walking mechanism is used for walking in the coke oven. The lifting platform adjusts the horizontal height of the robot. The imaging device scans and detects the coke oven sidewall. The lineation device cuts the corresponding repair brick for the standard brick. The brick replacement mechanism is arranged at the end of the robot and comprises a hexagonal seat, a brick milling assembly, a brick joint milling assembly, a dust cleaning assembly, a material spraying assembly and a brick clamping assembly arranged at the side edges of the hexagonal seat respectively. The brick clamping assembly comprises a chuck and a repair material spraying head. When the repair work is performed, the imaging device scans the coke oven wall in detail, the robot drives the brick replacement mechanism to the damaged position, and the cleaning, the spraying of the mortar and the installation of the brick are performed to complete the repair work. The system can accurately complete the thermal repair task of the coke oven wall.

Description

Technical Field

[0001] This invention belongs to the technical field of coke oven carbonization chamber repair devices, and more specifically, relates to a high-imaging-precision coke oven sidewall hot repair robot system and construction method. 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 CN104031660B discloses a method for cleaning brick debris from holes in the carbonization chamber wall during hot repair of a coke oven. The steps include: workers observing the elevation of the hole to determine its height and depth within the carbonization chamber; operating a rocker arm to align a viewing hole with the hole in the carbonization chamber wall; acquiring image information of the hole using a high-temperature camera; cleaning the damaged bricks (smaller on the outside, larger on the inside) from the hole; re-examining the hole through the viewing hole to obtain image information; formulating a hot repair plan; and determining the brick filling and paint spraying scheme. However, this patent requires manual chiseling to remove non-perforated damage, and the limited viewing angle results in limited accuracy of the acquired image information.

[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, current literature on coke oven inspection and repair methods primarily addresses wall perforation repair. For non-perforated damage, manual chiseling and removal using brick hooks are necessary. For inspecting damaged walls in hot environments, high-temperature cameras are mounted at the front of a rocker arm, observing through a viewing hole. This limited field of view results in limited image accuracy. Furthermore, the existing techniques for filling perforations cannot perform minimally invasive repairs on most working surfaces, leaving the coke oven operating with defects and impacting coking quality. Existing coke oven construction systems are mainly suitable for newly built coke ovens. However, during hot repairs, the carbonization chamber operates at 700°C, posing a challenge to robot operation due to heat accumulation, potentially leading to performance degradation, malfunction, or even scrapping.

[0006] Therefore, there is an urgent need to develop a hot repair robot system and construction method for coke oven inspection and repair with high imaging accuracy, so as to achieve unmanned operation and ensure the inspection and repair of the working surface of the coke oven carbonization chamber wall in a high-temperature working environment. Summary of the Invention

[0007] To address the limitations of existing coke oven masonry equipment in detecting and repairing coke oven sidewalls within confined, high-temperature environments, this invention provides a high-precision imaging robot system and construction method for hot repair of coke oven sidewalls.

[0008] To achieve the above objectives, the present invention provides a high-precision imaging robot system for hot repair of coke oven sidewalls, comprising: a tracked walking mechanism for supporting the upper structure and moving along the bottom of the carbonization chamber; a lifting platform located on top of the tracked walking mechanism, which adjusts the robot mounted on top to a specified horizontal height; an imaging device located on the robot's robotic arm; a scribing device located outside the coke oven, which receives information about the area of ​​the damaged area and scribing and cutting repair bricks from standard bricks; and a brick replacement mechanism located at the end of the robot, including a hexagonal base, and a brick milling assembly, a brick seam milling assembly, and a dust removal assembly respectively located on the sides of the hexagonal base. The system comprises a component, a spraying assembly, and a brick clamping assembly. The brick clamping assembly includes a clamp and a filling nozzle. A control unit controls the tracked walking mechanism to enter the site, processes the scan data of the coke oven sidewall collected by the imaging device, plans the repair path, and formulates corresponding repair operation steps. The control unit also controls the tracked walking mechanism to exit the site for material loading. The robot drives the brick replacement mechanism to align with the damaged area, sequentially performing brick milling, brick joint milling, clamping the damaged brick, blowing out residue, and spraying slurry. The brick clamping assembly precisely places the repair brick from the lifting platform into the damaged area and uses the filling nozzle to spray slurry into the brick joints on both sides, completing 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 filling nozzle clamps are arranged side by side and move synchronously with the clamps to fill the gaps between the two sides of the repair brick and the inner wall of the damaged area with grout.

[0012] Furthermore, the marking device is located outside the coke oven and includes a support platform, an X-axis linear slide, a Y-axis linear slide, and a marking pen; the Y-axis linear slide has two sets, which are arranged parallel to each other on the top of the support platform along the Y direction; the X-axis linear slide is arranged along the X direction on the two sets of Y-axis linear slides and is driven by the Y-axis linear slide to move linearly along the Y direction; the marking pen is arranged on the X-axis linear slide and is driven by the X-axis linear slide to move linearly along the X direction.

[0013] Furthermore, the X-axis linear slide is equipped with a water jet, which sprays high-pressure abrasive water jets to directly cut standard bricks.

[0014] Furthermore, the lifting platform includes a base plate, a top plate, and a scissor lift mechanism; wherein, the base plate and the top plate are connected by the scissor lift mechanism; the bottom of the base plate is fixedly connected to the base frame of the tracked walking mechanism via a bracket; the top plate is fixedly mounted on the top of the scissor lift mechanism, providing fixed support for the robot; the scissor lift mechanism is communicatively connected to the control unit and is equipped with a height sensor, which detects the height value in real time, and the control unit controls the scissor lift mechanism to raise and lower the robot to a specified height.

[0015] Furthermore, the lifting platform is equipped with a slurry storage tank and a high-pressure air tank, both of which are connected to the brick replacement mechanism via pipes; the top of the top plate is equipped with a material placement section, which is used to place repair bricks. By placing repair bricks in the material placement section in sequence, and scanning and positioning them by the imaging device, the robot drives the brick clamping assembly to clamp the corresponding repair bricks.

[0016] 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 clamps and transports the milled broken bricks; the ash removal assembly includes a high-pressure nozzle, which blows out high-pressure gas to blow away the milling residue at the damaged area; and the spraying assembly sprays slurry onto the bottom and sides of the damaged area.

[0017] According to another aspect of the present invention, a construction method for a high-imaging-precision coke oven sidewall hot repair robot system is also provided, comprising the following steps:

[0018] S100: Entry inspection. The imaging device performs high-precision imaging inspection of the inner wall of the coke oven and uploads the inspection data to the working unit.

[0019] S200: The control unit plans the repair path and formulates the corresponding repair operation steps based on the coke oven imaging data, and simultaneously sends the information of the damaged area to the scribing device, and controls the scribing device to scribing and cutting the corresponding repair bricks on the standard bricks in sequence.

[0020] S300: Remove the material from the site, replenish the grout and high-pressure gas, and arrange the corresponding repair bricks in sequence on the top of the lifting platform;

[0021] S400: Re-entering the site, the robot walks to the designated point according to the planned repair path. The robot drives the brick replacement mechanism to align with the damaged area. The brick replacement mechanism sequentially performs brick milling, brick joint milling, picks up the damaged brick, blows out the residue, and completes the cleaning operation. It also sprays slurry onto the inner wall of the damaged area.

[0022] S500: The clamp picks up the corresponding repair brick and places it into the damaged area. The filling nozzle sprays grout to fill the gap between the two sides of the repair brick and the inner wall of the damaged area. After completion, the clamp is withdrawn and the filling nozzle moves horizontally to spray grout to fill the hole when the clamp is withdrawn.

[0023] S600: Repeat the above repair steps to repair the damaged area, and then leave the site.

[0024] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0025] 1. The coke oven sidewall thermal repair robot system of the present invention, by combining a high-precision imaging device with an intelligent control unit, realizes the accurate detection and repair of the inner sidewall of the coke oven carbonization chamber in a confined space; wherein the imaging device 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 bricks at the bottom of 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.

[0026] 2. The coke oven sidewall hot repair robot system of the present invention, wherein the control unit can realize functions such as machine learning, image processing, and path planning, and can analyze and intelligently judge coke oven imaging data to realize the location, classification and priority ranking of coke oven sidewall defects; the control unit can also optimize and guide the operation and repair process of the robot in real time according to the detection results and repair plan to improve work efficiency and repair quality.

[0027] 3. The coke oven sidewall thermal repair robot system of the present invention, through the 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, ash cleaning component, spraying component, and brick clamping component, to accurately repair the sidewall of the coke oven carbonization chamber. Simultaneously, to ensure the robot can operate stably and continuously in high-temperature environments, multiple heat insulation layers can be 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 adopt 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.

[0028] 4. The coke oven sidewall hot repair robot system of the present invention, through high-precision imaging detection by the imaging device, uses a brick milling component, a brick joint milling component, a dust removal component, a spraying component, and a brick clamping component to clean the damaged area, spray slurry, and install repair bricks, thereby improving the accuracy and efficiency of brick detection and repair on the working surface of the coke oven carbonization chamber wall. Compared with traditional manual operation and repair tools, it has higher precision and work efficiency.

[0029] 5. The coke oven sidewall hot repair robot system of the present invention uses a feeding nozzle and a clamp arranged side by side. The feeding nozzle moves synchronously with the clamp. When the clamp picks up the repair brick and places it into the damaged area, it fills the gap between the two sides of the repair brick and the damaged area with grout to prevent the repair brick from falling and shifting under the action of gravity. After the repair brick is placed, the clamp is withdrawn. The feeding nozzle can be moved horizontally to fill the hole when the clamp withdraws with grout to ensure the stability of the repair brick.

[0030] 6. The coke oven sidewall hot repair robot system of the present invention effectively realizes the accurate detection and repair of the sidewall of the coke oven carbonization chamber, improves work efficiency and repair quality, reduces hot repair risks, simplifies the hot repair process, and realizes routine detection and hot repair of the carbonization chamber. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a construction scenario for a high-imaging-precision coke oven sidewall hot repair robot system according to an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of a high-imaging-precision coke oven sidewall hot repair robot system according to the present invention;

[0033] Figure 3 This is a schematic diagram of the furnace outer end marking device in an embodiment of the present invention;

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

[0035] Figure 5 This is a schematic diagram of the construction method steps of a high-imaging-precision coke oven sidewall hot repair robot system in an embodiment of the present invention.

[0036] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0037] 1- Tracked traveling mechanism, including: 101- Base frame, 102- Track, 103- Travel transmission assembly;

[0038] 2- Lifting platform, including: 201- base plate, 202- top plate, 203- scissor lift mechanism;

[0039] 3-Robot, including: 301-Robot end effector;

[0040] 4-Imaging device;

[0041] 5- Marking device, including: 501- Supporting platform, 502- X-direction linear slide, 503- Y-direction linear slide, 504- Marking pen;

[0042] 6-Brick replacement mechanism, including: 601-Hexagonal base, 602-Brick milling assembly, 603-Spraying assembly, 604-Brick clamping assembly, 6041-Clamping head, 6042-Replenishing nozzle. Detailed Implementation

[0043] 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.

[0044] like Figure 1-4As shown, this invention provides a high-precision imaging robot system for hot repair of coke oven sidewalls, including a tracked walking mechanism 1, a lifting platform 2, a robot 3, an imaging device 4, a scribing device 5, a brick replacement mechanism 6, and a control unit. The tracked walking mechanism 1 supports the upper structure and can move along the bottom of the carbonization chamber. The lifting platform 2 can smoothly perform lifting operations in confined spaces, adjusting the robot 3 mounted on top to a specified horizontal height. The imaging device 4 is mounted on the robot 3 and scans the coke oven sidewall, sending the detection data to the control unit. The scribing device 5 is located outside the coke oven and receives information about the area of ​​the damaged area, scribing and cutting standard bricks. The brick replacement mechanism 6 is located at the end of the robot 3 and includes a hexagonal base 601, and milling components 602, milling joint components, ash removal components, spraying components 603, and brick clamping components 604, respectively located on the sides of the hexagonal base 601. The brick clamping component 604 includes a clamp 6041 and a feeding nozzle 6042. During repair work, the tracked walking mechanism 1 transports the hot repair robot system to the coking chamber of the coke oven. The imaging device 4 scans the side of the coke oven and sends the damage detection information to the control unit. The control unit controls the scribing device 5 to scribing and cutting standard bricks to produce repair bricks corresponding to the damage. After inspection, the robot exits the coke oven, loads repair materials, and re-enters the site. It moves to the corresponding damage location according to the planned repair walking path. The robot 3 aligns the brick replacement mechanism 6 with the damage location, rotates the hexagonal seat 601, and sequentially cleans the damage location through the brick milling component 602, the brick joint milling component, and the ash removal component. Then, the spraying component 603 sprays slurry onto the damage location. After completion, the brick clamping component 604 clamps the corresponding repair brick and places it at the damage location. The filling nozzle 6042 is used to spray slurry to fill the brick joints on both sides to prevent the corresponding repair brick from sliding or shifting. The hot repair robot system of the present 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.

[0045] like Figure 1-2 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.

[0046] In this embodiment of the invention, the lifting platform 2 includes a base plate 201, a top plate 202, and a scissor lift mechanism 203. The base plate 201 and the top plate 202 are connected via the scissor lift mechanism 203. The bottom of the base plate 201 is fixedly connected to the base frame 101 of the tracked walking mechanism 1 via a bracket. The top plate 202 is fixedly mounted on the top of the scissor lift mechanism 203, providing fixed support for the robot 3. The scissor lift mechanism 203 is communicatively connected to a control unit and is equipped with a height sensor. The height sensor detects the height value in real time, and the control unit controls the scissor lift mechanism 203 to raise and lower the robot 3 to a specified height. Furthermore, the lifting platform 2 includes a slurry storage tank and a high-pressure air tank, both connected to a brick replacement mechanism 5 via pipes. Furthermore, the top plate 202 is provided with a material placement part, which is used to place repair bricks. By placing repair bricks in the material placement part in sequence, and after scanning and positioning by the imaging device 4, the robot 3 can drive the brick clamping assembly 604 to clamp the corresponding repair bricks.

[0047] In this embodiment of the invention, the lifting platform 2 can perform lifting operations smoothly in a confined space. To ensure that the lifting mechanism operates normally in a high-temperature environment, the external structure of the lifting platform 2 is made of high-temperature resistant materials to reduce heat conduction and radiation.

[0048] In this embodiment of the invention, the robot 3 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.

[0049] To ensure that robot 3 can operate stably and continuously in high-temperature environments, multiple heat insulation layers can be installed in the shell structure of robot 3 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 3. When the water-cooling unit operates, it can effectively cool the inner shell wall of robot 3, reduce the temperature rise, and provide good thermal protection.

[0050] Furthermore, the joints of the robot 3 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 3 in high-temperature environments.

[0051] 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 3 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 3 can operate stably in a high-temperature environment, providing reliable support for maintenance work.

[0052] In this embodiment of the invention, the imaging device 4 employs high-precision imaging equipment, such as a laser scanner, thermal imaging camera, and high-temperature camera, which can provide high-definition, high-resolution images of the coke oven sidewall, offering images of damaged bricks. Through imaging technology, defects and cracks in the damaged walls of the carbonization chamber can be accurately identified and analyzed. By utilizing advanced computer vision technology and image processing algorithms, damaged bricks, cracks, and damaged areas can be quickly and accurately identified and located. Furthermore, the imaging device 4 is mounted on the robotic arm of the robot 3, allowing for the synchronous transmission of hot repair information of the coke oven sidewall bricks back to the outside of the oven from multiple angles, enabling remote operation by the operator. The imaging device 4 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 device 4 to further reduce the surface temperature.

[0053] like Figure 3 As shown, the marking device 5 is located outside the coke oven and marks standard bricks based on the information of the damaged area collected by the imaging device 4. It includes a support platform 501, an X-axis linear slide 502, a Y-axis linear slide 503, and a marking pen 504. Two sets of Y-axis linear slides 503 are provided, parallel to each other along the Y-axis and positioned on top of the support platform 501. The X-axis linear slides 502 are positioned along the X-axis on the two sets of Y-axis linear slides 503, and are driven by the Y-axis linear slides 503 to move linearly along the Y-axis. The marking pen 504 is positioned on the X-axis linear slides 502 and is driven by the X-axis linear slides 502 to move linearly along the X-axis. When the marking device 5 operates, based on the received damage detection information, the control unit controls the X-axis linear slide 502 and Y-axis linear slide 503 to move the marking pen 504 to mark lines on the standard bricks on the support platform 501, thus marking the outline of the corresponding repair brick. After completion, the brick is cut along the outline to obtain the repair brick. In this embodiment of the invention, the outline of the repair brick marked by the marking pen 504 is square, and its area covers the corresponding damage area. If the area of ​​the damage area is larger than the standard brick, multiple standard bricks can be pieced together and cut to obtain the required repair brick. Preferably, in this embodiment of the invention, the X-axis linear slide 502 is equipped with a water jet. The water jet sprays high-pressure abrasive water jet to directly cut the standard brick, eliminating the need for marking and subsequent cutting. This allows for the one-time completion of the repair brick forming operation without generating dust, making the process safe, environmentally friendly, fast, and efficient.

[0054] like Figure 4 As shown in the embodiment of the present invention, the brick replacement mechanism 6 is located at the end of the robot 3, including a hexagonal base 601, and a brick milling assembly 602, a brick seam milling assembly, a dust removal assembly, a spraying assembly 603, and a brick clamping assembly 604 respectively located on the side of the hexagonal base 601.

[0055] The brick milling assembly 602 includes a brick milling cutter, which, by rotating and being moved by the robot 3, can precisely mill damaged bricks. The brick joint milling assembly includes a brick joint milling cutter, which, by rotating and being moved by the robot 3, can precisely mill and clean the brick joints. The brick clamping assembly 604 includes a clamp 6041, which, moved by the robot 3, clamps and transports the milled and broken bricks; furthermore, the clamp 6041 can clamp repair bricks and place them at the damaged area to complete the repair work. The ash removal assembly includes a high-pressure nozzle, which is connected to a high-pressure gas tank pipeline located on the lifting platform 2. Under the control of the control unit, it blows out high-pressure gas to remove milling residue from the damaged area, avoiding interference with subsequent grouting and other repair operations. The spraying assembly 603 is connected to a grout storage tank pipeline inside the lifting platform 2. After the cleaning operation at the damaged area is completed, the spraying assembly 603 sprays grout onto the bottom and sides of the damaged area.

[0056] Furthermore, the brick clamping assembly 604 also includes a grouting nozzle 6042, which is connected to the grout storage tank via a pipe to replenish grout and is arranged parallel to the clamp 6041, moving synchronously with the clamp 6041. When the clamp 6041 clamps the repair brick and places it into the damaged area, grout is sprayed to fill the gaps between the sides of the repair brick and the damaged area to prevent the repair brick from falling and shifting under gravity. After the repair brick is placed, the clamp 6041 is withdrawn, and the grouting nozzle 6042 can be used to fill the hole where the clamp 6041 was withdrawn to ensure the stability of the repair brick.

[0057] In this embodiment of the invention, when the coke oven sidewall hot repair robot system performs its repair function, the tracked walking mechanism 1 transports the hot repair robot system to the coke oven's carbonization chamber. The lifting platform 2 and the robot 3, together with the imaging device 4, perform high-precision imaging detection on the inner sidewall of the coke oven and upload the detection data to the working unit. The control unit plans the repair walking path and formulates corresponding repair operation steps based on the coke oven imaging data, and simultaneously sends the information of the damaged area to the marking device 5, controlling the marking device 5 to sequentially mark and cut the standard bricks to the corresponding repair bricks. After completing the detection of the damaged areas inside the coke oven, the tracked walking mechanism 1 exits the site for material replenishment, slurry and high-pressure gas are added, and the corresponding repair bricks are arranged in sequence on the top of the lifting platform 2. The tracked walking mechanism 1 re-enters the site and walks to the designated point according to the planned repair path. The robot 3 drives the brick replacement mechanism 6 to align with the damaged area. The brick replacement mechanism 6 sequentially performs brick milling, brick joint milling, picks up the damaged brick, and blows out the residue to complete the cleaning operation. It also sprays slurry on the inner wall of the damaged area. The clamp 6041 picks up the corresponding repair brick and places it into the damaged area. The filling nozzle 6042 sprays slurry to fill the gap between the two sides of the repair brick and the inner wall of the damaged area. After completion, the clamp 6041 is withdrawn. The filling nozzle 6042 moves horizontally to spray slurry to fill the hole when the clamp 6041 is withdrawn, ensuring the stability of the repair brick. The above repair actions are repeated to repair the damaged area. After completion, the robot leaves the site.

[0058] 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 control unit 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.

[0059] In this embodiment of the invention, the cooling unit ensures that the robot 3 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 3's interior and maintain the robot 3'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 3 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 3 to further reduce the outer surface temperature.

[0060] In this embodiment of the invention, by combining a high-precision imaging device 4 with an intelligent control unit, the accurate detection and repair of the inner wall of the coke oven carbonization chamber in a confined space is achieved. The imaging device 4 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 bricks at the bottom of the coke oven carbonization chamber, enabling accurate identification and location of brick defects. The control unit analyzes and intelligently judges the imaging data to locate, classify, and prioritize coke oven defects.

[0061] In this embodiment of the invention, the robot 3, with its flexible movement and precise position adjustment, enables the coordinated operation of multiple mechanisms, including the brick milling component 602, the brick joint milling component, the ash removal component, the spraying component 603, and the brick clamping component 604, to precisely repair the side wall of the coke oven carbonization chamber. Simultaneously, to ensure the robot 3 can operate stably and continuously in high-temperature environments, multiple heat insulation layers can be installed in the robot 3's shell structure to reduce heat conduction within the shell. Furthermore, the inner shell of the robot 3 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 joints of the robot 3 employ a universal structure to provide flexibility and protection, preventing damage from dust, particulate matter, and heat radiation, thereby effectively ensuring the stable operation of the robot 3 in high-temperature environments.

[0062] In this embodiment of the invention, the high-precision imaging detection of the imaging device 4 is used to clean the damaged area, spray slurry, and install repair bricks by employing the brick milling component 602, brick joint milling component, ash cleaning component, spraying component 603, and brick clamping component 604. This improves the accuracy and efficiency of brick detection and repair on the working surface of the coke oven carbonization chamber wall. Compared with traditional manual operation and repair tools, it has higher precision and work efficiency.

[0063] In this embodiment of the invention, the filling nozzle 6042 and the clamp 6041 are arranged side by side, and the filling nozzle 6042 moves synchronously with the clamp 6041. When the clamp 6041 picks up the repair brick and places it into the damaged area, the filling nozzle 6042 fills the gap between the two sides of the repair brick and the damaged area with grout to prevent the repair brick from falling and shifting under the action of gravity. After the repair brick is placed, the clamp 6041 is withdrawn, and the filling nozzle 6042 can be moved horizontally to fill the hole when the clamp 6041 is withdrawn with grout to ensure the stability of the repair brick.

[0064] The coke oven sidewall hot repair robot system of this invention can effectively realize the accurate detection and repair of the sidewall 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.

[0065] like Figure 5As shown in the figure, this invention also provides a construction method for a high-imaging-precision coke oven sidewall hot repair robot system, comprising the following steps:

[0066] S100: Entry inspection. Imaging device 4 performs high-precision imaging inspection of the inner wall of the coke oven and uploads the inspection data to the working unit.

[0067] S200: The control unit plans the repair path and formulates the corresponding repair operation steps based on the coke oven imaging data, and simultaneously sends the information of the damaged area to the scribing device 5, and controls the scribing device 5 to scribing and cutting the corresponding repair bricks on the standard bricks in sequence.

[0068] S300: Remove the material from the site, replenish the grout and high-pressure gas, and arrange the corresponding repair bricks in sequence on the top of the lifting platform 2;

[0069] S400: Re-enter the site and walk to the designated point according to the planned repair path. Robot 3 drives the brick replacement mechanism 6 to align with the damaged area. The brick replacement mechanism 6 sequentially performs brick milling, brick joint milling, picks up the damaged brick, blows out the residue, completes the cleaning operation, and sprays slurry on the inner wall of the damaged area.

[0070] S500: The clamp 6041 picks up the corresponding repair brick and places it into the damaged area. The filling nozzle 6042 sprays grout to fill the gap between the two sides of the repair brick and the inner wall of the damaged area. After completion, the clamp 6041 is withdrawn and the filling nozzle 6042 is moved horizontally to spray grout to fill the hole when the clamp 6041 is withdrawn.

[0071] S600: Repeat the above repair steps to repair the damaged area, and then leave the site.

[0072] 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 high-precision imaging robot system for hot repair of coke oven sidewalls, characterized in that, include: Tracked walking mechanism (1) used to support the upper structure and move at the bottom of the carbonization chamber. A lifting platform (2) is located on top of the tracked walking mechanism (1), which adjusts the robot (3) located on top to a specified horizontal height. The lifting platform (2) includes a base plate (201), a top plate (202), and a scissor lift mechanism (203). The base plate (201) and the top plate (202) are connected by the scissor lift mechanism (203). The bottom of the base plate (201) is fixedly connected to the base frame (101) of the tracked walking mechanism (1) by a bracket. The top plate (202) is fixedly located on the top of the scissor lift mechanism (203), which provides fixed support for the robot (3). The scissor lift mechanism (203) is communicatively connected to the control unit and is equipped with a height sensor. The height value is detected in real time by the height sensor, and the control unit controls the scissor lift mechanism (203) to lift the robot (3) to a specified height. An imaging device (4) is mounted on the robotic arm of the robot (3); A marking device (5) located outside the coke oven receives information about the area of ​​the damaged part and marks and cuts out repair bricks from standard bricks. The marking device (5) includes a support platform (501), an X-axis linear slide (502), a Y-axis linear slide (503), and a marking pen (504). There are two sets of Y-axis linear slides (503), which are parallel to each other on the top of the support platform (501) along the Y-axis. The X-axis linear slides (502) are located on the two sets of Y-axis linear slides (503) along the X-axis and are driven to move linearly along the Y-axis. The marking pen (504) is located on the X-axis linear slide (502) and is driven to move linearly along the X-axis. The brick replacement mechanism (6) located at the end of the robot (3) includes a hexagonal base (601) and a brick milling assembly (602), a brick joint milling assembly, a dust removal assembly, a spraying assembly (603), and a brick clamping assembly (604) respectively located on the side of the hexagonal base (601); the brick clamping assembly (604) includes a clamp (6041) and a material replenishing nozzle (6042); The control unit controls the tracked walking mechanism (1) to enter the site, processes the scanning data of the coke oven side wall collected by the imaging device (4), plans the repair walking path and formulates the corresponding repair operation steps; controls the tracked walking mechanism (1) to exit the site and load materials, the robot (3) drives the brick replacement mechanism (6) to align with the damaged area, and sequentially performs brick milling, brick joint milling, picking up the damaged brick, blowing out the residue, and spraying slurry on the damaged area. The brick clamping component (604) takes the repair brick off the lifting platform (2) and accurately puts it into the damaged area, and uses the filling nozzle (6042) to spray slurry to fill the brick joints on both sides to complete the repair work.

2. The high-imaging-precision coke oven sidewall hot repair robot system according to claim 1, characterized in that, The robot (3) also includes multiple heat insulation layers disposed within the shell structure, and a water cooling unit disposed within the inner shell.

3. The high-imaging-precision coke oven sidewall hot repair robot system according to claim 1, characterized in that, The joints of the robot (3) are equipped with joint guards, which are universal structures and made of high-temperature wear-resistant materials.

4. A high-imaging-precision coke oven sidewall hot repair robot system according to any one of claims 1-3, characterized in that, The filling nozzle (6042) and the clamp (6041) are arranged side by side, and move synchronously with the clamp (6041) to fill the gap between the two sides of the repair brick and the inner wall of the damaged area by spraying grout.

5. A high-imaging-precision coke oven sidewall hot repair robot system according to any one of claims 1-3, wherein a water jet is provided on the X-direction linear slide (502), and the water jet sprays high-pressure abrasive water jet to directly cut standard bricks.

6. A high-imaging-precision coke oven sidewall hot repair robot system according to any one of claims 1-3, characterized in that, The lifting platform (2) is equipped with a slurry storage tank and a high-pressure gas tank, which are connected to the brick replacement mechanism (6) through pipes respectively; the top plate (202) is equipped with a material placement part, which is used to place repair bricks. By placing repair bricks in the material placement part in sequence, and scanning and positioning them by the imaging device (4), the robot (3) drives the brick clamping assembly (604) to clamp the corresponding repair bricks.

7. A high-imaging-precision robotic system for hot repair of coke oven sidewalls according to any one of claims 1-3, characterized in that, The brick milling assembly (602) includes a brick milling cutter, which rotates and is displaced by the robot (3) to precisely mill the broken bricks; the brick joint milling assembly includes a brick joint milling cutter, which rotates and is displaced by the robot (3) to precisely mill and clean the brick joints; the brick clamping assembly (604) clamps and transports the milled broken bricks; the ash removal assembly includes a high-pressure nozzle, which blows out high-pressure gas to blow away the milling residue at the broken area; the spraying assembly (603) sprays slurry onto the bottom and sides of the broken area.

8. A construction method for a high-imaging-precision coke oven sidewall hot repair robot system according to any one of claims 1-7, characterized in that, Includes the following steps: S100: Entry inspection, the imaging device (4) performs high-precision imaging inspection on the inner wall of the coke oven and uploads the inspection data to the working unit; S200: The control unit plans the repair walking path and formulates the corresponding repair operation steps according to the coke oven imaging data, and simultaneously sends the information of the damaged area to the scribing device (5), and controls the scribing device (5) to scribing and cutting the corresponding repair bricks on the standard bricks in sequence. S300: Remove the material, replenish the slurry and high-pressure gas, and arrange the corresponding repair bricks in sequence on the top of the lifting platform (2); S400: Re-enter the site and walk to the designated point according to the planned repair walking path. The robot (3) drives the brick replacement mechanism (6) to align with the damaged area. The brick replacement mechanism (6) sequentially performs brick milling, brick joint milling, picks up the damaged brick, blows out the residue, completes the cleaning operation, and sprays slurry on the inner wall surface of the damaged area. S500: The clamp (6041) picks up the corresponding repair brick and places it into the damaged area. The filling nozzle (6042) sprays grout to fill the gap between the two sides of the repair brick and the inner wall of the damaged area. After completion, the clamp (6041) is withdrawn. The filling nozzle (6042) moves horizontally to spray grout to fill the hole when the clamp (6041) is withdrawn. S600: Repeat the above repair steps to repair the damaged area, and then leave the site.

Images