Coke oven temperature measuring robot

Abstract

The invention discloses a coke oven temperature measurement robot, which comprises a main body structure, a track, a telescopic assembly and a top structure, and is characterized in that the top of the main body structure is rotatably connected with a turntable; the track is mounted at the top of the coke oven; the main body structure is arranged above the track and moves on the track; the telescopic assembly comprises a telescopic arm, a first stretching arm and a second stretching arm; the two telescopic arms are symmetrically arranged on the two sides of the main body structure; the first stretching arm and the second stretching arm are respectively connected with the telescopic ends of the two telescopic arms; a suction cup is arranged at the tail end of the first stretching arm, and an infrared temperature measuring device is arranged at the tail end of the second stretching arm. The top structure is arranged at the top of the turntable; a camera is arranged outside the top structure, and a positioning transmitting system is arranged inside the top structure. The temperature measurement robot is wide in measurement range, convenient to operate, accurate in measurement and high in safety.

Description

Technical Field

[0001] This invention relates to the field of coking oven temperature measurement technology, and more specifically to a coking oven temperature measurement robot. Background Technology

[0002] In the coke production process, controlling the temperature in the coke oven combustion chamber plays a crucial role in coking time and coke quality. Real-time and accurate temperature measurement of the combustion chamber has a significant impact on refined coking. Only by accurately measuring the temperature can the safety of the coke oven be guaranteed, and the goal of meeting coke quality requirements and minimizing gas consumption be achieved.

[0003] Currently, most coking plants across the country use traditional coke oven temperature measurement methods: every four hours, workers use portable infrared thermometers to measure the temperature of the nose bricks at the bottom of the flue. Then, based on the difference between the measured average temperature of the entire oven and the experienced temperature, they adjust the heating or cooling of the coke oven. However, this method of coke oven temperature measurement has the following problems:

[0004] 1. Manual measurement requires aiming at the inspection hole, and the results of manual measurement will have a large deviation;

[0005] 2. Some special locations are difficult to measure manually, such as the observation hole next to the riser pipe. Due to the interference of the riser pipe height and temperature, the staff need to bend over and lean forward to measure, enduring the high temperature, and then try to align the measurement point. Even if the temperature can be measured, the error is huge. Manual measurement is exposed to a high temperature environment, which can easily lead to safety accidents such as burns.

[0006] 3. The results of manual measurement have a significant lag, and the measured data cannot be fed back in the most timely manner, which seriously affects the timeliness of the fire adjustment work.

[0007] Existing patent publication number CN210894530U discloses an intelligent coke oven straight-line temperature measuring robot. This robot moves along a track assembly under the action of a servo drive unit, uses an auxiliary positioning unit for movement and positioning, and a mechanical gripping mechanism to automatically open and close the furnace cover of the vertical fire passages. Finally, a temperature measuring module completes the temperature measurement. Its temperature measurement method involves the vehicle body automatically positioning each viewing hole requiring temperature measurement, completing a series of automated operations such as opening the furnace cover, measuring the temperature of the fire passages, and closing the furnace cover. While the above invention can automatically and accurately measure the temperature of all vertical fire passages and provide timely feedback, it suffers from poor flexibility and a single measurement direction; the measurement range is limited, as the device can only measure the vertical fire openings covered by the track assembly.

[0008] Therefore, developing a coke oven temperature measuring robot with a wide measurement range, convenient operation, and accurate measurement is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0009] In view of this, the present invention provides a coke oven temperature measuring robot with a wide measurement range, convenient operation, and accurate measurement.

[0010] To achieve the above objectives, the present invention adopts the following technical solution:

[0011] A coke oven temperature measuring robot, comprising:

[0012] The main structure has a turntable rotatably connected to its top;

[0013] A track is installed on top of the coke oven; the main structure is positioned above the track and moves along the track.

[0014] The telescopic assembly includes: a telescopic arm, a first extension arm, and a second extension arm; two telescopic arms are provided and symmetrically arranged on both sides of the main structure; the first extension arm and the second extension arm are respectively connected to the telescopic ends of the two telescopic arms; a suction cup is provided at the end of the first extension arm, and an infrared temperature measuring device is provided at the end of the second extension arm.

[0015] A top structure is located on top of the turntable; a camera is installed on the outside of the top structure, and a positioning and transmitting system is installed inside it.

[0016] The beneficial effects of adopting the above technical solution are that the turntable in this invention can drive the telescopic arm to rotate, thereby increasing the robot's measurement range and making the measurement process more convenient and easier to operate. By moving the telescopic arm and the second extension arm, the infrared temperature measuring device is driven to measure the temperature of the coke oven, which can ensure that the measurement results are more accurate.

[0017] Preferably, a rotating shaft is rotatably connected to the top of the main structure, and a turntable is disposed on top of the rotating shaft, with the rotating shaft driving the turntable to rotate. The rotation of the rotating shaft drives the rotation of the turntable, thereby enabling the movement of the positions of the first and second extension arms.

[0018] Preferably, the bottom of the main structure is provided with a track support, and pulleys are connected to the track support. The pulleys are placed on the track and are slidably connected to the track. The connection between the pulleys and the track facilitates the movement of the robot on the track.

[0019] Preferably, a drive motor is provided at the bottom of the main structure, and the output end of the drive motor is connected to a drive gear. The drive gear meshes with a driven gear, and the driven gear is coaxially connected to a pulley. The driven gear drives the pulley to rotate. The drive motor drives the drive gear and the driven gear to rotate, and the rotation of the driven gear in turn drives the coaxial pulley to move on the track, thereby realizing the movement of the robot.

[0020] Preferably, end plates are provided at both ends of the track, and anti-collision plates are slidably connected to both ends of the track near the end plates. A buffer spring is provided between the anti-collision plate and the end plate, and the buffer spring is sleeved on the outside of the track. The buffer spring and the anti-collision plate can buffer the robot and prevent damage caused by the pulley colliding with the end plate.

[0021] Preferably, the suction cup is an electromagnetic valve suction cup. The suction force of the electromagnetic valve suction cup is controlled by turning the power on and off.

[0022] Preferably, the end of the telescopic arm away from the turntable is provided with a collision protection element.

[0023] Preferably, the track support is provided with anti-collision protrusions at both ends along the sliding direction of the pulley.

[0024] Preferably, the positioning and transmitting system includes: an RFID tag, an RFID reader / writer, and a server; the RFID tag is connected to the RFID reader / writer, and the RFID reader / writer is connected to the server. The RFID tag has an internal serial number used to assign a serial number to the fire observation hole. The camera captures image information and, in conjunction with the RFID tag, automatically identifies the target object and obtains relevant location information using radio frequency signals. The RFID reader / writer receives the radio frequency information emitted by the RFID tag on the fire observation hole and transmits it to the server. The server can read or archive location coordinates, temperature information, etc., based on the information read from the RFID reader / writer, to determine the location of the measured fire observation hole and the distance to that location.

[0025] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a coke oven temperature measuring robot, which has the following advantages:

[0026] (1) The robot can achieve large-area temperature measurement by extending and retracting the telescopic arm and rotating the turntable.

[0027] (2) The accuracy and efficiency of temperature measurement can be improved by using infrared temperature measuring devices, RFID tags, RFID readers, servers and cameras. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0029] Figure 1 A side view of the temperature measuring robot provided by the present invention;

[0030] Figure 2 This is a front view of the temperature measuring robot provided by the present invention;

[0031] Figure 3 This is a schematic diagram of the temperature measuring robot provided by the present invention in the state of temperature measurement above a coke oven;

[0032] Figure 4 Provided by the present invention Figure 3 Top view.

[0033] In the figure,

[0034] 1-Main structure; 2-Turntable; 3-Railway;

[0035] 4-Telescopic components;

[0036] 41-Telescopic arm; 42-First telescopic arm; 43-Second telescopic arm; 44-Suction cup; 45-Anti-collision component;

[0037] 5-Top structure; 6-Camera; 7-Spindle; 8-Rail support; 9-Pulley; 10-Drive motor; 11-Drive gear; 12-Driven gear; 13-End plate; 14-Bumper plate; 15-Buffer spring; 16-Bumper protrusion. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] This invention discloses a coke oven temperature measuring robot, comprising:

[0040] Main structure 1, with a turntable 2 rotatably connected to the top of the main structure 1;

[0041] Track 3 is installed on top of the coke oven; the main structure 1 is placed above track 3 and moves on track 3.

[0042] Telescopic assembly 4 includes: telescopic arm 41, first extension arm 42 and second extension arm 43; two telescopic arms 41 are provided and symmetrically arranged on both sides of the main structure 1; the first extension arm 42 and the second extension arm 43 are respectively connected to the telescopic ends of the two telescopic arms 41; the end of the first extension arm 42 is provided with a suction cup 44 and the end of the second extension arm 43 is provided with an infrared temperature measuring device.

[0043] Top structure 5 is located on top of turntable 2; a camera 6 is installed on the outside of top structure 5, and a positioning and transmitting system is installed inside it. Track 3 is movably installed on top of the coke oven; track 3 is made of high-temperature and wear-resistant material, and pulleys 9 are made of high-temperature resistant material. Images detected by the camera are transmitted to the backend for processing and analysis.

[0044] To further optimize the above technical solution, the telescopic arm 41 is composed of 1-10 sections of alloy rods that can extend and retract horizontally, with each section extending up to 10cm; the first extension arm 42 and the second extension arm 43 are composed of 1-5 sections of alloy rods that can extend and retract vertically, with each section being 50cm long. The extension and retraction of the telescopic arm 41, the first extension arm 42, and the second extension arm 43 are achieved through a structure within the turntable 2, the specific structure of which is not limited, as long as it can achieve the stretching effect.

[0045] To further optimize the above technical solution, the infrared temperature measurement device includes an infrared thermometer and an infrared temperature sensor. The infrared thermometer detects the temperature and transmits the temperature information to the server through the infrared temperature sensor.

[0046] To further optimize the above technical solution, a rotating shaft 7 is rotatably connected to the top of the main structure 1, and a turntable 2 is set on top of the rotating shaft 7. The rotating shaft 7 drives the turntable 2 to rotate. A motor is installed inside the main structure 1. The output end of the motor drives the rotating shaft 7 to rotate, and the rotating shaft 7 in turn drives the turntable 2 to rotate 360° at a constant speed of 0-60 degrees / s.

[0047] To further optimize the above technical solution, a track support 8 is provided at the bottom of the main structure 1, and a pulley 9 is connected to the track support 8. The pulley 9 is placed on the track 3 and is slidably connected to the track 3.

[0048] To further optimize the above technical solution, a drive motor 10 is provided at the bottom of the main structure 1. The output end of the drive motor 10 is connected to a drive gear 11. The drive gear 11 is meshed with a driven gear 12. The driven gear 12 is coaxially connected to the pulley 9, and the driven gear 12 drives the pulley 9 to rotate.

[0049] To further optimize the above technical solution, end plates 13 are provided at both ends of the track 3, and anti-collision plates 14 are slidably connected at both ends of the track 3 near the end plates 13. A buffer spring 15 is provided between the anti-collision plate 14 and the end plate 13, and the buffer spring 15 is sleeved on the outside of the track 3.

[0050] To further optimize the above technical solution, the suction cup 44 is selected as a solenoid valve suction cup.

[0051] To further optimize the above technical solution, a collision protection element 46 is provided at the end of the telescopic arm 41 away from the turntable 2.

[0052] To further optimize the above technical solution, anti-collision protrusions 16 are provided at both ends of the track support 8 along the sliding direction of the pulley 9.

[0053] To further optimize the above technical solution, the positioning and transmission system includes: RFID tags, RFID readers, and a server; the RFID tags are connected to the RFID readers, and the RFID readers are connected to the server. The RFID tags are UHF, high-temperature resistant RFID tags, and the RFID readers are UHF RFID readers. The location of the fire observation hole and the distance between the fire observation hole and the robot are determined by receiving the transmitted signals from the fixed transmitters, judging the distance to the transmitter segment based on the signal attenuation, and then implementing triangulation based on the positions of several fixed transmitters.

[0054] Temperature measurement process:

[0055] (1) Determine the position of the fire viewing hole and the distance between the fire viewing hole and the robot: The UHF RFID reader installed on the top structure 5 uses the signal strength and weak signal attenuation model received by the device to evaluate the distance between the signal transmitter and receiver based on the triangulation method. It receives the position coordinate information of the robot and the fire viewing hole respectively. After the temperature measurement message is read by the server, the distance difference between the position of the fire viewing hole and the position of the robot is determined, and the adjustment is made according to the distance difference.

[0056] (2) Determine the moving distance based on the distance difference. Once the robot moves to the designated position, adjust the telescopic arm 41: The server gives a moving command on the track and calculates the moving distance based on the number of rotations of the driven gear 12. When the robot moves to the designated position, determine the distance between the fire viewing hole and the main structure 1 until the position of the fire viewing hole is less than the maximum length of the first telescopic arm 42. The measured distance is automatically adjusted based on the position archive information. If necessary, the distance can be adjusted by rotating the turntable 2.

[0057] (3) Lifting the cover and preparing for temperature measurement: According to the positioning, the main body structure 1 of the robot rotates the suction cup 44 and keeps it on the same vertical line as the fire viewing hole. The turntable 2 is rotated to the set position, and the first extension arm 42 on the turntable 2 is extended and retracted to the top of the fire viewing hole. The first extension arm lowers the solenoid valve suction cup on 41, so that the solenoid valve suction cup contacts the cover and moves the cover on the fire viewing hole away from the fire viewing hole. The infrared temperature measuring device of the second extension arm 43 is aligned with the fire viewing hole on a vertical line. When measuring the temperature, it is aligned with the center of the fire channel and the inclined channel outlet of the descending combustion chamber.

[0058] (4) Perform temperature measurement and transmit recorded data: The robot opens the infrared thermometer of the second extension arm 43 to measure the temperature for 1-5 seconds, and transmits the temperature information to the server in the top structure 5 through the temperature sensor. The data is sent to the server and saved to the database.

[0059] (5) Temperature measurement ends, cover back: The first extension arm 42 places the cover on the fire viewing hole to complete a temperature measurement process.

[0060] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0061] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A coke oven temperature measuring robot, characterized in that, include: The main structure (1) has a turntable (2) rotatably connected to its top; Track (3), which is installed on the top of the coke oven; the main structure (1) is placed above the track (3) and moves on the track (3); The telescopic assembly (4) includes: a telescopic arm (41), a first extension arm (42), and a second extension arm (43); two telescopic arms (41) are provided and symmetrically arranged on both sides of the main structure (1); the first extension arm (42) and the second extension arm (43) are respectively connected to the telescopic ends of the two telescopic arms (41); a suction cup (44) is provided at the end of the first extension arm (42), and an infrared temperature measuring device is provided at the end of the second extension arm (43); A top structure (5) is located on the top of the turntable (2); a camera (6) is provided on the outside of the top structure (5), and a positioning and transmitting system is provided inside it.

2. The coke oven temperature measuring robot according to claim 1, characterized in that, The top of the main structure (1) is rotatably connected to a rotating shaft (7), and the turntable (2) is located on the top of the rotating shaft (7). The rotating shaft (7) drives the turntable (2) to rotate.

3. The coke oven temperature measuring robot according to claim 1, characterized in that, The bottom of the main structure (1) is provided with a track support (8), and a pulley (9) is connected to the track support (8). The pulley (9) is placed on the track (3) and is slidably connected to the track (3).

4. The coke oven temperature measuring robot according to claim 3, characterized in that, The bottom end of the main structure (1) is provided with a drive motor (10), the output end of the drive motor (10) is connected to a drive gear (11), the drive gear (11) is meshed with a driven gear (12), the driven gear (12) is coaxially connected with a pulley (9), and the driven gear (12) drives the pulley (9) to rotate.

5. A coke oven temperature measuring robot according to claim 4, characterized in that, The track (3) is provided with end plates (13) at both ends. Anti-collision plates (14) are slidably connected at both ends of the track (3) near the end plates (13). A buffer spring (15) is provided between the anti-collision plate (14) and the end plate (13). The buffer spring (15) is sleeved on the outside of the track (3).

6. The coke oven temperature measuring robot according to claim 1, characterized in that, The suction cup (44) is a solenoid valve suction cup.

7. The coke oven temperature measuring robot according to claim 1, characterized in that, The telescopic arm (41) is provided with a collision protection element (46) at the end away from the turntable (2).

8. A coke oven temperature measuring robot according to claim 3, characterized in that, The track support (8) is provided with anti-collision protrusions (16) at both ends along the sliding direction of the pulley (9).

9. A coke oven temperature measuring robot according to claim 1, characterized in that, The positioning and transmission system includes: RFID tags, RFID readers, and servers; the RFID tags are connected to the RFID readers, and the RFID readers are connected to the servers.

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