Coke oven door maintenance smoke abatement service vehicle with balancing device and control method thereof

Abstract

The invention belongs to the technical field of smelting in the iron and steel industry, and discloses a coke oven door overhauling smoke abatement service vehicle with a balancing device and a control method thereof.The coke oven door overhauling smoke abatement service vehicle comprises a movable vehicle body, a walking driving mechanism, a lifting mechanism, an operation platform, a control system, a power supply system and a hydraulic system; a fixing structure used for installing a walking driving mechanism is arranged on the lower portion of the base. The existing operation dependence bottleneck is broken through, four sets of AGV steering wheel assembly systems of the walking driving mechanism can achieve multi-mode movement such as advancing, transverse movement and in-situ rotation, the overall direction does not need to be adjusted during multi-furnace-door switching, direct transverse movement is achieved, the switching time is greatly shortened, the movable platform of the operation platform extends along the sliding way through the rolling wheels, the operation coverage range is expanded, and the operation efficiency is improved. Smoking furnace doors can be treated in time, diffusion of high-temperature dust and poisonous and harmful gas is avoided, the operation rhythm is improved, and the problem that multiple furnace doors fail to smoke at the same time is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the steel industry smelting technical field, and particularly relates to a coke oven door maintenance smoke elimination service vehicle with a balancing device and a control method thereof. BACKGROUND

[0002] In the coke oven circulating coking production process, the ambient temperature is very high and a large amount of smoke and flammable gas is generated. In a steel smelting plant, due to the frequent opening and closing of the coke oven door and other actions, and the aging of the equipment, the sealing performance of the door frame of the coke oven door is continuously reduced, thereby causing problems such as smoke and fire from the coke oven door during production. The smoke from the coke oven door is one of the important sources of pollution emission in coke oven production. The coke oven flue gas contains a large amount of high-temperature dust particles and toxic and harmful gases and other pollutants, therefore, once the coke oven flue gas runs, spreads and diffuses, it will inevitably cause the deterioration of the surrounding operating environment, threaten the health of the coke oven area operators and cause air pollution.

[0003] At present, the coke oven door system in the steel coking has the following problems: 1. There is no independent smoke elimination service vehicle on the coke oven pushing side and the coke discharging side platform, and the coke oven door smoke sealing, maintenance and other operations rely on workers operating on the coke pushing car and the coke blocking car, which not only wastes time and effort, but also has great safety hazards due to the high-temperature and smoky operating environment; 2. The existing operation mode can only seal the smoke of the coke oven door at the previous coking position when the coke car moves to the next working position, if the smoke from the coke oven door is far away from the coke pushing car and the coke blocking car, the coke car needs to move to the smoke from the coke oven door after completing the current coke pushing operation, which causes the smoke from the coke oven door to be not timely treated, which not only disrupts the normal operation rhythm, but also causes the diffusion of high-temperature dust particles, toxic and harmful gases and pollution of the surrounding environment; 3. When multiple coke oven doors smoke at the same time, the existing equipment cannot cope with it at the same time, which easily causes the situation of losing one to gain the other and being overwhelmed, further aggravating the problems of environmental pollution and low operation efficiency. SUMMARY

[0004] In order to solve the problems of "no independent equipment, low treatment efficiency, great safety hazards and insufficient response ability for multiple coke oven door operations" in the existing coke oven door maintenance smoke elimination operation, the present application provides a coke oven door maintenance smoke elimination service vehicle with a balancing device and a control method thereof, which realizes the independence, high efficiency and safety of the coke oven door maintenance and smoke elimination operation, ensures that the smoke from the coke oven door can be timely treated, avoids the diffusion of pollutants, improves the operation rhythm, and at the same time meets the needs of multiple coke oven door operations, protects the health of the operators and ensures the safety of the operating environment.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme: The utility model provides a coke oven door maintenance smoke service car with balancing device, including mobile car body, walking drive mechanism, elevating system, operation platform, control system, power supply system and hydraulic system, the mobile car body provides the installation carrier for the whole equipment, and the lower part is equipped with the fixed structure for installing walking drive mechanism, the walking drive mechanism includes four sets of AGV rudder wheel assembly system and a group of balance beam structure, the balance beam structure is connected between two front AGV rudder wheel assembly system, is matched with bearing seat and internal bearing on the car body frame through the rotation shaft, realizes the uniform force of each rudder wheel when car body walks on the uneven ground, the elevating system adopts the scissor type structure, is connected between mobile car body and operation platform, is used to drive operation platform to go up and down, The operation platform includes fixed platform and mobile platform, the control system is electrically connected with walking drive mechanism, elevating system, power supply system, hydraulic system respectively, integrates walking control, elevating control and obstacle avoidance control function, and mobile car body around is equipped with laser radar anti -collision detection system and contact type safety touch edge, the power supply system adopts battery power supply, provides power for the whole equipment, the hydraulic system provides power for the hydraulic support of elevating system and mobile car body, the mobile car body is equipped with anti -fall function and one -key leveling function.

[0006] Preferably, the mobile car body includes car body frame, hydraulic support, control system operation box, power supply system control cabinet and hydraulic system control cabinet, the car body frame adopts welded structural member, and the lower part is equipped with rudder wheel installation fixed support and balance beam installation clamping groove, is used to fix walking drive mechanism, the hydraulic support is four groups, is installed in the bottom four corners of car body frame respectively, and each group of hydraulic support includes support bracket and support hydraulic cylinder, and the support hydraulic cylinder can drive the support bracket to go up and down and stretch out and draw back, the control system operation box, power supply system control cabinet and hydraulic system control cabinet are all fixed on the upper part of car body frame and are respectively used for integrated control system operating parts, control module of power supply system and control element of hydraulic system.

[0007] Preferably, the AGV rudder wheel assembly system includes rudder wheel, walking drive motor, rotation drive motor, large gear, small gear and rotation bearing, the walking drive motor is used to drive rudder wheel to realize equipment walking, the rotation drive motor is driven through the meshing transmission of large gear and small gear and cooperates with rotation bearing to drive rudder wheel to turn, the two front AGV rudder wheel assembly systems are fixed through the mounting seat on the balance beam structure by bolt, and the two rear AGV rudder wheel assembly systems are connected through the connecting bolt and the rudder wheel installation fixed support of the lower part of car body frame, the control system can realize the functions of equipment advancing, retreating, transverse moving, oblique moving, rotating in place and small radius turning by controlling the steering angle of four sets of AGV rudder wheel assembly systems.

[0008] Preferably, the lifting mechanism comprises a scissor, self-lubricating bushings and two lifting oil cylinders, the self-lubricating bushings are installed at each joint of the scissor to achieve maintenance-free and smooth lifting, and the scissor can be freely locked at any position during lifting, the two lifting oil cylinders are symmetrically installed inside the scissor and are powered by a hydraulic system to drive the scissor to stretch and retract in the vertical direction, thereby driving the working platform to lift, the moving platform of the working platform is laterally installed with rollers, and the fixed platform is provided with slides matched with the rollers, the moving platform can slide along the slides through the rollers to realize longitudinal extension of the working platform and expand the working coverage.

[0009] Preferably, the anti-falling function is realized by four sets of laser radars arranged at the four hydraulic legs, the laser radars detect the distance between the equipment and the ground in real time, the detection signals are transmitted to the control system, whether there is a falling risk is judged through signal comparison, and a safety protection action is triggered, the one-key leveling function is realized by position feedback devices arranged at the four hydraulic legs, the position feedback devices transmit the leg extension length signals to the control system, the control system controls the extension length of each leg hydraulic cylinder to keep the whole vehicle horizontal, and the hydraulic leg is also provided with an automatic locking structure and is equipped with an automatic level and a mechanical level, forming double horizontal protection.

[0010] Preferably, the laser radar anti-collision detection system comprises a plurality of laser radars which are respectively installed around the mobile vehicle body and the edge of the working platform, and is used for detecting personnel, objects or other equipment around the equipment, and the contact safety edge is arranged around the edge of the working platform and the side of the mobile vehicle body, when the laser radar anti-collision detection system detects a dangerous distance or the contact safety edge contacts with an external object, the control system immediately controls the walking driving mechanism to stop running.

[0011] Preferably, the power supply system comprises a battery pack and a charging controller, the battery pack adopts 8 groups of 6Vx240Ah lead-acid batteries and is installed inside the vehicle body frame, and the charging controller is used for controlling the charging process of the battery pack.

[0012] Preferably, the hydraulic system comprises a hydraulic pump, a hydraulic oil tank, a hydraulic valve group and a hydraulic pipeline, the hydraulic pump provides hydraulic power for the leg hydraulic cylinders of the hydraulic legs and the lifting oil cylinders of the lifting mechanism, the control system adjusts the flow direction and pressure of the hydraulic oil by controlling the on-off of the hydraulic valve group to realize the extension and retraction of the hydraulic legs and the lifting action of the lifting mechanism, and the control system is also integrated with a remote control operation module to support remote control of the walking, lifting and extension action of the working platform of the equipment.

[0013] Preferably, the balance beam structure is a welded rigid structure, the middle part of which is fixedly connected with the rotating shaft, the two ends of the rotating shaft are matched with bearings in the bearing seat, and the balance beam structure can freely rotate around the rotating shaft; when the equipment runs on uneven ground, the balance beam structure adjusts the height of the two front rudders through rotation self-adaption, ensures that the four groups of rudders are in contact with the ground and the force is uniform, and guarantees the stable running of the whole vehicle.

[0014] A control method of a coke oven door maintenance smoke elimination service vehicle with a balancing device, comprising the following steps: Step one: equipment starting and running preparation - the operator starts the equipment through the control system operation box or remote control module, the battery pack of the power supply system supplies power to each system, the control system self-checks whether the laser radar, laser radar anti-collision detection system and safety touch edge are normal, and after the self-checking is qualified, the equipment drives out from the charging parking position; Step two: target oven door positioning - the equipment drives along the preset path of the coke oven platform, adjusts the driving direction through the AGV rudder assembly system of the control system control walking driving mechanism, and stops driving until reaching the oven door needing maintenance or smoke elimination operation; Step three: operation posture adjustment and platform preparation - the operator operates the control system to control the equipment to rotate 90 degrees in place, so that the operation platform faces the oven door, then starts the hydraulic system to drive the scissors of the lifting mechanism to extend, lifts the operation platform to the height suitable for the oven door, pushes the moving platform to the oven door direction along the slide of the fixed platform to the required length, and locks the operation platform and the oven column with the safety rope, and the operator completes self-safety protection; Step four: oven door maintenance and smoke elimination operation - the operator performs maintenance (such as sealing performance inspection, component replacement) and smoke elimination operation (such as smoke sealing treatment, smoke collection) on the oven door on the operation platform, and the control system monitors the anti-collision and anti-falling state in real time during the operation process to ensure safety; Step five: multi-oven door operation switching - when the current oven door operation is completed, the operator releases the locking of the operation platform and the oven column, and the moving platform is retracted to the fixed platform, the control equipment is directly moved transversely to the next oven door needing operation, and steps three and four are repeated without adjusting the overall driving direction of the equipment; Step six: operation completion and equipment recovery - after all the oven door maintenance and smoke elimination operations are completed, the operator lowers the operation platform to the lowest position, controls the equipment to rotate 90 degrees in place, returns to the charging parking position along the platform path, turns off the power of the equipment, and completes the operation.

[0015] The beneficial effects of the present application are: 1. Independent high-efficiency operation, solve the problem of relying on other equipment, processing lag: the present application is a coke oven door maintenance smoke service vehicle, which can work without relying on coke pushing car and coke blocking car, breaking the existing operation dependence bottleneck, the four AGV rudder wheel assembly systems of the walking driving mechanism can realize multi-mode motion such as forward movement, transverse movement, and in-place rotation, without adjusting the overall direction when switching multiple oven doors, directly moving horizontally, greatly shortening the switching time, the moving platform of the operation platform extends along the slide through the roller, expands the operation coverage, can handle the smoking oven door in time, avoid the diffusion of high-temperature dust and toxic and harmful gas, improve the operation rhythm, solve the problem of losing one side when the other side smokes at the same time; 2. Stable driving and operation, solve the problem of uneven ground bumping and unstable operation: the balance beam structure of the walking driving mechanism is a welded rigid structure, which can freely rotate around the rotation shaft, and can automatically adjust the height of the two front rudders when walking on convex and concave ground, ensuring that the four rudders are in contact with the ground and the force is evenly distributed, ensuring stable driving of the whole vehicle, the four groups of hydraulic supports of the moving vehicle body cooperate with the one-key leveling function, accurately control the extension and contraction of the hydraulic cylinder through the position feedback device, and realize the horizontal stability of the vehicle body through the automatic locking structure and double level meters; the scissor joint of the lifting mechanism is installed with self-lubricating bushing, which can be locked at any position, ensuring the stability of the operation platform and improving the quality of maintenance and smoke elimination operation; 3. Safe and convenient, solve the problem of operation safety hazard and inconvenience: the laser radar anti-collision detection system around the moving vehicle body and the edge of the operation platform, combined with the contact safety edge arranged around, detects the dangerous distance or contacts the object, immediately controls the walking driving mechanism to stop, avoids the risk of collision, the laser radar at the hydraulic support detects the ground distance in real time, triggers the anti-falling protection, the control system integrates the remote control module, supports remote control of walking, lifting and platform extension, reduces the close operation of the operator in the high-temperature smoke environment, reduces the health risk, and the power supply system adopts 8 groups of 6V*240Ah lead-acid battery packs, cooperates with the charging controller, and the power supply is stable and easy to maintain, ensuring that the equipment is always in a usable state. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A power supply system and safety edge arrangement of a coke oven door maintenance smoke service vehicle with a balancing device are provided for the present application; Figure 2 A general assembly drawing of a coke oven door maintenance smoke service vehicle with a balancing device is provided for the present application; Figure 3 A raised state arrangement drawing of a coke oven door maintenance smoke service vehicle with a balancing device is provided for the present application; Figure 4 A radar arrangement drawing of an anti-falling system of a coke oven door maintenance smoke service vehicle with a balancing device is provided for the present application; Figure 5 A three-dimensional structural assembly drawing of a coke oven door maintenance smoke elimination service vehicle with a balancing device is proposed for the present application; Figure 6 A balancing device assembly detail drawing of a coke oven door maintenance smoke elimination service vehicle with a balancing device is proposed for the present application; Figure 7 A hydraulic outrigger detail drawing of a coke oven door maintenance smoke elimination service vehicle with a balancing device is proposed for the present application; Figure 8 A barrier avoidance system radar arrangement drawing of a coke oven door maintenance smoke elimination service vehicle with a balancing device is proposed for the present application; Figure 9 A rudder wheel assembly three-dimensional structural assembly drawing of a coke oven door maintenance smoke elimination service vehicle with a balancing device is proposed for the present application; Figure 10 A running system driver circuit diagram of a coke oven door maintenance smoke elimination service vehicle with a balancing device is proposed for the present application; Figure 11 A running control system circuit diagram of a coke oven door maintenance smoke elimination service vehicle with a balancing device is proposed for the present application.

[0017] In the figure: 1, mobile vehicle body; 2, walking driving mechanism; 3, lifting mechanism; 4, working platform; 5, control system; 6, power supply system; 7, hydraulic system; 8, vehicle body frame; 9, hydraulic outrigger; 10, control system operation box; 11, power supply system control cabinet; 12, hydraulic system control cabinet; 13, outrigger support; 14, outrigger hydraulic cylinder; 15, AGV rudder wheel assembly system; 16, rudder wheel; 17, running driving motor; 18, rotation driving motor; 19, large gear; 20, small gear; 21, rotation bearing; 22, scissor; 23, self-lubricating bushing; 24, fixed platform; 25, mobile platform; 26, roller; 27, slide; 28, battery pack; 29, charging controller; 30, rudder wheel installation fixed support; 31, coupling bolt; 32, laser radar; 33, laser radar anti-collision detection system; 34, contact type safety edge; 35, balancing beam; 36, bearing seat; 37, rotation shaft; 38, internal bearing; 39, lifting oil cylinder. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all.

[0019] Embodiment 1, refer to Figures 1-11The utility model relates to a coke oven door maintenance smoke service vehicle with balancing device, including mobile car body 1, walking drive mechanism 2, lifting mechanism 3, operation platform 4, control system 5, power supply system 6 and hydraulic system 7, mobile car body 1 is the installation carrier of overall equipment, and the lower part is equipped with the fixed structure for installing walking drive mechanism 2, walking drive mechanism 2 includes four sets of AGV rudder wheel assembly system 15 and a group of balancing beam structure 35, balancing beam structure 35 is connected between two front AGV rudder wheel assembly system 15, is cooperated with bearing seat 36 and internal bearing 38 on car body frame 8 through swivel axle 37, realizes that each rudder wheel 16 is evenly stressed when car body walks on the uneven ground, lifting mechanism 3 adopts scissor type structure, is connected between mobile car body 1 and operation platform 4, is used to drive operation platform 4 to lift; Operation platform 4 includes fixed platform 24 and mobile platform 25, control system 5 is electrically connected with walking drive mechanism 2, lifting mechanism 3, power supply system 6, hydraulic system 7 respectively, integrates walking control, lifting control and obstacle avoidance control function, and mobile car body 1 is equipped with laser radar anti-collision detection system 33 and contact type safety touch edge 34 around, power supply system 6 adopts battery power supply, provides power for overall equipment, hydraulic system 7 provides power for lifting mechanism 3 and the hydraulic foot 9 of mobile car body 1, mobile car body 1 is equipped with anti-falling function and one-key leveling function; Mobile car body 1 includes car body frame 8, hydraulic foot 9, control system operation box 10, power supply system control cabinet 11 and hydraulic system control cabinet 12, car body frame 8 adopts welded structural member, and the lower part is equipped with rudder wheel installation fixed support 30 and balancing beam 35 installation clamping groove, is used to fix walking drive mechanism 2, hydraulic foot 9 is four groups, is installed at the bottom of car body frame 8 four corners respectively, and each group of hydraulic foot 9 includes foot support 13 and foot hydraulic cylinder 14, and foot hydraulic cylinder 14 can drive foot support 13 to lift telescopic, control system operation box 10, power supply system control cabinet 11 and hydraulic system control cabinet 12 are all fixed on the upper part of car body frame 8, are used for the operating part of integrated control system 5, the control module of power supply system 6 and the control element of hydraulic system 7 respectively; The AGV rudder wheel assembly system 15 comprises a rudder wheel 16, a walking driving motor 17, a rotating driving motor 18, a large gear 19, a small gear 20 and a rotating bearing 21, the walking driving motor 17 is used for driving the rudder wheel 16 to realize equipment walking, the rotating driving motor 18 drives the rudder wheel 16 to turn through the meshing transmission of the large gear 19 and the small gear 20 and cooperates with the rotating bearing 21, the two front AGV rudder wheel assembly systems 15 are fixed through bolts and mounting seats on the balance beam structure 35, and the two rear AGV rudder wheel assembly systems 15 are connected with the rudder wheel mounting fixed support 30 at the lower part of the vehicle body frame 8 through coupling bolts 31, the control system 5 can realize the functions of equipment advancing, retreating, transverse moving, inclined moving, rotating in place and small-radius turning by controlling the turning angles of the four sets of AGV rudder wheel assembly systems 15. The lifting mechanism 3 comprises a scissor 22, self-lubricating bushings 23 and two lifting oil cylinders 39, the self-lubricating bushings 23 are installed at each joint of the scissor 22, so that maintenance is free and lifting is stable, and the scissor 22 can be freely locked at any position during lifting, the two lifting oil cylinders 39 are symmetrically installed inside the scissor 22 and are powered by the hydraulic system 7 to drive the scissor 22 to stretch and retract along the vertical direction, thereby driving the working platform 4 to lift, the moving platform 25 of the working platform 4 is laterally installed with rollers 26, the fixed platform 24 is provided with slideways 27 matched with the rollers 26 on both sides, and the moving platform 25 can slide along the slideways 27 through the rollers 26, so that the working platform 4 is longitudinally extended to expand the working coverage. The anti-falling function is realized by four sets of laser radars 32 arranged at the four groups of hydraulic feet 9, the laser radars 32 detect the distance between the equipment and the ground in real time, the detection signal is transmitted to the control system 5, whether there is a falling risk is judged through signal comparison, a safety protection action is triggered, the one-key leveling function is realized by position feedback devices arranged at the four groups of hydraulic feet 9, the position feedback devices transmit the foot extension length signals to the control system 5, the control system 5 controls the extension lengths of the foot hydraulic cylinders 14, so that the whole vehicle is kept horizontal, the hydraulic feet 9 are also provided with automatic locking structures and are equipped with automatic levels and mechanical levels, forming double horizontal protection.

[0020] Through the above scheme, the vehicle body frame 8 is a core installation carrier, and the welding structure design ensures its carrying capacity, which can stably fix the walking driving mechanism 2, the hydraulic support 9 and other components, lays a foundation for the overall stability of the equipment, the support hydraulic cylinder 14 of the hydraulic support 9 drives the support bracket 13 to extend and retract, cooperates with the one-key leveling and anti-falling function, can accurately adjust the vehicle body level during operation and avoid falling risk, ensures the operation safety, the multi-movement mode design of the AGV steering wheel assembly system 15 can flexibly adapt to the complex environment of the coke oven platform, facilitates the equipment to quickly position to the target oven door, the self-lubricating bushing 23 and the lockable scissors 22 of the lifting mechanism 3 ensure the stable lifting and fixed position of the operation platform 4, and the extension function of the moving platform 25 expands the operation range, ensures that the operator can fully cover the oven door operation area, and the whole realizes the stability and reliability of the equipment in the driving, positioning and operation links.

[0021] When the equipment drives on the uneven ground, the balance beam structure 35 rotates around the rotating shaft 37, adaptively adjusts the height of the two front steering wheels 16, ensures that the four groups of steering wheels 16 are in contact with the ground and the stress is uniform, avoids bumping, during operation, the hydraulic support 9 is extended, the position feedback device transmits a signal to the control system 5, the control system 5 controls the support hydraulic cylinder 14 to extend and retract to realize one-key leveling, the automatic locking structure and the double level gauge further ensure the stability of the vehicle body, the operator controls the lifting mechanism 3 through the control system operation box 10, the scissors 22 drives the operation platform 4 to lift under the driving of the lifting cylinder 39, the moving platform 25 extends along the slide 27 to expand the range, at the same time, the laser radar 32 monitors the anti-falling in real time, the laser radar anti-collision detection system 33 and the safety touch edge 34 avoid collision risk, and all-round protection is provided for efficient and safe operation.

[0022] Embodiment 2, refer to Figures 1-11 A coke oven door maintenance and smoke elimination service vehicle with a balancing device, comprising a mobile vehicle body 1, a walking driving mechanism 2, a lifting mechanism 3, an operation platform 4, a control system 5, a power supply system 6 and a hydraulic system 7, the mobile vehicle body 1 provides an installation carrier for the whole equipment, and a fixing structure for installing the walking driving mechanism 2 is arranged at the lower part of the mobile vehicle body 1, the walking driving mechanism 2 comprises four sets of AGV steering wheel assembly systems 15 and one balance beam structure 35, the balance beam structure 35 is connected between the two front AGV steering wheel assembly systems 15, cooperates with the bearing seat 36 on the vehicle body frame 8 and the internal bearing 38 through the rotating shaft 37, realizes uniform stress of each steering wheel 16 when the vehicle body drives on the uneven ground, the lifting mechanism 3 adopts a scissors type structure, is connected between the mobile vehicle body 1 and the operation platform 4, and is used for driving the operation platform 4 to lift; The work platform 4 includes a fixed platform 24 and a mobile platform 25, the control system 5 is electrically connected with the walking driving mechanism 2, the lifting mechanism 3, the power supply system 6 and the hydraulic system 7 respectively, integrates walking control, lifting control and obstacle avoidance control functions, and the mobile vehicle body 1 is provided with a laser radar anti-collision detection system 33 and a contact type safety edge 34 around, the power supply system 6 adopts a battery power supply, provides power for the whole equipment, the hydraulic system 7 provides power for the lifting mechanism 3 and the hydraulic support leg 9 of the mobile vehicle body 1, the mobile vehicle body 1 is provided with a fall prevention function and a one-key leveling function; The laser radar anti-collision detection system 33 includes a plurality of laser radars, which are respectively installed around the mobile vehicle body 1 and the edge of the work platform 4, for detecting personnel, objects or other equipment around the equipment, the contact type safety edge 34 is arranged around the edge of the work platform 4 and the side of the mobile vehicle body 1, when the laser radar anti-collision detection system 33 detects a dangerous distance or the contact type safety edge 34 contacts with external objects, the control system 5 immediately controls the walking driving mechanism 2 to stop running; The power supply system 6 includes a battery pack 28 and a charging controller 29, the battery pack 28 adopts 8 groups of 6Vx240Ah lead-acid batteries, which are installed inside the vehicle body frame 8, and the charging controller 29 is used for controlling the charging process of the battery pack 28; The hydraulic system 7 includes a hydraulic pump, a hydraulic oil tank, a hydraulic valve group and a hydraulic pipeline, the hydraulic pump provides hydraulic power for the support leg hydraulic cylinder 14 of the hydraulic support leg 9 and the lifting oil cylinder 39 of the lifting mechanism 3, the control system 5 adjusts the flow direction and pressure of the hydraulic oil by controlling the on-off of the hydraulic valve group, realizes the extension and retraction of the hydraulic support leg 9 and the lifting action of the lifting mechanism 3, and the control system 5 also integrates a remote control operation module, which supports remote control of the walking, lifting and work platform 4 extension actions of the equipment; The balance beam structure 35 is a welded rigid structure, the middle part is fixedly connected with the rotary shaft 37, the two ends of the rotary shaft 37 are matched with the internal bearing 38 of the bearing seat 36, and the balance beam structure 35 can freely rotate around the rotary shaft 37, when the equipment walks on uneven ground, the balance beam structure 35 adjusts the height of the two front rudders 16 through rotation self-adaptation, ensures that the four groups of rudders 16 are in contact with the ground and the force is uniform, and ensures that the whole vehicle runs stably; A control method of a coke oven door maintenance smoke elimination service vehicle with a balancing device, comprising the following steps: Step one: equipment starting and running preparation —— the operator starts the equipment through the control system operation box 10 or the remote control module, the battery pack 28 of the power supply system 6 supplies power to each system, the control system 5 self-checks whether the laser radar 32, the laser radar anti-collision detection system 33 and the safety edge 34 are normal, after the self-checking is qualified, the equipment drives out from the charging parking position; Step two: target door positioning — the device travels along the preset path of the coke oven battery, and through the AGV steering wheel assembly system 15 of the walking driving mechanism 2 controlled by the control system 5, the travel direction is adjusted until it reaches the door that needs to be repaired or smoke abatement, and the travel is stopped; Step three: adjustment of working posture and preparation of platform — the operator operates the control system 5 to control the device to rotate 90 degrees in place, so that the working platform 4 faces the door, then starts the hydraulic system 7 to drive the scissors 22 of the lifting mechanism 3 to extend, lifts the working platform 4 to the height suitable for the door, then pushes the moving platform 25 to extend to the required length along the slide 27 of the fixed platform 24 to the door, and locks the working platform 4 with the column with a safety rope, and the operator makes self-safety protection; Step four: door repair and smoke abatement — the operator on the working platform 4 carries out repair of the door such as sealing performance inspection, component replacement and smoke abatement such as smoke sealing treatment and smoke collection, and the control system 5 monitors the anti-collision and anti-falling state in real time during the operation process to ensure safety; Step five: switching of multi-door operation — when the current door operation is completed, the operator releases the locking of the working platform 4 with the column, pulls back the moving platform 25 to the fixed platform 24, controls the device to move directly to the next door that needs to be operated, and repeats steps three and four without adjusting the overall travel direction of the device; Step six: completion of operation and recovery of device — after all the door repair and smoke abatement operations are completed, the operator lowers the working platform 4 to the lowest position, controls the device to rotate 90 degrees in place, returns to the charging parking position along the path of the battery, turns off the power of the device, and completes the operation.

[0023] Through the above scheme, the laser radar anti-collision detection system 33 and the contact safety edge 34 form double protection, can monitor the equipment periphery danger in all directions, stop the walking driving mechanism 2 in time, avoid collision accidents, guarantee personnel and equipment safety, the battery pack 28 of the power supply system 6 provides sufficient power, meets the long-time operation demand of equipment, the charging controller 29 standardizes the charging process, prolongs the battery life, ensures that the equipment endurance is stable, the hydraulic pump of the hydraulic system 7 provides power, the control system 5 accurately controls the hydraulic foot 9 and the lifting mechanism 3 action through the hydraulic valve group, guarantees that the equipment posture adjustment is accurate and efficient, the remote control operation module reduces the operation risk of the operator in the harsh environment, improves the operation convenience, the rotation function of the balance beam structure 35 ensures that the equipment runs stably on the complex ground, avoids the influence of bumping on operation, and the six steps of the control method form a complete operation closed loop, the self-checking of step one ensures that the initial state of the equipment is normal, the accurate positioning of step two guarantees that the operation position is accurate, the posture adjustment of step three provides a stable and safe platform for operation, the real-time monitoring of step four guarantees the safety of the operation process, the transverse switching of step five greatly improves the operation efficiency of multiple furnace doors, and the equipment recovery of step six is convenient for subsequent maintenance and next use, comprehensively solve the problems of low efficiency, poor safety and insufficient response capacity in the prior art, and realize the optimization and upgrading of furnace door maintenance smoke removal operation.

[0024] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0025] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacement or change within the technical range disclosed by the present application according to the technical solution and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A coke oven door maintenance smoke-removal service car with a balancing device, characterized in that, The mobile vehicle body (1), the walking driving mechanism (2), the lifting mechanism (3), the working platform (4), the control system (5), the power supply system (6) and the hydraulic system (7) are included, the mobile vehicle body (1) provides the mounting carrier for the whole equipment, the lower part is provided with the fixed structure for installing the walking driving mechanism (2), the walking driving mechanism (2) includes four sets of AGV steering wheel assembly systems (15) and a group of balance beam structures (35), the balance beam structure (35) is connected between two front AGV steering wheel assembly systems (15), is matched with the bearing seat (36) and the internal bearing (38) on the vehicle body frame (8) through the rotary shaft (37), the force of each steering wheel (16) is uniform when the vehicle body walks on the uneven ground, the lifting mechanism (3) adopts the scissor type structure, is connected between the mobile vehicle body (1) and the working platform (4), is used to drive the working platform (4) to lift; The working platform (4) includes the fixed platform (24) and the mobile platform (25), the control system (5) is electrically connected with the walking driving mechanism (2), the lifting mechanism (3), the power supply system (6) and the hydraulic system (7), integrates walking control, lifting control and obstacle avoidance control functions, and the mobile vehicle body (1) is provided with a laser radar anti-collision detection system (33) and a contact type safety edge (34) around, the power supply system (6) adopts battery power supply, provides power for the whole equipment, the hydraulic system (7) provides power for the lifting mechanism (3) and the hydraulic foot (9) of the mobile vehicle body (1), the mobile vehicle body (1) is provided with anti-falling function and one-key leveling function.

2. A coke oven door maintenance smoke service car with a balancing device according to claim 1, characterized in that, The mobile vehicle body (1) includes the vehicle body frame (8), the hydraulic foot (9), the control system operation box (10), the power supply system control cabinet (11) and the hydraulic system control cabinet (12), the vehicle body frame (8) adopts a welded structural member, the lower part is provided with a steering wheel mounting fixed support (30) and a balance beam (35) mounting slot, for fixing the walking driving mechanism (2), the hydraulic foot (9) is four groups, respectively installed at the bottom of the vehicle body frame (8) four corners, each group of hydraulic foot (9) includes a foot support (13) and a foot hydraulic cylinder (14), the foot hydraulic cylinder (14) can drive the foot support (13) to lift and stretch, the control system operation box (10), the power supply system control cabinet (11) and the hydraulic system control cabinet (12) are all fixed on the upper part of the vehicle body frame (8), respectively used for the operating parts of the integrated control system (5), the control module of the power supply system (6) and the control elements of the hydraulic system (7).

3. A coke oven door maintenance smoke service car with a balancing device according to claim 1, characterized in that, The AGV rudder wheel assembly system (15) comprises a rudder wheel (16), a walking driving motor (17), a rotating driving motor (18), a large gear (19), a small gear (20) and a rotating bearing (21), the walking driving motor (17) is used for driving the rudder wheel (16) to realize equipment walking, the rotating driving motor (18) is driven through the meshing transmission of the large gear (19) and the small gear (20) and cooperates with the rotating bearing (21) to drive the rudder wheel (16) to turn, the two front AGV rudder wheel assembly systems (15) are fixed through bolts and mounting seats on the balance beam structure (35), and the two rear AGV rudder wheel assembly systems (15) are connected with the rudder wheel mounting fixed support (30) at the lower part of the vehicle body frame (8) through the connecting bolts (31), the control system (5) can realize the functions of equipment advancing, retreating, transverse moving, inclined moving, rotating in place and small-radius turning by controlling the turning angles of the four sets of AGV rudder wheel assembly systems (15).

4. A coke oven door maintenance smoke service car with a balancing device according to claim 1, characterized in that, The lifting mechanism (3) comprises a scissor fork (22), self-lubricating bushings (23) and two lifting oil cylinders (39), the self-lubricating bushings (23) are installed at each joint of the scissor fork (22), so that maintenance is free and lifting is stable, and the scissor fork (22) can be freely locked at any position during lifting, the two lifting oil cylinders (39) are symmetrically installed inside the scissor fork (22) and are powered by the hydraulic system (7) to drive the scissor fork (22) to stretch and retract in the vertical direction, thereby driving the working platform (4) to lift, the moving platform (25) of the working platform (4) is laterally provided with rollers (26), and the fixed platform (24) is provided with slideways (27) adapted to the rollers (26) on both sides, the moving platform (25) can slide along the slideways (27) through the rollers (26), so that the working platform (4) is longitudinally extended and the working coverage is expanded.

5. A coke oven door maintenance smoke service car with a balancing device according to claim 1, characterized in that, The anti-falling function is realized by four sets of laser radars (32) arranged at the four groups of hydraulic feet (9), the laser radars (32) detect the distance between the equipment and the ground in real time, the detection signals are transmitted to the control system (5), whether there is a falling risk is judged through signal comparison, a safety protection action is triggered, the one-key leveling function is realized by position feedback devices arranged at the four groups of hydraulic feet (9), the position feedback devices transmit the foot extension length signals to the control system (5), the control system (5) controls the extension lengths of the foot hydraulic cylinders (14), so that the whole vehicle is kept horizontal, the hydraulic feet (9) are also provided with automatic locking structures and are equipped with automatic levels and mechanical levels, forming double horizontal protection.

6. A coke oven door maintenance smoke service car with a balancing device according to claim 1, characterized in that, The laser radar anti-collision detection system (33) includes multiple groups of laser radars, which are respectively installed on the four sides of the mobile vehicle body (1) and the edges of the working platform (4), and are used for detecting personnel, objects or other equipment around the device. The contact safety edge (34) is arranged around the edges of the working platform (4) and the side of the mobile vehicle body (1). When the laser radar anti-collision detection system (33) detects a dangerous distance or the contact safety edge (34) contacts with an external object, the control system (5) immediately controls the walking driving mechanism (2) to stop running.

7. A coke oven door maintenance smoke service car with a balancing device according to claim 1, characterized in that, The power supply system (6) includes a battery pack (28) and a charging controller (29). The battery pack (28) adopts eight groups of 6V*240Ah lead-acid batteries and is installed in the inside of the vehicle body frame (8). The charging controller (29) is used for controlling the charging process of the battery pack (28).

8. A coke oven door maintenance smoke service car with a balancing device according to claim 1, characterized in that, The hydraulic system (7) includes a hydraulic pump, a hydraulic oil tank, a hydraulic valve group and a hydraulic pipeline. The hydraulic pump provides hydraulic power for the foot hydraulic cylinder (14) of the hydraulic outrigger (9) and the lifting oil cylinder (39) of the lifting mechanism (3). The control system (5) adjusts the flow direction and pressure of the hydraulic oil by controlling the on-off of the hydraulic valve group, so as to realize the extension and retraction of the hydraulic outrigger (9) and the lifting action of the lifting mechanism (3). The control system (5) also integrates a remote control operation module, which supports remote control of the walking, lifting and extension of the working platform (4) of the device.

9. A coke oven door maintenance smoke service car with a balancing device according to claim 1, characterized in that, The balance beam structure (35) is a welded rigid structure, the middle part of which is fixedly connected with the rotary shaft (37), the two ends of the rotary shaft (37) are matched with the internal bearing (38) of the bearing seat (36), and the balance beam structure (35) can freely rotate around the rotary shaft (37). When the device walks on uneven ground, the balance beam structure (35) adjusts the height of the two front rudders (16) through rotation self-adaptation, so that the four groups of rudders (16) are in contact with the ground and the force is uniform, and the whole vehicle runs stably.

10. A control method of the coke oven door maintenance smokeless service vehicle with balancing device, using the coke oven door maintenance smokeless service vehicle with balancing device according to claim 1, characterized in that, The method comprises the following steps: Step one: device starting and driving preparation - the operator starts the device through the control system operation box (10) or the remote control module, the battery pack (28) of the power supply system (6) supplies power to each system, the control system (5) self-checks whether the laser radar (32), the laser radar anti-collision detection system (33) and the safety edge (34) are normal, and after the self-checking is qualified, the device drives out from the charging parking position; Step two: target furnace door positioning - the device drives along the preset path of the coke oven platform, adjusts the driving direction through the AGV rudder assembly system (15) of the walking driving mechanism (2) controlled by the control system (5), and stops driving until reaching the furnace door needing maintenance or smoke elimination operation. Step three: adjustment of working posture and preparation of platform - the operator operates the control system (5) to control the equipment to rotate 90 degrees in place, so that the working platform (4) faces the furnace door. Then the operator starts the hydraulic system (7) to drive the scissors (22) of the lifting mechanism (3) to extend, so that the working platform (4) is lifted to the height suitable for the furnace door. Then the operator pushes the moving platform (25) to extend to the required length along the slide (27) of the fixed platform (24) towards the furnace door, and locks the working platform (4) with the furnace column by using the safety rope. The operator also makes safety protection for himself; Step four: furnace door maintenance and smoke abatement operation - the operator performs maintenance (such as sealing performance inspection and component replacement) and smoke abatement operation (such as smoke sealing treatment and smoke collection) on the furnace door on the working platform (4). The control system (5) monitors the anti-collision and anti-falling state in real time during the operation to ensure safety; Step five: switching of multi-furnace door operation - when the current furnace door operation is completed, the operator releases the locking of the working platform (4) with the furnace column, and pulls back the moving platform (25) to the fixed platform (24). Then the operator controls the equipment to move directly to the next furnace door to be operated, and repeats steps three and four without adjusting the overall moving direction of the equipment; Step six: completion of operation and recovery of equipment - after all the furnace door maintenance and smoke abatement operations are completed, the operator lowers the working platform (4) to the lowest position, controls the equipment to rotate 90 degrees in place, and returns along the furnace table path to the charging parking position. Then the operator turns off the power of the equipment, and completes the operation.

Images