Layered track for coke oven inspection robot and inspection method

Abstract

The invention relates to a layered track for a coke oven inspection robot and an inspection method.The layered track comprises an upper layer track body, hoisting supports, a lower layer track body and an inclined layer changing track body, the upper layer track body is arranged on the multiple hoisting supports at the top of a coke oven flue corridor, and the lower layer track body is arranged on the multiple hoisting supports at the top of a coke oven basement; the inclined layer-changing track is arranged between a coke oven flue corridor and a coke oven basement through a hoisting bracket, the inclined layer-changing track is connected with an upper-layer track and a lower-layer track, and the height of the hoisting bracket at the top of the coke oven flue corridor ensures that a camera and a waste gas shutter of the coke oven inspection robot are kept on the same horizontal plane; the height of the hoisting bracket at the top of the coke oven basement ensures that the camera of the coke oven inspection robot and the basement exchange plate are on the same horizontal plane; the double-layer inspection of the coke oven basement and the flue corridor by the coke oven inspection robot is realized, the engineering cost is reduced, and the safety and stability of coke oven operation are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robot inspection, and in particular to a layered track and an inspection method for a coke oven inspection robot. Background Art

[0002] Coke ovens are key equipment in the coking process, and their operating status has a significant impact on the efficiency of the entire coking process and product quality. Traditional coke oven inspections require manual inspections throughout the day to check whether the coke oven basement panels and the exhaust gas switches in the coke oven flue corridor are switched in place, but this method has problems such as low efficiency and high safety risks. With the development of automation technology, coke oven inspection robots are gradually being used in industrial production to achieve automated and intelligent inspections.

[0003] However, the existing coke oven inspection robots still have problems in practical applications. For example, the coke oven basement and flue corridor are on different planes, and the inspection tracks of the coke oven inspection robots are independent of each other, resulting in the coke oven inspection robots being able to inspect only their respective areas and being unable to adapt well to the inspection environment inside the coke oven. In addition, the use of two coke oven inspection robots increases the project cost. This problem limits the inspection and use of the coke oven inspection robots in the coke oven basement and flue corridor environments. Therefore, a new type of track layout is urgently needed to solve these problems. Summary of the invention

[0004] The present invention provides a layered track and inspection method for a coke oven inspection robot, which enables the coke oven inspection robot to perform double-layer inspection of a coke oven basement and a flue corridor, reduces engineering costs, and ensures the safety and stability of coke oven operation.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A layered track for a coke oven inspection robot comprises an upper track, a hoisting bracket, a lower track and an inclined layer-changing track, wherein the hoisting brackets are respectively arranged at the top of the coke oven flue corridor and the top of the coke oven basement, the upper track is arranged on a plurality of hoisting brackets at the top of the coke oven flue corridor, the lower track is arranged on a plurality of hoisting brackets at the top of the coke oven basement, the inclined layer-changing track is arranged between the coke oven flue corridor and the coke oven basement through the hoisting bracket, and the inclined layer-changing track connects the upper track and the lower track, the height of the hoisting bracket at the top of the coke oven flue corridor ensures that the camera and the exhaust gas switch of the coke oven inspection robot are kept on the same horizontal plane, and the height of the hoisting bracket at the top of the coke oven basement ensures that the camera and the basement exchange switch of the coke oven inspection robot are on the same horizontal plane.

[0007] Furthermore, it also includes a curved track, which includes a concave curved track and a convex curved track. The concave curved track and the convex curved track have the same structure and opposite curve directions. The concave curved track connects the inclined layer-changing track and the lower track, and the convex curved track connects the inclined layer-changing track and the upper track.

[0008] Furthermore, the curved track includes a curved top wing plate, a curved support beam and a curved bottom wing plate, the curved top wing plate, the curved support beam and the curved bottom wing plate have the same curvature, the curved top wing plate is arranged on the top of the curved support beam, the curved bottom wing plate is arranged on the bottom of the curved support beam, the curved top wing plate is provided with bolt holes, and the curved track is fixedly connected to the lifting bracket by installing bolts at the bolt holes.

[0009] Furthermore, the hanging bracket includes an extension bracket and a fixing piece, the fixing piece is arranged on the bottom cross beam of the extension bracket, and the upper track, the lower track, the curved track and the inclined layer-changing track are fixedly connected to the fixing piece by bolts.

[0010] Furthermore, the upper rail and the lower rail each include a top wing plate, a support beam and a bottom wing plate, the top wing plate is vertically arranged to the support beam, the top wing plate is arranged at the lower part of the hanging bracket, the bottom wing plate is a groove-type structure, the bottom of the groove is connected to the support beam, the bottom wing plate is arranged at the bottom of the support beam, the top wing plate is provided with bolt holes, and the upper rail and the lower rail are fixedly connected to the hanging bracket by installing bolts at the bolt holes.

[0011] Furthermore, the spacing between the hoisting brackets is 1 to 2 m.

[0012] Furthermore, the inclination angle of the inclined layer-changing track is smaller than the maximum climbing angle of the coke oven inspection robot.

[0013] A patrol method for a layered track of a coke oven patrol robot, wherein a wireless charging module matching the patrol robot is provided at a starting position of the layered track, and after the coke oven patrol robot stops charging and leaves the wireless charging module, it enters the upper track according to a path planning algorithm to patrol the coke oven flue corridor. When the patrol task of the coke oven flue corridor is completed, the coke oven patrol robot starts to perform the patrol task of the coke oven basement. The coke oven patrol robot leaves the upper track through a curved track, drives into an inclined layer-changing track to perform a downhill operation, and then drives into the lower track through a curved track between the inclined layer-changing track and the lower track to perform the patrol task of the coke oven basement. When performing the patrol task of the coke oven basement, the coke oven patrol robot is guided by a path planning algorithm to patrol the pipelines that need to be inspected. Finally, the coke oven patrol robot leaves the lower track through the curved track, drives into the inclined layer-changing track to perform a climbing operation, and then drives into the upper track through the curved track, returns to the charging position to charge, and finally ends this patrol task.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1) The layered track connects the tracks of different planes in the coke oven flue corridor and the basement in space, thereby improving the applicability of the coke oven inspection robot to the coke oven basement and flue corridor, and effectively reducing the construction cost of the coke oven inspection robot system;

[0016] 2) The curved track enables the robot to run smoothly between different tracks and switch quickly, thus improving the flexibility and efficiency of inspection;

[0017] 3) Wireless charging of the coke oven inspection robot is realized through the wireless charging module, saving time and improving efficiency;

[0018] 4) The layered track and inspection method invented by this method realizes the layered inspection of the coke oven flue, coke oven basement and flue corridor, and the inspection robot efficiently plans the inspection route through the path planning algorithm, greatly improving the inspection efficiency;

[0019] 5) This device has broad application prospects and is of great significance to improving the stability and safety of coke oven operation. It also has important industrial application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 It is a schematic diagram of the straight track structure of the upper track and the lower track of the present invention.

[0022] Figure 3 It is a schematic diagram of the concave curved track structure of the present invention.

[0023] Figure 4 It is a schematic diagram of the convex curved track structure of the present invention.

[0024] Figure 5 It is a schematic diagram of the installation position of the coke oven inspection robot and the layered track according to the present invention.

[0025] Figure 6 It is a schematic diagram of the structure of the lifting bracket of the present invention.

[0026] In the figure: 1. Upper track 2. Lower track 3. Inclined level-changing track 4. Curved track 5. Top wing 6. Bottom wing 7. Support beam 8. Curved top wing 9. Curved support beam 10. Curved bottom wing 11. Concrete foundation 12. Extension bracket 13. Bolt hole 14. Fixing piece DETAILED DESCRIPTION

[0027] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings:

[0028] See Figure 1 , is a structural schematic diagram of the present invention. The present invention is a layered track for a coke oven inspection robot, comprising an upper track 1, a hoisting bracket, a lower track 2, a curved track 4 and an inclined layer-changing track 3, wherein the hoisting brackets are respectively arranged at the top of the coke oven flue corridor and the top of the coke oven basement, the upper track 1 is arranged on a plurality of hoisting brackets at the top of the coke oven flue corridor, the lower track 2 is arranged on a plurality of hoisting brackets at the top of the coke oven basement, the inclined layer-changing track 3 is arranged between the coke oven flue corridor and the coke oven basement through the hoisting bracket, and the curved track 4 comprises a concave The concave curved track and the convex curved track have the same structure and opposite curve directions. The concave curved track connects the inclined layer-changing track 3 and the lower track 2, and the convex curved track connects the inclined layer-changing track 3 and the upper track 1. The height of the hoisting bracket at the top of the coke oven flue corridor ensures that the camera of the coke oven inspection robot and the exhaust gas switch remain on the same horizontal plane. The height of the hoisting bracket at the top of the coke oven basement ensures that the camera of the coke oven inspection robot and the basement exchange lever are on the same horizontal plane.

[0029] See Figure 2 , is a schematic diagram of the straight track structure of the upper track 1 and the lower track 2, the upper track 1 and the lower track 2 both include a top wing plate 5, a support beam 7 and a bottom wing plate 6, the top wing plate 5 is vertically arranged with the support beam 7, the top wing plate 5 is provided with a bolt hole 13 matching the hanging bracket, the top wing plate 5 is arranged at the lower part of the hanging bracket, the bottom wing plate 6 is a groove type structure, the bottom of the groove is connected to the support beam 7, the bottom wing plate 6 is arranged at the bottom of the support beam 7, the upper track 1 and the lower track 2 are fixedly connected to the hanging bracket by installing bolts at the bolt holes 13.

[0030] See Figure 3-4 The curved track 4 includes a curved top wing plate 8, a curved support beam 9 and a curved bottom wing plate 10. The curved top wing plate 8, the curved support beam 9 and the curved bottom wing plate 10 have the same curvature. The curved top wing plate 8 is arranged on the top of the curved support beam 9, and the curved bottom wing plate 10 is arranged on the bottom of the curved support beam 9. Bolt holes 13 are provided on the curved top wing plate 8, and the curved track 4 is fixedly connected to the lifting bracket by installing bolts at the bolt holes 13.

[0031] See Figure 6 The hanging bracket includes an extension bracket 12 and a fixing member 14. The fixing member 14 is arranged on the bottom cross beam of the extension bracket 12. The upper track 1, the lower track 2, the curved track 4 and the inclined layer-changing track 3 are fixedly connected to the fixing member 14 by bolts.

[0032] The upper track 1 uses 50mm×50mm×5mm angle steel to make a lifting bracket for the corresponding position of the track, and uses four expansion screws to connect the lifting bracket to the concrete foundation 11 at the top of the coke oven flue corridor or weld the lifting bracket to the steel structure column of the flue corridor, and the spacing between adjacent lifting brackets is 1.5m. Four bolts are used to fix the upper track 1 of the coke oven inspection robot and each corresponding lifting bracket. This part is installed in the coke oven flue corridor, and its function is to support the coke oven inspection robot in the flue corridor, and the height of the lifting bracket needs to ensure that the camera and exhaust gas switch of the coke oven inspection robot remain on the same horizontal plane.

[0033] The lower track 2 uses 50mm×50mm×5mm angle steel to make a lifting bracket for the corresponding position of the track, and four expansion screws are used to directly connect the lifting bracket to the concrete foundation 11 on the top of the coke oven basement, and the distance between adjacent lifting brackets is 1.5m. Four bolts are used to fix the lower track 2 of the coke oven inspection robot and each corresponding lifting bracket. The track of the coke oven basement inspection robot is arranged next to the coke oven gas pipeline or blast furnace gas pipeline to be inspected, and is used to support the coke oven inspection robot in the coke oven basement for inspection. At the same time, it is necessary to ensure that the camera of the coke oven inspection robot and the basement exchange switch are on the same horizontal plane.

[0034] The inclined layer-changing track 3 uses 50mm×50mm×5mm angle steel to make the corresponding lifting bracket of the track, and four expansion screws are used to directly connect the lifting bracket to the concrete foundation 11 on the top of the coke oven basement, and the distance between adjacent lifting brackets is 1.5m. Four bolts are used to fix the inclined layer-changing track 3 of the coke oven inspection robot and each corresponding lifting bracket, and the inclination angle of the inclined layer-changing track 3 needs to be smaller than the maximum climbing angle of the coke oven inspection robot. Curved tracks 4 are reserved at both ends of the inclined layer-changing track 3 for the coke oven inspection robot to switch tracks, so that the robot can run smoothly and switch quickly between different tracks, thereby improving the flexibility and efficiency of inspection.

[0035] See Figure 5 A method for inspecting a layered track of a coke oven inspection robot, wherein the coke oven inspection robot moves along the layered track by its own drive, and a wireless charging module matching the inspection robot is provided at the starting position of the layered track. After the coke oven inspection robot stops charging and leaves the wireless charging module, it enters the upper track 1 according to a path planning algorithm to inspect the coke oven flue corridor, and the lower track 2 is responsible for the inspection of the coke oven inspection robot in the coke oven basement, and the inclined layer-changing track 3 is responsible for the switching of the coke oven inspection robot between the upper track 1 and the lower track 2, and the curved track 4 is used to connect the upper track 1, the inclined layer-changing track 3 and the lower track 2, and when the inspection of the coke oven flue corridor is finished After the inspection task, the coke oven inspection robot starts to perform the coke oven basement inspection task. The coke oven inspection robot leaves the upper track 1 through the curved track 4, drives into the inclined layer-changing track 3 to perform a downhill operation, and then drives into the lower track 2 through the curved track 4 between the inclined layer-changing track 3 and the lower track 2 to perform the coke oven basement inspection task. The coke oven inspection robot is guided by the path planning algorithm to inspect the pipelines that need to be inspected. After the basement inspection task is completed, the coke oven inspection robot leaves the lower track 2 through the curved track 4, drives into the inclined layer-changing track 3 to perform a climbing operation, and then drives into the upper track 1 through the curved track 4, returns to the initial position, returns to the charging position to charge, and ends this inspection task.

[0036] The above embodiments are implemented based on the technical solution of the present invention, and detailed implementation methods and specific operation processes are given, but the protection scope of the present invention is not limited to the above embodiments. The methods used in the above embodiments are conventional methods unless otherwise specified.

Claims

1. A layered track for a coke oven inspection robot, characterized in that: It includes an upper track, a hoisting bracket, a lower track and an inclined layer-changing track, the hoisting brackets are respectively arranged on the top of the coke oven flue corridor and the top of the coke oven basement, the upper track is arranged on multiple hoisting brackets on the top of the coke oven flue corridor, the lower track is arranged on multiple hoisting brackets on the top of the coke oven basement, the inclined layer-changing track is arranged between the coke oven flue corridor and the coke oven basement through the hoisting bracket, and the inclined layer-changing track connects the upper track and the lower track, the height of the hoisting bracket on the top of the coke oven flue corridor ensures that the camera and the exhaust gas switch of the coke oven inspection robot are kept on the same horizontal plane, and the height of the hoisting bracket on the top of the coke oven basement ensures that the camera of the coke oven inspection robot and the basement exchange switch are on the same horizontal plane.

2. The layered track for a coke oven inspection robot according to claim 1, characterized in that: It also includes a curved track, which includes a concave curved track and a convex curved track. The concave curved track and the convex curved track have the same structure and opposite curve directions. The concave curved track connects the inclined layer-changing track and the lower track, and the convex curved track connects the inclined layer-changing track and the upper track.

3. The layered track for a coke oven inspection robot according to claim 2, characterized in that: The curved track includes a curved top wing plate, a curved support beam and a curved bottom wing plate. The curved curvatures of the curved top wing plate, the curved support beam and the curved bottom wing plate are the same. The curved top wing plate is arranged on the top of the curved support beam, and the curved bottom wing plate is arranged on the bottom of the curved support beam. Bolt holes are arranged on the curved top wing plate, and the curved track is fixedly connected to the hanging bracket by installing bolts at the bolt holes.

4. The layered track for a coke oven inspection robot according to claim 2, characterized in that: The hanging bracket comprises an extension bracket and a fixing piece, wherein the fixing piece is arranged on a bottom cross beam of the extension bracket, and the upper track, the lower track, the curved track and the inclined layer-changing track are fixedly connected to the fixing piece by bolts.

5. The layered track for a coke oven inspection robot according to claim 1, characterized in that: The upper rail and the lower rail each include a top wing plate, a support beam and a bottom wing plate. The top wing plate is vertically arranged with respect to the support beam. The top wing plate is arranged at the lower part of the hanging bracket. The bottom wing plate is a groove-type structure. The bottom of the groove is connected to the support beam. The bottom wing plate is arranged at the bottom of the support beam. The top wing plate is provided with bolt holes. The upper rail and the lower rail are fixedly connected with the hanging bracket by installing bolts at the bolt holes.

6. The layered track for a coke oven inspection robot according to claim 1, characterized in that: The spacing between the hoisting brackets is 1 to 2 m.

7. The layered track for a coke oven inspection robot according to claim 1, characterized in that: The inclination angle of the inclined layer-changing track is smaller than the maximum climbing angle of the coke oven inspection robot.

8. A method for inspecting layered tracks of a coke oven inspection robot, characterized in that: A wireless charging module matching the inspection robot is provided at the starting position of the layered track. After the coke oven inspection robot stops charging and leaves the wireless charging module, it enters the upper track according to the path planning algorithm to inspect the coke oven flue corridor. When the coke oven flue corridor inspection task is completed, the coke oven inspection robot starts to perform the coke oven basement inspection task. The coke oven inspection robot leaves the upper track through the curved track, drives into the inclined layer-changing track to perform a downhill operation, and then drives into the lower track through the curved track between the inclined layer-changing track and the lower track to perform the coke oven basement inspection task. When performing the coke oven basement inspection task, the coke oven inspection robot is guided by the path planning algorithm to inspect the pipelines that need to be inspected. Finally, the coke oven inspection robot leaves the lower track through the curved track, drives into the inclined layer-changing track to perform a climbing operation, and then drives into the upper track through the curved track, returns to the charging position to charge, and finally ends this inspection task.

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