Coal charging hole cover assembling device for coke oven closed scene and method thereof

Abstract

The present application relates to mechanical automation assembly and coking equipment technical field, specifically for the coal hole cover assembly device and method for coke oven closed scene, including annular rotary base and indexing turntable, with positioning column and pneumatic self-centering claw of accompanying pallet, multiple operation stations and industrial computer; The device drives the clamped coal hole cover blank by the indexing turntable, and sequentially flows between the tamping filling, welding, feeding grinding and bell jar test stations; Its core is to realize the single reference continuous flow of workpiece relying on the accompanying pallet, and cooperate with the dustproof gas curtain blowing off the refractory dust; The present application discards the traditional multiple lifting mode, overcomes the secondary clamping error caused by repositioning in the harsh environment, ensures the cleanliness of the clamping surface, and improves the shape and position accuracy of the workpiece in the whole assembly process.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation assembly and coking equipment technology, specifically to a coal charging hole cover assembly device and method for use in sealed coke oven scenarios. Background Technology

[0002] In the current working environment of assembling and welding sealing components for coke oven bodies, the forming of coal charging hole covers requires a series of heterogeneous processes, including refractory mud filling, metal ring welding, sealing surface grinding, and leak testing. These processes are often accompanied by dust, high-temperature sparks, and metal debris. To complete the processing of such composite components, existing solutions generally adopt a discrete manufacturing architecture, where blanks are moved between independent workstations using handling equipment, and hoisting, alignment, and clamping are repeated before each process. While this approach has some capacity in conventional batch production scenarios, its heavy reliance on repeated clamping and independent positioning references, coupled with the ease with which scattered materials in the working environment can intrude into and damage the positioning surfaces, results in large accumulated form and position errors, lengthy process handover times, and a severe disconnect between inspection and testing results and the previous processing status. This makes it difficult to maintain high positioning accuracy and ensure rapid traceability of process quality.

[0003] Therefore, how to eliminate the accuracy decay caused by repeated clamping in multi-process flow and realize continuous operation and quality collaborative control based on a single mechanical reference has become an urgent technical problem to be solved. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a coal charging hole cover assembly device and method for use in a coke oven sealed environment. Specifically, the technical solution of the present invention is as follows: A coal charging hole cover assembly device for use in enclosed coke oven environments includes: An annular rotary base, wherein a dividing turntable is supported at the center of the annular rotary base, and the dividing turntable is driven to rotate by a servo motor; The accompanying pallet is equidistantly distributed on the upper surface of the indexing turntable along the circumference. A conical positioning post is provided at the center of the upper surface of the accompanying pallet, and a pneumatic self-centering claw is provided around the conical positioning post. The pneumatic self-centering claw is used to clamp the coal loading hole cover blank. The work stations are arranged sequentially around the annular rotary base. The work stations include a filling station, a welding station, a grinding station, and a testing station. A tamping cylinder is installed above the filling station, and a flat-bottomed tamping head is connected to the end of the tamping cylinder. The grinding station is equipped with a feed slide, and a grinding spindle motor and an annular grinding disc are installed on the feed slide. The testing station is equipped with a bell-shaped test chamber, which is lifted and lowered by a hydraulic cylinder. An industrial control computer controls the servo motor, pneumatic self-centering jaws, tamping cylinder, feed slide, grinding spindle motor, and the hydraulic cylinder of the bell-shaped test chamber.

[0005] As a further embodiment of the present invention, the bottom of the conical positioning post is machined with an annular purge air channel, wherein the annular purge air channel points obliquely upward toward the positioning cone surface of the conical positioning post and is connected to an external compressed air source, and the pneumatic self-centering claw is slidably connected to the accompanying tray via a dovetail guide rail.

[0006] As a further aspect of the present invention, the welding station is provided with a semi-enclosed physical isolation baffle connected by a hinge, wherein the inner side of the semi-enclosed physical isolation baffle is coated with an anti-spatter coating to prevent welding sparks from splashing to adjacent stations.

[0007] As a further embodiment of the present invention, the grinding station is provided with a column, wherein the feed slide is slidably connected to the column via a linear guide rail and driven by a ball screw, the output shaft of the grinding spindle motor is connected to the annular grinding disc via a cross-slider type elastic coupling, and silicon carbide abrasive paper is adhered to the bottom surface of the annular grinding disc.

[0008] As a further embodiment of the present invention, the bottom edge of the bell-shaped test chamber is inlaid with a silicone sealing ring with a semi-circular cross-section. When the hydraulic cylinder presses down, the silicone sealing ring and the upper surface of the accompanying tray form a sealed cavity.

[0009] As a further embodiment of the present invention, the annular rotary base is fixedly connected to the foundation by anchor bolts, wherein the center of the annular rotary base supports the indexing turntable by a thrust roller bearing, and the outer circumference of the indexing turntable is machined with a spur gear ring and meshes with the servo motor through a pinion.

[0010] Methods for assembling and controlling the coal charging hole cover in a closed coke oven environment include: S1. Control the indexing turntable to rotate, transport the coal loading hole cover blank to the filling station along with the accompanying pallet, and inject a certain amount of refractory slurry into the inner cavity of the coal loading hole cover blank. S2. Control the tamping cylinder to drive the flat-bottomed tamping head downward to perform pulse tamping operation, and record in real time the time it takes for the tamping cylinder to output a drive signal to the lower chamber of the tamping cylinder to reach a constant reference back pressure. S3. The time difference between the current tamping cycle and the time of the previous cycle is obtained. If the time difference reaches a preset number of times less than or equal to a preset time threshold, the compaction is determined to meet the requirements and the tamping action is stopped. If the time difference does not reach a preset number of times less than or equal to the time threshold, the pulse tamping operation continues. S4. Control the coal loading hole cover blank to enter the grinding station, control the feed slide to drive the annular grinding disk to move downward to contact the metal sealing ring of the coal loading hole cover blank, and collect the current value of the grinding spindle motor and the displacement of the feed slide in real time according to the preset sampling period. S5. The change rate of resistance torque is calculated by multiplying the change in current value between two adjacent sampling cycles by the torque constant of the grinding spindle motor and then dividing by the change in displacement. When the change rate of resistance torque is less than or equal to a preset change rate threshold, the grinding is determined to have reached the end point and the feed slide is controlled to retract upward. When the change rate of resistance torque is greater than the change rate threshold, the feed slide is controlled to continue to drive the annular grinding disc to move downward.

[0011] As a further aspect of the present invention, step S5 is followed by: S601. Control the coal loading hole cover blank to enter the test station, control the bell-shaped test chamber to descend and press against the accompanying tray to form a sealed cavity, fill the sealed cavity with compressed air at a constant pressure and maintain the pressure. S602. Obtain the pressure drop rate during the pressure holding period. If the pressure drop rate is less than or equal to the preset pressure drop rate threshold, the seal is deemed qualified. If the pressure drop rate is greater than the pressure drop rate threshold, retrieve the final steady-state value of the resistance torque recorded by the coal loading hole cover blank during the grinding stage, and simultaneously perform temperature drift compensation correction based on the collected ambient temperature of the grinding station and the temperature of the main spindle motor winding, remove the current baseline offset caused by temperature, and obtain the corrected resistance torque value. S603. If the corrected resistance torque value is less than the preset lower limit of the average resistance torque, the leakage source is determined to be poor grinding of the metal sealing ring; if the corrected resistance torque value is greater than or equal to the lower limit of the average resistance torque, the subsequent tracing steps are executed to ensure the consistency of the tracing criteria across working conditions.

[0012] As a further aspect of the present invention, the subsequent tracing steps include: S701. Retrieve the time recorded at the loading station to reach a constant reference back pressure; S702. If the time to reach a constant reference back pressure is greater than the standard filling time, it is determined that there are uncompacted pore channels inside the refractory material and the leakage source is determined to be air leakage in the refractory material body; if the time to reach a constant reference back pressure is less than or equal to the standard filling time, it is determined to be an unknown leakage source. S703: Based on the determination of the leakage source, the product is automatically classified and pushed to the corresponding repair station.

[0013] As a further aspect of the present invention, the bottom of the conical positioning post is machined with an annular purge air passage communicating with an external compressed air source, and the step S1 includes the following steps before: S001. Control the external compressed air source to ventilate the annular purge air passage, forming a continuous positive pressure dustproof air curtain before the pneumatic self-centering jaws clamp. S002. The positive pressure dustproof air curtain is used to blow away the falling refractory dust. S003. Control the pneumatic self-centering jaws to clamp the outer circle of the coal loading hole cover blank.

[0014] The present invention has the following beneficial effects: 1. This invention uses a ring-shaped rotating base in conjunction with an indexing turntable, and sets conical positioning columns and pneumatic self-centering claws on the accompanying tray, so that the coal loading hole cover blank can be transferred sequentially between the work stations of filling, welding, grinding and testing. This structure realizes continuous transfer of a single reference, overcoming the secondary clamping error caused by multiple hoisting and realigning in harsh environments. In addition, the positive pressure dustproof air curtain formed by the ring-shaped blowing air channel effectively blows away the scattered refractory dust, ensuring the cleanliness of the clamping surface and improving the form and position accuracy of the workpiece throughout the assembly process. 2. The control method of this invention utilizes the load changes of the mechanical actuator itself for online quality judgment and traceability. The compactness of the refractory material is assessed by monitoring the time difference between the tamping cylinder reaching a constant reference back pressure, and the sealing surface fit status is determined based on the rate of change of resistance torque calculated from the grinding spindle motor current and the feed slide displacement. During the sealing test phase, the pressure drop rate is linked to the final steady-state value of the resistance torque during the grinding phase and the time data during the filling phase. This allows for accurate differentiation and automatic traceability of leakage sources without the need for additional sensors, improving defect diagnosis and rework efficiency. Attached Figure Description

[0015] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the device; Figure 2 This is a schematic diagram of the indexing turntable structure of the device; Figure 3 This is a schematic diagram of the pneumatic self-centering gripper and accompanying tray structure of the device; Figure 4 This is a schematic diagram of the welding and grinding stations of the equipment; Figure 5 This is a schematic diagram of the equipment loading station and testing station structure; Figure 6 This is a flowchart of the method of the present invention.

[0016] In the diagram: 1. Annular rotary base; 2. Indexing turntable; 3. Servo motor; 4. Traveling tray; 5. Conical positioning column; 6. Pneumatic self-centering chuck; 7. Working station; 8. Filling station; 9. Welding station; 10. Grinding station; 11. Testing station; 12. Tamping cylinder; 13. Flat-bottomed tamping head; 14. Feed slide; 15. Grinding spindle motor; 16. Annular grinding disc; 17. Bell-shaped test chamber; 18. Annular purge air passage; 19. External compressor 20. Air source; 21. Dovetail guide rail; 22. Semi-enclosed physical isolation baffle; 23. Hinge; 24. Column; 25. Linear guide rail; 26. Ball screw; 27. Cross-slider type flexible coupling; 28. Silicon carbide abrasive paper; 29. ​​Hydraulic cylinder; 30. Silicone seal ring; 31. Anchor bolt; 32. Foundation; 33. Thrust roller bearing; 34. Spur gear ring; 35. Pinion gear; 36. Coal charging hole cover blank; 37. Refractory mud; 38. Metal seal ring. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0018] Example 1: Combination Figure 1 As shown, the coal charging hole cover assembly device for a coke oven sealed environment includes: The annular rotary base 1 has an indexing turntable 2 supported at its center, which is driven to rotate by a servo motor 3. The accompanying pallet 4 is evenly distributed on the upper surface of the indexing turntable 2 along the circumference. A conical positioning post 5 is provided at the center of the upper surface of the accompanying pallet 4, and a pneumatic self-centering claw 6 is provided around the conical positioning post 5. The pneumatic self-centering claw 6 is used to clamp the coal loading hole cover blank 35. The work stations 7 are distributed around the annular rotary base 1. The work stations 7 include a filling station 8, a welding station 9, a grinding station 10, and a testing station 11. A tamping cylinder 12 is installed above the filling station 8. A flat-bottomed tamping head 13 is connected to the end of the tamping cylinder 12. The grinding station 10 is equipped with a feed slide 14. A grinding spindle motor 15 and an annular grinding disc 16 are installed on the feed slide 14. The testing station 11 is equipped with a bell-shaped test chamber 17. The bell-shaped test chamber 17 is driven to lift by a hydraulic cylinder 28. An industrial control computer controls the hydraulic cylinders 28 of the servo motor 3, the pneumatic self-centering jaw 6, the tamping cylinder 12, the feed slide 14, the grinding spindle motor 15, and the bell-shaped test chamber 17. During the assembly process, the coal loading hole cover blank 35 undergoes refractory mud filling 36, metal sealing ring welding 37, sealing surface grinding and sealing test in sequence. Dust, high temperature splash and metal debris in each process will damage the accuracy of repeated clamping. Therefore, this embodiment adopts an overall structure with continuous flow of a single mechanical reference. The annular rotary base 1 adopts a welded box-shaped steel structure or a cast steel structure, and the outer diameter can be set from 3.5 meters to 6 meters. The center supports the indexing turntable 2, which is driven by the servo motor 3 to rotate intermittently at 90 degrees so that the four accompanying pallets 4 can be circulated and transported between the four working stations 7. Each accompanying pallet 4 carries a coal loading hole cover blank 35. The conical positioning post 5 is inserted into the bottom process hole of the blank to achieve radial pre-positioning. The pneumatic self-centering jaw 6 clamps the outer circle of the blank and restricts circumferential and radial displacement, so that no secondary clamping is required during the entire assembly process. The tamping cylinder 12 of the filling station 8 drives the flat-bottomed tamping head 13 to perform pulse compaction on the refractory clay 36. The welding station 9 is used to complete the assembly and welding of the metal sealing ring 37. The feed slide 14 of the grinding station 10 drives the grinding spindle motor 15 and the annular grinding disc 16 to feed in the vertical direction and perform planarization processing on the welded sealing surface. The bell-shaped test chamber 17 of the testing station 11 and the accompanying tray 4 together form a closed space for pressure testing and leak detection. The industrial control computer can be used in conjunction with a programmable logic controller and a servo driver to achieve coordinated control, which can control the indexing turntable in two cycles, and also collect data on the cylinder pressure arrival time during the filling stage, the spindle current and displacement during the grinding stage, and the pressure decay data during the testing stage. Since the blank maintains the same clamping reference at each station, the current change collected during the grinding stage can correspond to the actual contact area change, and the unqualified results during the testing stage can be traced back to the previous filling and grinding data. Therefore, the device can link the structural positioning accuracy with the process quality judgment, and reduce the accumulation of form and position errors caused by repeated hoisting and realignment.

[0019] like Figure 3As shown, the bottom of the conical positioning post 5 is machined with an annular purge air channel 18, wherein the annular purge air channel 18 points obliquely upward toward the positioning cone surface of the conical positioning post 5 and is connected to the external compressed air source 19, and the pneumatic self-centering claw 6 is slidably connected to the accompanying tray 4 through the dovetail guide rail 20. The conical positioning post 5 is used to establish a unified positioning benchmark between the coal loading hole cover blank 35 and the accompanying pallet 4. However, if the refractory particles generated at the filling station 8 are attached to the positioning cone surface, it will cause a local rise between the bottom process hole of the blank and the positioning post, affecting the subsequent welding and grinding posture. Therefore, an annular purging air channel 18 is set at the bottom of the conical positioning post 5. The annular purging airway 18 can be formed by machining a closed annular groove at the lower end of the positioning column and evenly distributing several oblique nozzles. The angle between the nozzle axis and the vertical direction can be 20° to 45°, preferably around 30°, so that compressed air is sprayed upward along the positioning cone surface, forming a continuous air curtain before the chuck clamps, blowing away the dust scattered on the positioning cone surface and near the process hole inlet; the pressure of the external compressed air source 19 can be 0.4MPa to 0.7MPa, and the purging duration can be 1s to 5s to ensure that there are no particles left on the positioning surface; in order to overcome the low-pressure adsorption zone formed by the Koanda effect, the external compressed air source adopts a high-frequency pulse jet purging method, with a pulse pressure difference satisfy ,in air density, The air jet velocity forces the airflow away from the positioning cone surface and creates local turbulence, effectively lifting and blowing away the dust layer and preventing the reverse inhalation of external suspended particles. The pneumatic self-centering claw 6 is slidably connected to the accompanying tray 4 via the dovetail guide rail 20. The dovetail guide rail 20 has the ability to resist lateral loads that meet the set requirements and can withstand the radial component force caused by the mass of the coal loading hole cover blank 35 and the impact of tamping, thus avoiding the rolling body jamming of ordinary linear sliders in dusty environments. The claw can be driven by a ring synchronous drive mechanism or a three-cylinder synchronous drive mechanism to retract radially in an equal amount, so that the outer circle of the blank is automatically centered relative to the positioning column. The taper of the positioning pin, the diameter of the process hole, and the clamping force of the jaws need to be matched. It is preferable to establish initial coaxiality by guiding the tapered surface, and the jaws should only provide stable holding force without excessively squeezing the workpiece, thereby ensuring the positioning repeatability accuracy and reducing clamping deviations caused by dust intrusion into the positioning pair.

[0020] like Figure 4 As shown, welding station 9 is equipped with a semi-enclosed physical isolation baffle 21 connected by hinge 22. The inner side of the semi-enclosed physical isolation baffle 21 is coated with an anti-spatter coating to prevent welding sparks from splashing to adjacent stations. Welding station 9 is responsible for fixing the metal sealing ring 37 to the main body of the coal loading hole cover. The welding process will generate high-temperature sparks, molten droplets and fumes. If they are directly diffused to filling station 8 and grinding station 10, they will cause the refractory clay 36 to clump on the surface, the guide rail to be attached with welding slag and the grinding surface to be contaminated. Therefore, a semi-enclosed physical isolation baffle 21 is set up. The baffle can be composed of a steel plate frame and a heat-resistant panel. It is installed on one or both sides of the welding station 9 via hinge 22. When open, it is convenient for the operation of the robot or welding torch to enter. When closed, it can form a barrier in at least three directions around the welding area. The height of the baffle can be 300mm to 800mm higher than the upper surface of the coal loading hole cover. The necessary gap is maintained between the baffle and the indexing turntable 2 to allow the accompanying tray 4 to pass through. The semi-enclosed physical isolation baffle 21 is also connected to a drive cylinder. The industrial control computer controls the drive cylinder to keep the baffle in an outward opening avoidance state during the rotation of the indexing turntable 2, and to keep the baffle in an inward closing isolation state during the welding operation. The anti-spatter coating on the inner side of the baffle can be a silicate-based heat-resistant slag-removing coating, a ceramic coating, or other temperature-resistant coating, making it difficult for welding droplets to adhere, facilitating regular cleaning, and preventing welding slag from accumulating and falling off again to contaminate the clamping reference. The use of hinge 22 for connection instead of a fixed closed enclosure aims to maintain the isolation effect while retaining the inspection and manual observation passage, reducing the difficulty of smoke exhaust and maintenance caused by complete enclosure. When this structure is combined with the annular rotary arrangement, the pollution generated by welding can be limited to a local area, reducing the adverse effects on the positioning accuracy of adjacent workstations and the life of transmission components.

[0021] The grinding station 10 is equipped with a column 23. The feed slide 14 is slidably connected to the column 23 via a linear guide 24 and driven by a ball screw 25. The output shaft of the grinding spindle motor 15 is connected to the annular grinding disc 16 via a cross-slider type elastic coupling 26. Silicon carbide abrasive paper 27 is bonded to the bottom surface of the annular grinding disc 16. The grinding station 10 is used to eliminate the wavy error and local high points on the end face of the welded metal sealing ring 37. The key is to provide a stable and controllable vertical feed while allowing the grinding disc to maintain uniform contact under small deviations. For this purpose, a column 23 is set as a vertical bearing component. The feed slide 14 is slidably connected to the column 23 through a linear guide 24. The ball screw 25 provides displacement drive. The pitch of the ball screw 25 can be 5mm to 20mm, and the feed speed can be 0.1mm / s to 5mm / s to meet the needs of different stages of coarse contact and fine grinding. The grinding spindle motor 15 is fixed on the feed slide 14, and the output shaft is connected to the annular grinding disc 16 via a cross-slider type flexible coupling 26. This coupling can compensate for parallel deviations and angular deviations between the spindle axis and the mounting surface of the grinding disc within the tolerance range, reducing the transmission of assembly errors to the grinding surface. Silicon carbide abrasive paper 27 is bonded to the bottom surface of the annular grinding disc 16. The grit size of the abrasive paper can be selected from 80 mesh to 320 mesh according to process requirements. In the initial grinding stage, a low grit size can be selected to remove high points, and in the finishing stage, a high grit size can be replaced to reduce surface roughness. Since the annular grinding disc 16 makes full-circumferential contact with the metal sealing ring 37, its force distribution is closer to the sealing condition than that of a local grinding wheel. With the monitoring of spindle current and displacement change rate, the surface adhesion can be converted into a measurable load change. The combination of linear guide 24 and ball screw 25 also facilitates the acquisition of feed displacement data through encoder or driver feedback, so that the subsequent calculation of resistance torque change rate has a clear data source.

[0022] Combination Figure 5 As shown, the bottom edge of the bell-shaped test chamber 17 is inlaid with a silicone sealing ring 29 with a semi-circular cross section. When the hydraulic cylinder 28 presses down, the silicone sealing ring 29 and the upper surface of the accompanying tray 4 form a sealed cavity. Test station 11 is used to verify the overall sealing performance of the coal loading hole cover after filling, welding and grinding are completed; the bell-shaped test chamber 17 adopts the downward pressing cover method, and does not directly form test contact with the metal sealing ring 37 of the coal loading hole cover under test. This is because the metal sealing ring 37 itself is the object to be tested. If the pressing position of the test fixture directly acts on the sealing ring, it will change its stress state and interfere with the leak detection results. For this purpose, a semi-circular silicone sealing ring 29 is embedded in the bottom edge of the bell-shaped test chamber 17. The silicone hardness can be selected from Shore A40 to A70, and the cross-sectional diameter can be from 8mm to 20mm. The hydraulic cylinder 28 drives the bell-shaped test chamber 17 to descend vertically. After the silicone sealing ring 29 presses against the predetermined flat sealing area on the upper surface of the accompanying tray 4, it undergoes elastic deformation, thereby forming a sealed cavity between the test chamber and the tray. The clamping force of the hydraulic cylinder 28 can be controlled within the range of 10% to 30% compression of the silicone according to the compression amount of the sealing ring, so as to balance the sealing reliability and the life of the sealing ring; compressed air at a set pressure, such as 0.02MPa to 0.2MPa, is introduced into the sealed cavity through the air inlet, and the pressure change is monitored during the set pressure holding time. Since the sealed boundary formed by the test chamber and the tray does not depend on the processing precision of the test piece itself, the test results can more directly reflect the air permeability of the refractory material inside the coal loading hole cover and the fit quality of the metal sealing ring 37, which is convenient for subsequent traceability and determination.

[0023] like Figure 2As shown, the annular rotary base 1 is fixedly connected to the foundation 31 by anchor bolts 30. The center of the annular rotary base 1 supports the indexing turntable 2 by a thrust roller bearing 32. The outer circumference of the indexing turntable 2 is machined with a straight tooth ring 33 and meshes with the servo motor 3 through a pinion 34. The coal loading hole cover blank 35 has heavy load characteristics, and the filling station 8 is subject to repeated tamping load. If the rigidity of the base and the slewing support is insufficient, the indexing turntable 2 will sink or tilt after stopping at each station, weakening the positioning significance of a single clamping. Therefore, the annular slewing base 1 is fixedly connected to the concrete foundation 31 by anchor bolts 30. The thickness of the foundation 31 can be designed according to the total mass of the equipment and the impact load. The anchor bolts 30 can be of M24 to M36 specifications and are used in conjunction with a secondary grouting layer to improve installation stability. The indexing turntable 2 is supported by a thrust roller bearing 32 at the center of the annular rotary base 1. The thrust roller bearing 32 mainly bears the axial force formed by the superposition of the coal loading hole cover blank 35, the accompanying pallet 4 and the station load. Compared with ordinary deep groove ball bearings, it is more suitable for low-speed heavy-load indexing. The outer circumference of the indexing turntable 2 is machined with a spur gear ring 33, which is driven by the meshing of the pinion 34 with the output end of the servo motor 3. The servo motor 3 can be equipped with a reducer to meet the preset output torque and indexing stop accuracy requirements. Using an external gear ring drive instead of a friction wheel drive can avoid slippage caused by dust or oil, making the 90° indexing position more stable. After each indexing is completed, the servo system can complete the angle verification through the encoder. If necessary, it can be combined with mechanical positioning pins or braking mechanisms to improve static holding stiffness. This support and drive form provides the necessary structural conditions for all workstations to share the same reference.

[0024] Example 2: Please see Figure 6 A method for assembling and controlling the coal charging hole cover in a sealed coke oven setting, including: S1. Control the indexing turntable 2 to rotate, and transport the coal loading hole cover blank 35 to the filling station 8 along with the accompanying pallet 4, and inject a certain amount of refractory mud 36 into the inner cavity of the coal loading hole cover blank 35. S2. Control the tamping cylinder 12 to drive the flat-bottomed tamping head 13 downward to perform pulse tamping operation, and record in real time the time it takes for the tamping cylinder 12 to reach a constant reference back pressure in the lower chamber of the tamping cylinder 12 from the output of the drive signal to the tamping cylinder 12. S3. The time difference between the current tamping cycle and the previous cycle is calculated. If the time difference reaches a preset number of times less than or equal to a preset time threshold, the compaction is determined to meet the requirements and the tamping action is stopped. If the time difference does not reach a preset number of times less than or equal to the time threshold, the pulse tamping operation continues. S4. Control the coal loading hole cover blank 35 to enter the grinding station 10, control the feed slide 14 to drive the annular grinding disk 16 to move downward to contact the metal sealing ring 37 of the coal loading hole cover blank 35, and collect the current value of the grinding spindle motor 15 and the displacement of the feed slide 14 in real time according to the preset sampling cycle. S5. The change rate of resistance torque is calculated by multiplying the change in current value between two adjacent sampling cycles by the torque constant of the grinding spindle motor 15 and then dividing by the change in displacement. When the change rate of resistance torque is less than or equal to the preset change rate threshold, the grinding is determined to have reached the end point and the feed slide 14 is controlled to move upward. When the change rate of resistance torque is greater than the change rate threshold, the feed slide 14 is controlled to continue to drive the annular grinding disk 16 to move downward. The control method constructs two parallel core judgment models in terms of logical structure: a density evolution judgment model and a resistance torque dynamic monitoring model. Its purpose is to use the load changes of the mechanical actuator itself during the working process to make online judgments on the density of refractory material and the degree of sealing surface fit, so as to reduce the need to set up additional high-sensitivity sensors in dust and debris environments. In S1, the indexing turntable 2, under the control of the servo motor 3, sends the coal loading hole cover blank 35 to the filling station 8 at a set angle. The external feeding mechanism injects a quantitative amount of refractory mud 36 into the inner cavity of the blank. The injection amount can be preset according to the product specifications, such as quantitative by mass or volume. In S2, the tamping cylinder 12 drives the flat-bottomed tamping head 13 to perform pulse-type tamping consisting of a single downward press and a rebound. After the control valve is opened, the industrial control computer starts timing from the same starting moment and reads the pressure sensor signal of the lower chamber of the tamping cylinder 12. The so-called constant reference back pressure is not the basic air supply pressure that maintains the cylinder's operation, but a target pressure value obtained after trial production and calibration. This target pressure value corresponds to the level of reaction force generated on the tamping head when the refractory clay 36 reaches the specified arrangement density. Specifically, the constant reference back pressure is obtained by: conducting a tamping test on qualified samples in advance, recording the instantaneous peak pressure in the lower chamber of the cylinder when the mud reaches the design density, and taking 85%-95% of the average value of multiple experiments as the reference benchmark for triggering the termination of timing; since the porosity of the mud gradually decreases during the tamping process, the tamping head encounters a higher reaction force within a shorter displacement, so the time required to reach the constant reference back pressure will gradually shorten. In S3, the industrial control computer performs differential calculations on the time to reach back pressure in two adjacent tamping cycles to obtain the time difference; the density evolution judgment model receives the pressure and time in the lower chamber of the tamping cylinder 12 as input data streams, and the physical relationship it represents is: due to the decrease in porosity of refractory clay 36 during compaction, the structural stiffness increases, which inevitably shortens the time required for the tamping head to encounter the same reaction force. When the time difference is less than or equal to the time threshold for a preset number of consecutive times, it indicates that continued tamping is unlikely to significantly change the internal compaction state, thus logically determining that the compaction meets the requirements. The preset number of times can be 3, and the time threshold can be set from 5ms to 100ms according to the product specifications. To eliminate false compaction signals caused by low moisture content of refractory clay and non-Newtonian rheological properties, the industrial control computer needs to simultaneously verify the cumulative downward displacement of the tamping cylinder before judging based on the time difference. Only when satisfy At that time, the density was finally determined to be qualified, among which The benchmark compaction depth at standard moisture content. To accommodate rheological shrinkage tolerance, if the above displacement conditions are not met, an alarm for abnormal mud material will be issued to prevent subsequent drying cracking; if the time difference value does not meet the conditions, pulse tamping will continue. In S4, after the blank is transferred into the grinding station 10, the feed slide 14 drives the annular grinding disk 16 to move downward to contact the metal sealing ring 37. The industrial control computer synchronously collects the current value of the grinding spindle motor 15 and the displacement of the feed slide 14 at a fixed sampling period. The sampling period can be set from 1ms to 100ms. The minimum effective displacement refers to the lower limit of displacement that avoids sensor static drift and mechanical micro-vibration. In this embodiment, the minimum effective displacement is set to 5 to 10 times the resolution of the grating ruler of the feed slide 14, preferably 0.01 mm, to ensure the stability of the denominator calculation. In S5, the change in current between two adjacent sampling cycles is divided by the corresponding change in displacement to obtain the characteristic value of the rate of change of resistance torque. The dynamic monitoring model of resistance torque receives the spindle motor current and feed displacement as input data streams. The physical causal relationship it represents is as follows: because there are wavy high points in the metal seal ring 37 during the initial grinding stage, local contact leads to a sharp increase in the contact area during pressing, and the frictional resistance torque rises rapidly with the displacement. However, when the high points are gradually removed and the contact surface tends to fit the entire circumference, the increase in the actual contact area caused by continued pressing tends to be gradual. Therefore, the growth trend of current with displacement slows down, and the rate of change of resistance torque gradually decreases and approaches zero; the industrial control computer compares this rate of change with the preset rate of change threshold. When it is less than or equal to the threshold, it determines that the grinding has reached the end point and issues a retraction command to raise the feed slide 14 to prevent the thickness of the sealing ring from continuing to decrease; when it is greater than the threshold, it continues to press down for grinding. In this method, the cylinder timing parameters and spindle current parameters are directly derived from the basic electrical signals of existing actuators, the data link is clear, and the calculation method is differential and ratio operation; the constant reference back pressure, time threshold, and rate of change threshold can all be obtained through pre-production calibration of qualified samples of the same specification; The specific method of obtaining the data is as follows: extract the rate of change of resistance torque when the qualified sample of the same specification reaches the state of physical contact around the entire circumference on the surface of the sealing ring, take the average value of multiple calibration records, and add a preset safety margin as the threshold of the rate of change. To clarify the data processing logic of the algorithm and ensure the traceability of the control process, the industrial control computer can execute the following steps: read the current and displacement values ​​of the current sampling period; the industrial control computer samples the three-phase current of the grinding spindle motor 15 at a frequency of 10kHz; calculates the stator current vector amplitude through Clarke transform; and smooths the current signal through a moving average filtering algorithm to filter out high-frequency noise; and calculates the difference between the current and displacement values ​​from the corresponding values ​​of the previous sampling period to obtain the current change and displacement change. The system determines whether the displacement change is greater than the minimum effective displacement. If the displacement change is greater than the minimum effective displacement, the rate of change of the resistance torque is calculated. If it is less than or equal to the minimum effective displacement, the rate of change for the current cycle is kept at the value of the previous cycle. Specifically, if the displacement change is less than the minimum effective displacement for multiple consecutive sampling cycles, the system determines it to be a static, suspended, slightly drifting condition of the grinding disc. The calculation of the rate of change of the resistance torque is temporarily paused, and the system remains in standby mode until a valid downward displacement is detected again, at which point the calculation is restarted. This avoids misjudging the grinding endpoint due to static drift noise. The rate of change of the resistance torque can be calculated using the following formula: Obtain, among which, This is a characterization value for the rate of change of the drag torque. The torque constant of the spindle motor. , The current values ​​are smoothed out over two adjacent sampling periods. , The displacement value corresponding to the sampling period. and This represents the corresponding value for the current sampling period. and This is the corresponding value of the previous sampling period; the output of this R value is directly sent to the grinding endpoint determination step as the trigger for continuing to press down or retreating. The time to reach a constant reference back pressure and its time difference obtained during the tamping stage are written into the data record corresponding to the workpiece number for subsequent testing and traceability, so that the filling judgment and grinding judgment have clear input sources, processing steps and output destinations under the same data link.

[0025] The steps following S5 include: S601, control the coal loading hole cover blank 35 to enter the test station 11, control the bell-shaped test chamber 17 to descend and press it to form a closed cavity with the accompanying tray 4, fill the closed cavity with compressed air at a constant pressure and maintain the pressure. S602. Obtain the pressure drop rate during the pressure holding period. If the pressure drop rate is less than or equal to the preset pressure drop rate threshold, the seal is deemed qualified. If the pressure drop rate is greater than the pressure drop rate threshold, retrieve the final steady-state value of the resistance torque recorded by the coal loading hole cover blank 35 during the grinding stage, and simultaneously perform temperature drift compensation correction based on the collected ambient temperature of the grinding station and the temperature of the spindle motor winding, remove the current baseline offset caused by temperature, and obtain the corrected resistance torque value. S603. If the corrected resistance torque value is less than the preset lower limit of the average resistance torque, the leakage source is determined to be poor grinding of the metal seal ring 37; if the corrected resistance torque value is greater than or equal to the lower limit of the average resistance torque, the subsequent tracing steps are executed to ensure the consistency of the tracing criteria across working conditions. After the grinding endpoint is determined, the overall sealing performance of the finished product needs to be inspected, and the inspection results should be correlated with the previous process data. This step constructs a comprehensive leakage judgment and source tracing model in terms of logical structure. In S601, the indexing turntable 2 sends the coal loading hole cover blank 35 into the test station 11, and the hydraulic cylinder 28 drives the bell-shaped test chamber 17 to descend, so that the silicone sealing ring 29 presses the upper surface of the accompanying tray 4 to form a sealed cavity. Constant pressure compressed air is injected into the cavity through the air filling valve. The air filling target pressure can be set from 0.05MPa to 0.15MPa, and the pressure holding time can be set from 5s to 60s. In S602, the pressure sensor continuously records the pressure value during the pressure holding period. The industrial control computer obtains the pressure drop rate by dividing the pressure change by the corresponding time interval. If the rate is less than or equal to the pressure drop rate threshold, the seal is deemed qualified. In the initialization calibration module of the software program, the specific method for obtaining the threshold is as follows: the industrial control computer controls the test chamber to perform pressure holding tests on at least 30 known qualified samples, collects and records the pressure drop rate of each sample, calculates the mean and standard deviation of these rate data, and sets the threshold as the mean plus three times the standard deviation, thereby providing a scientific data benchmark for the system. If the pressure drop rate is greater than the threshold, it indicates that there is a leak, and it is necessary to further combine the grinding data to determine the direction of the leak. The industrial control computer retrieves the steady-state value of the final resistance torque corresponding to the grinding endpoint determined in S5 for the coal loading hole cover blank 35. The calculation logic of the steady-state value is as follows: the industrial control computer extracts the current data of the 20 sampling cycles before the grinding endpoint determination trigger, the program automatically removes the maximum and minimum values ​​and calculates the arithmetic mean, and then multiplies the mean by the torque constant of the spindle motor to obtain the result. In S603, the steady-state value is compared with the lower limit of the average resistance torque of qualified products in the same batch; the physical causal relationship represented by the leakage comprehensive judgment and tracing model here is: since the final resistance torque steady-state value at the end of the grinding directly maps the actual physical contact area finally formed between the grinding disc and the metal sealing ring 37, when the steady-state value is lower than the lower limit of the average of qualified products in the same batch, it necessarily means that there is an un-ground low-lying area on the end face of the sealing ring, and the complete circumferential physical fit is not achieved. Therefore, the system can establish a strong causal relationship between the abnormally low contact resistance and the fact that the leakage channel must exist at the poor grinding point of the metal seal ring 37; if the steady-state value is not lower than the lower limit, it indicates that the fit relationship formed during the grinding stage is basically normal, and further tracing is required by combining the data from the filling stage. With this judgment method, the air tightness result of test station 11 is no longer just a final inspection conclusion of whether it is qualified or not, but can be mutually verified with the quantifiable load information recorded in the grinding stage, and transformed into a process traceability conclusion with clear physical direction; the physical meaning of the pressure drop rate is the speed at which the pressure of the sealed cavity decays per unit time, which reflects the comprehensive leakage degree of the test cavity and the coal loading hole cover assembly under test. To ensure a clear judgment process, S602 can be executed in the following order: First, after the test chamber is fully inflated, set a pressure stabilization delay. Then, start reading the initial pressure value from the end of the pressure stabilization delay and read the final pressure value at the end of the pressure holding period. Calculate the average pressure drop rate based on the corresponding time intervals. The pressure drop rate can be expressed as follows: Obtain, among which, For the rate of pressure drop, The initial pressure after the voltage stabilization delay ends. To hold pressure at the end point, To correspond to the pressure holding time, The output results are directly sent to the sealing qualification judgment module; the output results of the above processing flow have two directions: first, the pressure drop rate is used to give a preliminary judgment of qualification or leakage; second, the comparison result of the final steady-state value of the resistance torque and the lower limit of the average resistance torque is used to distinguish whether the leakage is due to poor grinding of the metal seal ring 37, so that the decision path after the test has a clear data source and a step-by-step judgment relationship. For example, in a set of quantitative simulation examples, after inflation to 0.1 MPa and holding for 30 seconds, the system measured a pressure drop rate of 0.0015 MPa / s, which is greater than the set threshold of 0.0005 MPa / s, and initially determined that there was a leak. At this time, the industrial control computer automatically retrieved the final steady-state value of the resistance torque recorded during the grinding stage and found that the value was 2.5 N·m, which is lower than the lower limit of the average resistance torque of 3.2 N·m for qualified products in the same batch. The system then output the diagnostic conclusion that the source of the leak was poor grinding of the metal sealing ring 37. The specific method for obtaining the lower limit of the average resistance torque is as follows: extract the average value of the steady-state value of the final resistance torque of qualified products in the same batch at the end of grinding, and subtract the corresponding standard deviation; this quantitative deduction not only verifies the correspondence between the effect and the method, but also confirms the effectiveness of data flow between each workstation.

[0026] Subsequent tracing steps include: S701. Retrieve the time recorded at loading station 8 to reach constant reference back pressure; S702. If the time to reach a constant reference back pressure is greater than the standard filling time, it is determined that there are uncompacted pore channels inside the refractory material and the leakage source is determined to be air leakage in the refractory material body; if the time to reach a constant reference back pressure is less than or equal to the standard filling time, it is determined to be an unknown leakage source. S703. Based on the determination of the leakage source, automatically classify the products and push them to the corresponding rework station; For the coal loading hole cover blank 35 that was determined to be leaking during the testing phase and whose steady-state resistance torque was within the normal range during the grinding phase, it is necessary to continue to use historical data from the filling phase to distinguish whether it is refractory material permeability; this subsequent tracing step logically constructs a refractory material permeability tracing model. In S701, the industrial control computer retrieves the time it takes for the workpiece to reach a constant reference back pressure at loading station 8 once from the database based on the product number or indexing cycle number. This time is used as the core input parameter of the refractory permeability traceability model. In S702, this time is compared with the standard loading time, which can be determined by statistical data of qualified samples of the same specification. The standard loading time is defined as: under the same air source pressure and tamping frequency, when a qualified sample completes one effective pulse tamping, the average time taken for the cylinder to reach a constant reference back pressure from start-up. If the loading time is greater than the standard loading time, it means that the tamping head needs a longer action time to reach the same reaction pressure. The physical causal relationship represented by the model is as follows: When the refractory clay 36 is subjected to the same air pressure-driven impact, its reaction force against compression comes from the mutual squeezing and support between the internal particles; if there are uncompacted interconnected pores or loose channels inside the clay, its overall compressive stiffness will be low; therefore, the tamping head must move downward for a longer distance and consume more time to compress the clay to the critical state that generates the target reaction force. Therefore, the system can clearly determine that: since the excessive filling time reflects insufficient compressive stiffness of the mud, the leakage source must be the air-permeable pores inside the refractory body; if the time is less than or equal to the standard filling time, and the grinding steady-state resistance torque does not show any abnormality, it means that the two main leakage mechanisms have not been confirmed, and the workpiece can be marked as an unknown leakage source so that it can enter the manual re-inspection or extended diagnostic process. In step 703, the industrial control computer automatically generates a classification signal based on the leakage source determination result, and controls the indexing turntable 2 to guide the product to the corresponding rework channel at the unloading station. If the metal sealing ring 37 is poorly ground, it enters the grinding and rework area; if the refractory body is leaking, it enters the refractory reloading or compaction area; if the leakage source is unknown, it enters the manual diagnosis area. This step establishes a corresponding relationship between the data of the filling stage, grinding stage and testing stage on the same time series, which facilitates the classification and processing of defect sources. The logical purpose of the standard filling time is to provide a benchmark for comparison of whether the filling stage has reached the normal compaction state. It is not a random value generated in real time during a single production, but a reference time upper limit established in advance for a specific product specification. The standard filling time can be determined by selecting samples of the same specification that have passed the final test and verification as samples, and extracting the average time of these samples to reach a constant reference back pressure in the effective tamping cycle plus the allowable deviation. To ensure a clear data flow for subsequent traceability steps, steps 701 to 703 can be further developed as follows: the industrial control computer reads the time value at which the workpiece reaches a constant reference back pressure; the standard loading time is read; a size comparison is performed and a leak source tag is generated; the tag is then passed to the sorting execution mechanism or the rework scheduling module. The decision-making role of the above output results is to further subdivide the leakage results found in the final inspection into actionable process handling categories, thereby improving rework efficiency and reducing unnecessary repeated disassembly.

[0027] The bottom of the conical positioning post 5 is machined with an annular purge air passage 18 that connects to an external compressed air source 19. Step S1 includes the following prior steps: S001. Control the external compressed air source 19 to supply air to the annular purge air passage 18, forming a continuous positive pressure dustproof air curtain before the pneumatic self-centering chuck 6 clamps. S002. Use a positive pressure dustproof air curtain to blow away the falling refractory dust; S003, control the pneumatic self-centering chuck 6 to clamp the outer circle of the coal loading hole cover blank 35; To ensure that the loading and grinding coordinated control method has a stable data foundation, before the coal loading hole cover blank 35 enters any station, it is necessary to ensure that its clamping reference is not affected by dust contamination. Therefore, a positioning surface purging step is added before S1. In S001, after the industrial control computer detects that the blank to be clamped has reached above the accompanying tray 4, it sends a ventilation command to the solenoid valve, so that the external compressed air source 19 supplies air to the annular blowing air passage 18 at the bottom of the conical positioning column 5, forming a positive pressure dustproof air curtain along the upward direction of the positioning cone. The ventilation pressure can be set to 0.4MPa to 0.7MPa, consistent with the air source in the factory, and the ventilation time can be set to 1s to 3s, or can be appropriately extended according to the dust concentration through time program. In S002, the positive pressure airflow blows away the refractory dust that falls around the positioning post and near the inlet of the blank process hole, keeping the contact area between the cone surface of the positioning post and the inner wall of the process hole clean and free of dust, reducing tilting and eccentricity caused by particle entrainment. In S003, during the completion of the purging action or the purging maintenance process, the pneumatic self-centering jaw 6 is controlled to synchronously retract and clamp the outer circle of the blank. The clamping pressure can be adjusted to suppress the subsequent tamping and grinding vibration displacement without damaging the outer circle of the workpiece. Since this method removes the main contaminants from the positioning surface before the clamping action, the cylinder back pressure time, spindle current and displacement data in subsequent S1 to S5 can more accurately correspond to the packing density and grinding contact state, reducing interference caused by changes in clamping posture; by linking the air passage structure with the control steps, positioning cleaning no longer relies on manual wiping, thereby improving the stability of repeated implementation under indexing cycle.

[0028] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A coal charging hole cover assembly device for use in a sealed coke oven environment, characterized in that, include: An annular rotary base (1), wherein the center of the annular rotary base (1) is supported by an indexing turntable (2), and the indexing turntable (2) is driven to rotate by a servo motor (3); The accompanying pallet (4) is distributed equidistantly along the circumference on the upper surface of the indexing turntable (2). A conical positioning post (5) is provided at the center of the upper surface of the accompanying pallet (4), and a pneumatic self-centering claw (6) is provided around the conical positioning post (5). The pneumatic self-centering claw (6) is used to clamp the coal loading hole cover blank (35). The work stations (7) are distributed around the annular rotary base (1). The work stations (7) include a filling station (8), a welding station (9), a grinding station (10), and a testing station (11). A tamping cylinder (12) is provided above the filling station (8). A flat-bottomed tamping head (13) is connected to the end of the tamping cylinder (12). A feed slide (14) is provided in the grinding station (10). A grinding spindle motor (15) and an annular grinding disc (16) are provided on the feed slide (14). A bell-shaped test chamber (17) is provided in the testing station (11). The bell-shaped test chamber (17) is driven to lift by a hydraulic cylinder (28). An industrial computer controls the hydraulic cylinder (28) of the servo motor (3), pneumatic self-centering jaw (6), tamping cylinder (12), feed slide (14), grinding spindle motor (15) and bell-shaped test chamber (17). The bottom of the conical positioning post (5) is machined with an annular purge air channel (18), wherein the annular purge air channel (18) points obliquely upward toward the positioning cone surface of the conical positioning post (5) and is connected to an external compressed air source (19), and the pneumatic self-centering claw (6) is slidably connected to the accompanying tray (4) via a dovetail guide rail (20). The welding station (9) is equipped with a semi-enclosed physical isolation baffle (21) connected by a hinge (22), wherein the inner side of the semi-enclosed physical isolation baffle (21) is coated with an anti-splatter coating to prevent welding sparks from splashing to adjacent stations. The bottom edge of the bell-shaped test chamber (17) is inlaid with a silicone sealing ring (29) with a semi-circular cross section. When the hydraulic cylinder (28) presses down, the silicone sealing ring (29) and the upper surface of the accompanying tray (4) form a sealed cavity.

2. The coal charging hole cover assembly device for a coke oven sealed environment according to claim 1, characterized in that, The grinding station (10) is provided with a column (23), wherein the feed slide (14) is slidably connected to the column (23) via a linear guide rail (24) and driven by a ball screw (25), and the output shaft of the grinding spindle motor (15) is connected to the annular grinding disc (16) via a cross-slider type elastic coupling (26), and silicon carbide abrasive paper (27) is bonded to the bottom surface of the annular grinding disc (16).

3. The coal charging hole cover assembly device for a coke oven sealed environment according to claim 1, characterized in that, The annular rotary base (1) is fixedly connected to the foundation (31) by anchor bolts (30). The center of the annular rotary base (1) supports the indexing turntable (2) by a thrust roller bearing (32). The outer circumference of the indexing turntable (2) is machined with a spur gear ring (33) and meshes with the servo motor (3) through a pinion gear (34).

4. A method for assembling and controlling the coal charging hole cover in a coke oven sealed environment, applied to the coal charging hole cover assembly device for a coke oven sealed environment as described in any one of claims 1 to 3, characterized in that, include: S1. Control the indexing turntable (2) to rotate, and transport the coal loading hole cover blank (35) to the filling station (8) along with the accompanying tray (4), and inject a certain amount of refractory mud (36) into the inner cavity of the coal loading hole cover blank (35). S2. Control the tamping cylinder (12) to drive the flat-bottomed tamping head (13) downward to perform pulse tamping operation, and record in real time the time it takes for the tamping cylinder (12) to output a drive signal to the lower chamber of the tamping cylinder (12) to reach a constant reference back pressure. S3. The time difference between the current tamping cycle and the time of the previous cycle is obtained. If the time difference reaches a preset number of times less than or equal to a preset time threshold, the compaction is determined to meet the requirements and the tamping action is stopped. If the time difference does not reach a preset number of times less than or equal to the time threshold, the pulse tamping operation continues. S4. Control the coal loading hole cover blank (35) to enter the grinding station (10), control the feed slide (14) to drive the annular grinding disk (16) to move downward to contact the metal sealing ring (37) of the coal loading hole cover blank (35), and collect the current value of the grinding spindle motor (15) and the displacement of the feed slide (14) in real time according to the preset sampling period. S5. The change rate of resistance torque is calculated by multiplying the change in current value between two adjacent sampling cycles by the torque constant of the grinding spindle motor (15) and then dividing by the change in displacement. When the change rate of resistance torque is less than or equal to the preset change rate threshold, the grinding is determined to have reached the end point and the feed slide (14) is controlled to move upward. When the change rate of resistance torque is greater than the change rate threshold, the feed slide (14) is controlled to continue to drive the annular grinding disk (16) to move downward.

5. The method for assembling and controlling the coal charging hole cover in a sealed coke oven scenario according to claim 4, characterized in that, The step S5 is followed by: S601. Control the coal loading hole cover blank (35) to enter the test station (11), control the bell-shaped test chamber (17) to descend and press against the accompanying tray (4) to form a sealed cavity, fill the sealed cavity with compressed air at a constant pressure and maintain the pressure. S602. Obtain the pressure drop rate during the pressure holding period. If the pressure drop rate is less than or equal to the preset pressure drop rate threshold, the seal is deemed qualified. If the pressure drop rate is greater than the pressure drop rate threshold, retrieve the final steady-state value of the resistance torque recorded by the coal loading hole cover blank (35) during the grinding stage, and simultaneously perform temperature drift compensation correction based on the collected grinding station ambient temperature and spindle motor winding temperature, remove the current baseline offset caused by temperature, and obtain the corrected resistance torque value. S603. If the corrected resistance torque value is less than the preset lower limit of average resistance torque, the leakage source is determined to be poor grinding of the metal sealing ring (37); if the corrected resistance torque value is greater than or equal to the lower limit of average resistance torque, the subsequent tracing steps are executed to ensure the consistency of the tracing criteria across working conditions.

6. The method for assembling and controlling the coal charging hole cover in a coke oven sealed environment according to claim 5, characterized in that, The subsequent tracing steps include: S701. Retrieve the time recorded by the loading station (8) to reach a constant reference back pressure; S702. If the time to reach a constant reference back pressure is greater than the standard filling time, it is determined that there are uncompacted pore channels inside the refractory material and the leakage source is determined to be air leakage in the refractory material body; if the time to reach a constant reference back pressure is less than or equal to the standard filling time, it is determined to be an unknown leakage source. S703: Based on the determination of the leakage source, the product is automatically classified and pushed to the corresponding repair station.

7. The coal charging hole cover assembly control method for a coke oven sealed environment according to claim 4, applied to the coal charging hole cover assembly device for a coke oven sealed environment according to claim 1, characterized in that, The steps preceding S1 include: S001. Control the external compressed air source (19) to supply air to the annular purge airway (18) to form a continuous positive pressure dustproof air curtain before the pneumatic self-centering chuck (6) clamps. S002. The positive pressure dustproof air curtain is used to blow away the falling refractory dust. S003. Control the pneumatic self-centering jaws (6) to clamp the outer circle of the coal loading hole cover blank (35).

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