Robot system and method for adjusting coke oven door spring plunger

Abstract

The invention discloses a robot system and method for adjusting a coke oven door spring plunger. The robot system comprises a mobile platform, a robot, a tension and compression device, a nut screwing wrench and an upper controller, the mobile platform supplies power to the robot operation by moving a plurality of oven door maintenance stations covering the oven door of the coke oven which is horizontally placed; the robot places the pulling and pressing device and the nut screwing wrench at the working position, and the spring plunger on the coke oven door is adjusted through the pulling and pressing device and the nut screwing wrench; the tension and compression device measures the displacement change and the tail end force of a spring plunger of the coke oven door and the elastic coefficient of a spring on the spring plunger, and stretches or compresses the spring plunger; the nut screwing wrench is used for screwing or unscrewing a nut of the spring plunger; the upper controller controls the movement platform, the robot, the pulling and pressing device and the nut screwing wrench to act, and adjustment of the spring plunger on the coke oven door is completed. Manual climbing work is not needed, the working intensity is reduced, smoke leakage of the furnace door is reduced, and the remarkable environment-friendly effect is achieved.

Description

Technical Field

[0001] This invention relates to coke oven automation technology, and more specifically, to a robotic system and method for adjusting the spring plunger of a coke oven door. Background Technology

[0002] The coke oven door is an important component for isolating the coke oven carbonization chamber from air and for coking to take place. If the door is not properly sealed, raw coal gas will escape from the carbonization chamber, causing environmental pollution and reducing the quality of coke.

[0003] The coke oven body has a cast iron frame, and the oven door has a bladed web. A large preload is applied to the bladed web by spring plungers on the oven door, pressing the bladed web tightly against the oven frame to achieve a seal. Typically, a single oven door has more than 50 spring plungers. The main components are springs, nuts, and screws that contact the bladed web. The pressure of the screws on the bladed web is adjusted by changing the displacement of the nuts, thus regulating the spring compression.

[0004] Currently, manual replacement of spring plungers is used periodically, which cannot guarantee the stability of spring plunger performance between replacements. Alternatively, the furnace door can be placed vertically at the maintenance station to simulate the stress state of the spring plungers during actual furnace door operation, requiring manual climbing to check and adjust each one.

[0005] Due to the numerous problems such as poor safety, low efficiency, and high labor intensity of the above two methods, and the increasing environmental pressure, there is an urgent need for a robotic system and method for automatically adjusting the coke oven door. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a robotic system and method for adjusting the spring plunger of a coke oven door. This eliminates the need for manual climbing, reduces workload, minimizes smoke leakage from the oven door, and has significant environmental benefits.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The first aspect of this invention provides a robotic system for adjusting the spring plunger of a coke oven door, comprising:

[0009] A mobile platform that moves to cover multiple door maintenance stations of horizontally placed coke oven doors and powers the robot's operations;

[0010] A robot is mounted on the mobile platform; the robot is used to place the tensioning device and the nut wrench in the working position, and to adjust the spring plunger on the coke oven door through the tensioning device and the nut wrench.

[0011] A tensioning and compressing device is placed on the moving platform; the tensioning and compressing device is used to measure the displacement change and end force of the spring plunger of the coke oven door, the elastic coefficient of the spring on the spring plunger, and to stretch or compress the spring plunger.

[0012] A nut wrench is placed on the movable platform; the nut wrench is used to tighten or loosen the nut of the spring plunger.

[0013] A host controller is installed on the mobile platform; the host controller is used to control the actions of the mobile platform, robot, tensioning device, and nut wrench to complete the adjustment of the spring plunger on the coke oven door.

[0014] Preferably, the robot's end effector is equipped with a vision sensor; the vision sensor is used to collect and feed back to the host controller images of markers and spring plungers on the coke oven door, as well as point cloud data.

[0015] The robot's end flange is equipped with a robot quick-change module, which is used to quickly grasp and replace the tension and compression device and the nut wrench.

[0016] The robot's end effector is also equipped with a force sensor; the force sensor is used to sense and report back to the host controller the force conditions during the placement of the unloading structure of the nut wrench and the removal of the tension and compression device.

[0017] Preferably, the visual sensor is a 3D camera.

[0018] Preferably, the tensioning device includes an actuator and a tensioning device quick-change module disposed above the actuator;

[0019] A first support frame is provided above the actuator, and the quick-change module of the tension / compression device is installed on the first support frame. A second support frame is provided below the actuator. The actuator is connected to the upper controller.

[0020] The quick-change module for the tension / compression device is compatible with the quick-change module for the robot.

[0021] The tensioning and compression device stretches or compresses the spring plunger through the actuator, so that the end of the spring plunger reaches a specified position and generates a specified force.

[0022] Preferably, the nut wrench includes an electric actuator, a wrench quick-change module located at the end of the electric actuator, and a bit and a force-relieving structure located at the actuating end of the electric actuator;

[0023] The electric actuator is used to drive the bit to rotate, thereby tightening or loosening the spring plunger nut; the electric actuator is connected to the host controller;

[0024] The wrench quick-change module is compatible with the robot quick-change module;

[0025] The bit is matched with the spring plunger nut;

[0026] The stress-relieving structure engages with the coke oven door to reduce the load on the robot caused by the reaction force of the nut wrench during the nut-tightening process.

[0027] A second aspect of the present invention provides a method for adjusting the spring plunger of a coke oven door, comprising the following steps:

[0028] S1, Adjust the coke oven door to a horizontal position;

[0029] S2, the mobile platform moves to the preset position;

[0030] S3, the host controller plans the robot's calibration path;

[0031] S4, the robot quickly grabs the tensioning and compression device and places it on the spring plunger. The tensioning and compression device begins to compress. When the tensioning and compression device compresses the spring plunger to the point of contact force, the robot releases the tensioning and compression device.

[0032] S5, the tensioning and compression device compresses the spring plunger to the target compression amount and then stops;

[0033] S6, the robot quickly grabs the nut wrench and places it in place;

[0034] S7, the upper controller obtains the force feedback data of the tension and compression device in real time, and sets different adjustment target forces according to the number of the spring plunger, and controls the nut wrench to tighten or loosen until the spring plunger nut reaches the adjustment target force;

[0035] S8, the robot takes the nut wrench and puts it back on the mobile platform;

[0036] S9. After the robot docks with the tensioning device, the tensioning device is stretched until it disengages from the spring plunger. The robot then removes the tensioning device and places it back on the mobile platform.

[0037] S10. Repeat steps S2 to S9 to complete the adjustment of all spring plungers on the coke oven door.

[0038] Preferably, in step S2, during the process of the mobile platform moving to the preset position, the vision sensor on the robot identifies the markers on the coke oven door, thereby obtaining the positioning deviation compensation amount of the mobile platform.

[0039] Preferably, in step S3, during the process of the host controller planning the robot's calibration path:

[0040] The visual sensors on the robot collect and return images and point cloud data of the spring plunger of the coke oven door. The host controller obtains the position and orientation of the spring plunger based on the images and point cloud data, and completes the path planning for the robot to adjust the spring plunger.

[0041] Preferably, the process of step S4 is as follows:

[0042] The robot moves to the placement position of the tension and compression device, and the robot's quick-change module engages with the quick-change module of the tension and compression device to complete the rapid gripping of the tension and compression device.

[0043] The robot places the tensioning and compression device on the spring plunger of the coke oven door, and the tensioning and compression device begins to perform compression operations;

[0044] When there is contact force at the end of the spring plunger, the tension-compression device stops compressing, and the robot quickly changes modules to release the tension-compression device.

[0045] Preferably, during the compression of the spring plunger, the robot adopts a force floating mode and collects force sensor data in real time. At this time, the robot is subjected to a corresponding reaction force, and the robot quickly adjusts its end effector posture accordingly.

[0046] Preferably, in step S5, during the process of the tensioning and compressing device compressing the spring plunger to the target compression amount:

[0047] Based on the displacement and force data of the spring plunger end fed back by the tensioning and compression device, the spring coefficient of the spring on the spring plunger is obtained in order to track the performance of the spring.

[0048] Preferably, the process of step S6 is as follows:

[0049] The robot moves to the position of the nut wrench, and the robot's quick-change module engages with the wrench's quick-change module to quickly grasp the nut wrench.

[0050] The robot carries the nut wrench to the top of the spring plunger corresponding to the tensioning device, places the force-relieving structure of the nut wrench on the coke oven door and puts it in place, and places the bit of the nut wrench on the nut of the spring plunger and puts it in place.

[0051] Preferably, during the placement of the unloading structure, the robot adopts a compliant control mode. The robot moves near the preset pose according to a preset search trajectory, collects force sensor data in real time, thereby determining the insertion point of the unloading structure, and places the unloading structure on the coke oven door and into place.

[0052] Preferably, in step S9, during the docking process between the robot and the tension / compression device, the robot adopts a compliant control mode. The robot moves near the preset pose according to a preset search trajectory, collects force sensor data in real time, and finds the insertion position of the robot quick-change module, completing the docking by conforming to the interface of the tension / compression device quick-change module.

[0053] The present invention provides a robotic system and method for adjusting the spring plunger of a coke oven door, which not only solves many problems existing in the prior art such as poor safety, low efficiency, and high labor intensity of coke oven doors, but also eliminates the need for manual climbing, reduces labor intensity, and reduces smoke leakage from the oven door, thus having a significant environmental protection effect. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the robot system for adjusting the spring plunger of a coke oven door according to the present invention;

[0055] Figure 2 This is a schematic diagram of the robot system for adjusting the spring plunger of a coke oven door according to the present invention;

[0056] Figure 3 This is a schematic diagram of the structure of the mobile platform of the present invention;

[0057] Figure 4 This is a schematic diagram of the tension / compression device of the present invention;

[0058] Figure 5 This is a schematic diagram of the nut wrench of the present invention;

[0059] Figure 6 This is a schematic diagram of the force-relieving structure of the present invention inserting a spring plunger;

[0060] Figure 7 This is a flowchart of the method for adjusting the spring plunger of a coke oven door according to the present invention;

[0061] Figure 8 This is a schematic diagram of the adjustment process of the spring plunger for the coke oven door according to the present invention;

[0062] Figure 9 This is a flowchart of a method for adjusting the spring plunger of a coke oven door according to an embodiment of the present invention;

[0063] In the diagram, 100 is the coke oven door; 101 is the spring plunger; 1011 is the nut; 1012 is the stopper rod; 102 is the marker; 200 is the tension / compression device; 201 is the actuator; 202 is the quick-change module for the tension / compression device; 203 is the first support frame; 204 is the second support frame; 300 is the nut wrench; 301 is the screwdriver bit; 302 is the quick-change module for the wrench; 303 is the electric actuator; 304 is the force-relieving structure; 400 is the robot; 401 is the quick-change module for the robot; 402 is the force sensor; 500 is the moving platform; 501 is the first placement rack; 502 is the second placement rack; 600 is the vision sensor; 700 is the host controller; and 800 is the oven door maintenance station. Detailed Implementation

[0064] To better understand the above-mentioned technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0065] Combination Figures 1-3 As shown, the present invention provides a robot system for adjusting the spring plunger of a coke oven door, including a mobile platform 500, a robot 400, a tensioning device 200, a nut wrench 300, and a host controller 700.

[0066] Combination Figure 3 As shown, the mobile platform 500 has automatic navigation and obstacle avoidance functions, and moves to cover multiple oven door maintenance stations 800 of the horizontally placed coke oven door 100, and provides power for the operation of the robot 400. The mobile platform 500 is equipped with a first placement rack 501 for placing the tensioning device 200 and a second placement rack 502 for placing the nut wrench 300.

[0067] Combination Figure 3 As shown, robot 400 is mounted on mobile platform 500; robot 400 is used to place tensioning device 200 and nut wrench 300 in working positions, and to adjust spring plunger 101 on coke oven door 100 using tensioning device 200 and nut wrench 300. A vision sensor 600 is installed at the end of robot 400; vision sensor 600 is used to collect and transmit images and point cloud data of marker 102 and spring plunger 101 on coke oven door 100 to the host controller 700; vision sensor 600 is a 3D camera. Combined with... Figure 3 As shown, a robot quick-change module 401 is installed on the end flange of the robot 400. This quick-change module 401 is used to quickly grasp and replace the tension / compression device 200 and the nut wrench 300. The end of the robot 400 is also equipped with a force sensor 402; the force sensor 402 is used to sense and report the force conditions of the nut wrench 300 during the placement of the unloading structure 304 and the removal of the tension / compression device 200 to the host controller 700.

[0068] Combination Figure 3 As shown, the tension / compression device 200 is placed on the moving platform 500; this tension / compression device 200 is used to measure the displacement change and end force of the spring plunger 101 of the coke oven door 100, the elastic coefficient of the spring on the spring plunger 101, and to stretch or compress the spring plunger 101. Combined with... Figure 4 As shown, the tension / compression device 200 includes an actuator 201 and a quick-change module 202 positioned above the actuator 201. A first support frame 203 is located above the actuator 201, and the quick-change module 202 is mounted on the first support frame 203. A second support frame 204 is located below the actuator 201. The actuator 201 is connected to a host controller 700, feeding back the status of the spring plunger 101 to the host controller 700 via a network and receiving commands from the host controller 700. The tension / compression device 200 stretches or compresses the spring plunger 101 through the actuator 201, causing the end of the spring plunger 101 to reach a specified position or generate a specified force. The quick-change module 202 is matched with the robot quick-change module 401 on the robot 400.

[0069] Combination Figure 3 As shown, a nut wrench 300 is placed on a movable platform 500; this nut wrench 300 is used to tighten or loosen the nut of the spring plunger 101. (Combined with...) Figure 5 As shown, the nut wrench 300 includes an electric actuator 303, a quick-change module 302 at the end of the electric actuator 303, a bit 301 at the actuating end of the electric actuator 303, and a force-relieving structure 304. The electric actuator 303 drives the bit 301 to rotate, thereby tightening or loosening the spring plunger 101 and the nut 1011. The electric actuator 303 is network-connected to the host controller 700. The electric actuator 303 of the nut wrench 300 is electrically driven, and it controls the number of turns of the bit 301 in tightening the nut according to the instructions of the host controller 700. The quick-change module 302 is matched with the robot quick-change module 401 on the robot 400, facilitating the connection between the robot 400 and the nut wrench 300 for quick gripping of the nut wrench 300. The bit 301 is matched with the spring plunger 101 and nut 1011; specifically, the inner cross-sectional shape of the end of the bit 301 is similar to that of the nut of the spring plunger 101, and can be fitted into the nut of the spring plunger 101. The stress-relieving structure 304 is in contact with the coke oven door 100; combined with Figure 6 As shown, the unloading structure 304 can be inserted into the arc-shaped shape of the spring plunger 101 and make close contact to reduce the load on the robot 400 caused by the reaction force of the nut wrench 300 during the nut tightening process.

[0070] Combination Figure 1 , Figure 3 As shown, a host controller 700 is mounted on the mobile platform 500. This host controller controls the actions of the mobile platform 500, robot 400, tension / compression device 200, and nut wrench 300 to complete the adjustment of the spring plunger 101 on the coke oven door 100. The host controller 700 drives the mobile platform 500 to move and obtains the positioning deviation compensation amount of the mobile platform 500 based on the image information collected by the vision sensor 600 on the robot 400, ensuring that the mobile platform 500 moves to the preset position. The host controller 700 receives information in real time from the vision sensor 600 and force sensor 402 of the robot 400 and the tension / compression device 200, and plans the adjustment path of the robot 400 and controls the actions of the tension / compression device 200 and nut wrench 300, thereby completing the adjustment of the spring plunger 101 on the coke oven door 100. Before adjusting the spring plunger on the coke oven door, the host controller can set different adjustment target forces and target positions according to the spring plunger number.

[0071] Combination Figure 7 , Figure 8 As shown, the present invention also provides a method for adjusting the spring plunger 101 of a coke oven door 100, comprising the following steps:

[0072] S1, the coke oven door 100 is adjusted to a horizontal position;

[0073] S2, the mobile platform 500 moves to the preset position;

[0074] During the process of the mobile platform 500 moving to the preset position, the vision sensor 600 on the robot 400 identifies the marker 102 on the coke oven door 100 and calculates the positioning deviation compensation amount of the mobile platform 500, thereby ensuring that the mobile platform 500 moves to the preset position.

[0075] S3, the host controller 700 plans the calibration path for the robot 400;

[0076] The vision sensor 600 on the robot 400 collects and feeds back the image and point cloud data of the spring plunger 101 of the coke oven door 100. The host controller 700 obtains the contour features of the spring plunger 101 based on the image and point cloud data, and calculates the position and orientation of the spring plunger 101, thereby completing the path planning for the robot 400 to adjust the spring plunger 101.

[0077] S4, the robot 400 quickly grabs the tensioning device 200 and places it on the spring plunger 101. The tensioning device 200 begins to compress. When the tensioning device 200 compresses the spring plunger 101 to the point of contact force, the robot 400 releases the tensioning device 200.

[0078] The robot 400 moves to the placement position of the tension and compression device 200, and the robot quick change module 401 engages with the tension and compression device quick change module 202 to complete the quick gripping of the tension and compression device 200.

[0079] The robot 400 places the tensioning and pressing device 200 on the spring plunger 101 of the coke oven door 100, and the tensioning and pressing device 200 begins to perform compression operations;

[0080] When there is contact force at the end of the spring plunger 101, the tension-compression device 200 stops compressing, and the robot quick-change module 401 releases the tension-compression device 200.

[0081] During the initial compression of the spring plunger 101 by the aforementioned tension / compression device 200, the robot 400 adopts a force-floating mode and collects data from the force sensor 402 in real time. At this time, the robot 400 receives a corresponding reaction force, and the robot 400 quickly adjusts its end-effector posture accordingly. During the above process, the tension / compression device 200 and the spring plunger 101 go from non-contact to contact. At the moment of contact, the tension / compression device is subjected to the reaction force of the spring plunger 101, which causes the tension / compression device 200 to tend to change its posture. At this time, the robot 400 quickly adjusts its end-effector posture to conform to the trend of change, thereby reducing the reaction force on the robot and avoiding overload.

[0082] S5, the tensioning device 200 compresses the spring plunger 101 to the target compression amount and then stops;

[0083] The tension-compression device 200 compresses the spring plunger 101 to the target compression amount set by the upper controller 700 and then stops compressing. Before the tension-compression device 200 compresses the spring plunger 101, the upper controller 700 can set different adjustment target forces and target positions according to the number of the spring plunger 101, thereby controlling the target compression amount of the tension-compression device 200.

[0084] In the above process, based on the displacement and force data of the end of the spring plunger 101 fed back by the tension and compression device 200, the elastic coefficient of the spring on the spring plunger 101 is obtained in order to track the performance of the spring.

[0085] S6, Robot 400 quickly grabs nut wrench 300 and places nut wrench 300 in place;

[0086] The robot 400 moves to the placement position of the nut wrench 300, and the robot quick change module 401 engages with the wrench quick change module 302 to complete the quick gripping of the nut wrench 300.

[0087] The robot 400 carries the nut wrench 300 above the spring plunger 101 corresponding to the tension and compression device 200, places the unloading structure 304 of the nut wrench 300 on the coke oven door 100 and puts it in place, and places the bit 301 of the nut wrench 300 on the nut of the spring plunger 101 and puts it in place.

[0088] During the placement of the unloading structure 304, the robot 400 adopts a compliant control mode. The robot 400 moves near the preset pose according to the preset search trajectory, collects data from the force sensor 402 in real time, thereby determining the insertion point of the unloading structure 304, and places the unloading structure 304 on the coke oven door 100 and into position.

[0089] S7, the upper controller 700 acquires the force feedback data of the tension and compression device 200 in real time, and sets different adjustment target forces according to the number of the spring plunger 101, and controls the nut wrench 300 to tighten or loosen the spring plunger 101 and nut 1011 to the adjustment target force.

[0090] The upper controller 700 acquires the force feedback data measured by the tension and compression device 200 in real time. It can set different adjustment target forces according to the number of the spring plunger 101 and control the electric actuator 303 of the nut wrench 300 to slowly tighten or loosen the nut 1011 to the set pressure range.

[0091] S8, robot 400 takes the nut wrench 300 and puts it back on the mobile platform 500;

[0092] Robot 400 takes away nut wrench 300 and retrieves it onto the second placement rack 502 placed on mobile platform 500;

[0093] S9, after the robot 400 docks with the tensioning device 200, the tensioning device 200 is stretched until it is disengaged from the spring plunger 101, and the robot 400 takes away the tensioning device 200 and puts it back on the mobile platform 500.

[0094] During the docking process between the robot 400 and the tension / compression device 200, the robot 400 adopts a compliant control mode. The robot 400 moves near the preset pose according to the preset search trajectory, collects data from the force sensor 402 in real time, and finds the insertion position of the robot quick-change module 401, and completes docking by conforming to the interface of the tension / compression device quick-change module 202.

[0095] The tensioning device 200 is stretched out of the spring plunger 101, and the robot 400 takes the tensioning device 200 and puts it back on the first placement rack 501 on the mobile platform 500.

[0096] S10. Repeat steps S2 to S9 to complete the adjustment of all spring plungers 101 on the coke oven door 100.

[0097] Example

[0098] Combination Figure 9 As shown, this embodiment uses the robot system for adjusting the spring plunger of the coke oven door according to the present invention to adjust the spring plunger of the coke oven door, specifically including the following steps:

[0099] S101. Adjust the coke oven door to a horizontal position.

[0100] S102. The mobile platform moves to the preset position. The vision sensor on the robot identifies the marker on the coke oven door and calculates the positioning deviation compensation amount of the mobile platform to ensure that the mobile platform moves to the preset position.

[0101] S103. The robot's visual sensors collect images and point cloud data of the spring plunger, calculate its position and orientation using the spring plunger's contour features, and complete the robot's path planning.

[0102] S104. The robot moves to the gripping position of the spring plunger tension and compression device, and the robot quickly changes modules and the tension and compression device quickly changes modules to engage, completing the gripping.

[0103] S105. The robot places the tensioning and compression device on the spring plunger. The tensioning and compression device begins to compress. The tensioning and compression device contracts and contacts the spring plunger rod. There is contact force data at the end of the spring plunger. The tensioning and compression device stops contracting and the robot quick-change module releases the tensioning and compression device.

[0104] During the contraction process of the tension and compression device, the robot adopts a force floating mode, collects force sensor data in real time, and the tension and compression device contacts the spring plunger and is subjected to its reaction force, which causes a change in posture. Based on this, the robot can quickly adjust the end-effector posture.

[0105] S106. After the tension and compression device continues to operate and reaches the set target compression amount, it stops compressing. At the same time, the robot moves to the position where the nut wrench is placed. The robot quick change module and the wrench quick change module engage to complete the gripping.

[0106] S107. The robot carries a nut wrench, and the unloading device is placed on the coke oven door and in position. The wrench head is placed on the locking nut and in position.

[0107] During the placement of the unloading device, the robot adopts a compliant control mode. The robot moves around the preset pose according to the preset search trajectory, collects force sensor data in real time, and finds the optimal force state to determine the insertion point of the unloading device.

[0108] S108: The upper controller collects the force feedback data of the tension and compression device in real time, and sets different adjustment target forces according to the number of the spring plunger, controlling the electric actuator of the wrench to slowly tighten or loosen to the adjustment target force.

[0109] S109. The robot takes away the nut wrench and puts it back in the storage rack.

[0110] S110. After the robot docks with the tensioning device, the tensioning device extends to disengage from the spring plunger. The robot uses the robot quick module replacement function to quickly replace the module and put the tensioning device back into the placement rack.

[0111] During the docking process between the robot and the tension / compression device, the robot adopts a compliant control mode. The robot moves around the preset pose according to the preset search trajectory, collects force sensor data in real time, and finds the insertion position of the robot's quick-change module. It then completes the docking by conforming to the quick-change module interface of the tension / compression device.

[0112] S111. Repeat steps S102 to S110 until all spring plungers of the furnace door are adjusted.

[0113] In summary, the robot system and method for adjusting the spring plunger of the coke oven door of the present invention can solve many problems existing in the prior art, such as poor safety, low efficiency, and high labor intensity. By adjusting the horizontally placed spring plunger of the coke oven door through the robot system, manual work is not required to climb high, reducing labor intensity and reducing smoke leakage from the oven door, which has significant environmental protection effects.

[0114] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A robotic system for adjusting the spring plunger of a coke oven door, characterized in that, include A mobile platform that moves to cover multiple door maintenance stations of horizontally placed coke oven doors and powers the robot's operations; A robot is mounted on the mobile platform; the robot is used to place the tensioning device and the nut wrench in the working position, and to adjust the spring plunger on the coke oven door through the tensioning device and the nut wrench. The tension / compression device is placed on the mobile platform; This tension-compression device is used to measure the displacement change and end force of the spring plunger of the coke oven door, the elastic coefficient of the spring on the spring plunger, and to stretch or compress the spring plunger. A nut wrench is placed on the movable platform; the nut wrench is used to tighten or loosen the nut of the spring plunger. A host controller is installed on the mobile platform; the host controller is used to control the actions of the mobile platform, robot, tensioning device, and nut wrench to complete the adjustment of the spring plunger on the coke oven door.

2. The robot system for adjusting the spring plunger of a coke oven door according to claim 1, characterized in that: The robot's end effector is equipped with a vision sensor; the vision sensor is used to collect and feed back to the host controller images of markers and spring plungers on the coke oven door, as well as point cloud data. The robot's end flange is equipped with a robot quick-change module, which is used to quickly grasp and replace the tension and compression device and the nut wrench. The robot's end effector is also equipped with a force sensor; the force sensor is used to sense and report back to the host controller the force conditions during the placement of the unloading structure of the nut wrench and the removal of the tension and compression device.

3. The robot system for adjusting the spring plunger of a coke oven door according to claim 2, characterized in that: The vision sensor is a 3D camera.

4. The robot system for adjusting the spring plunger of a coke oven door according to claim 1, characterized in that: The tensioning and pressing device includes an actuator and a quick-change module for the tensioning and pressing device located above the actuator; A first support frame is provided above the actuator, and the quick-change module of the tension / compression device is installed on the first support frame. A second support frame is provided below the actuator. The actuator is connected to the upper controller. The quick-change module for the tension / compression device is compatible with the quick-change module for the robot. The tensioning and compression device stretches or compresses the spring plunger through the actuator, so that the end of the spring plunger reaches a specified position and generates a specified force.

5. The robot system for adjusting the spring plunger of a coke oven door according to claim 1, characterized in that: The nut wrench includes an electric actuator, a wrench quick-change module located at the end of the electric actuator, and a bit and a force-relieving structure located at the actuating end of the electric actuator. The electric actuator is used to drive the bit to rotate, thereby tightening or loosening the spring plunger nut; the electric actuator is connected to the host controller; The wrench quick-change module is matched with the robot quick-change module of the robot; The bit is matched with the spring plunger nut; The stress-relieving structure engages with the coke oven door to reduce the load on the robot caused by the reaction force of the nut wrench during the nut-tightening process.

6. A method for adjusting the spring plunger of a coke oven door, characterized in that, Includes the following steps: S1, Adjust the coke oven door to a horizontal position; S2, the mobile platform moves to the preset position; S3, the host controller plans the robot's calibration path; S4, the robot quickly grabs the tensioning and compression device and places it on the spring plunger. The tensioning and compression device begins to compress. When the tensioning and compression device compresses the spring plunger to the point of contact force, the robot releases the tensioning and compression device. S5, the tensioning and compression device compresses the spring plunger to the target compression amount and then stops; S6, the robot quickly grabs the nut wrench and places it in place; S7, the upper controller obtains the force feedback data of the tension and compression device in real time, and sets different adjustment target forces according to the number of the spring plunger, and controls the nut wrench to tighten or loosen until the spring plunger nut reaches the set adjustment target force; S8, the robot takes the nut wrench and puts it back on the mobile platform; S9. After the robot docks with the tensioning device, the tensioning device is stretched until it disengages from the spring plunger. The robot then removes the tensioning device and places it back on the mobile platform. S10. Repeat steps S2 to S9 to complete the adjustment of all spring plungers on the coke oven door.

7. The method for adjusting the spring plunger of a coke oven door according to claim 6, characterized in that, In step S2, during the process of the mobile platform moving to the preset position, the vision sensor on the robot identifies the markers on the coke oven door, thereby obtaining the positioning deviation compensation amount of the mobile platform.

8. The method for adjusting the spring plunger of a coke oven door according to claim 6, characterized in that, In step S3, during the process of the upper controller planning the robot's calibration path: The visual sensors on the robot collect and return images and point cloud data of the spring plunger of the coke oven door. The host controller obtains the position and orientation of the spring plunger based on the images and point cloud data, and completes the path planning for the robot to adjust the spring plunger.

9. The method for adjusting the spring plunger of a coke oven door according to claim 6, characterized in that, The process of step S4 is as follows: The robot moves to the placement position of the tension and compression device, and the robot's quick-change module engages with the quick-change module of the tension and compression device to complete the rapid gripping of the tension and compression device. The robot places the tensioning and compression device on the spring plunger of the coke oven door, and the tensioning and compression device begins to perform compression operations; When there is contact force at the end of the spring plunger, the tension-compression device stops compressing, and the robot quickly changes modules to release the tension-compression device.

10. The method for adjusting the spring plunger of a coke oven door according to claim 9, characterized in that, During the compression of the spring plunger, the robot adopts a force floating mode and collects force sensor data in real time. At this time, the robot is subjected to a corresponding reaction force, and the robot quickly adjusts its end-effector posture accordingly.

11. The method for adjusting the spring plunger of a coke oven door according to claim 6, characterized in that, In step S5, during the process of the tensioning and compression device compressing the spring plunger to the target compression amount: Based on the displacement and force data of the spring plunger end fed back by the tensioning and compression device, the spring coefficient of the spring on the spring plunger is obtained in order to track the performance of the spring.

12. The method for adjusting the spring plunger of a coke oven door according to claim 6, characterized in that, The process of step S6 is as follows: The robot moves to the position of the nut wrench, and the robot's quick-change module engages with the wrench's quick-change module to quickly grasp the nut wrench. The robot carries the nut wrench to the top of the spring plunger corresponding to the tensioning device, places the force-relieving structure of the nut wrench on the coke oven door and puts it in place, and places the bit of the nut wrench on the nut of the spring plunger and puts it in place.

13. The method for adjusting the spring plunger of a coke oven door according to claim 11, characterized in that, During the placement of the unloading structure, the robot adopts a compliant control mode. The robot moves around the preset pose according to the preset search trajectory, collects force sensor data in real time, thereby determining the insertion point of the unloading structure, and places the unloading structure on the coke oven door and into place.

14. The method for adjusting the spring plunger of a coke oven door according to claim 6, characterized in that, In step S9, during the docking process between the robot and the tension / compression device, the robot adopts a compliant control mode. The robot moves near the preset pose according to the preset search trajectory, collects force sensor data in real time, and finds the insertion position of the robot quick-change module. The docking is completed by conforming to the interface of the quick-change module of the tension / compression device.

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