A coke oven gas exchanger inspection robot

Abstract

The utility model discloses a kind of coke oven gas exchanger inspection robot, mobile chassis device, robot main body, lifting device, detection tool, control system and battery pack;Robot main body is set in the top of mobile chassis device;Lifting device is set in the top of robot main body;Detection tool is set in the top of lifting device;Control system is electrically connected with mobile chassis device, lifting device and detection tool;Mobile chassis device, lifting device and control system are electrically connected with battery pack.The utility model provides a kind of coke oven gas exchanger inspection robot, realizes the automation, intelligent inspection of coke oven gas exchanger, improves inspection efficiency and accuracy, and guarantees safety production.

Description

Technical Field

[0001] This utility model belongs to the technical field of industrial automation testing equipment, and relates to a coke oven gas exchanger inspection robot. Background Technology

[0002] In the coking process, the coke oven gas exchanger is a crucial piece of equipment, and its stable operation directly affects the normal and safe production of the coke oven. Currently, the inspection of coke oven gas exchangers is mainly carried out manually. However, manual inspection has many drawbacks, such as long inspection cycles, high labor intensity, and the safety of inspection personnel cannot be effectively guaranteed in harsh environments such as high temperatures, high dust levels, and toxic and harmful gases. Furthermore, manual inspection is prone to missed inspections and false inspections, failing to detect potential faults in the exchanger in a timely manner, thus affecting the production efficiency and safety of the coke oven. Therefore, developing a robot capable of automatically, efficiently, and accurately inspecting coke oven gas exchangers is of significant practical importance. Utility Model Content

[0003] To solve the above problems, the technical solution adopted by this utility model is a coke oven gas exchanger inspection robot, including a mobile chassis device, a robot body, a lifting device, inspection tools, a control system and a battery pack; The robot body is positioned above the mobile chassis device; The lifting device is located above the robot body; The detection tool is positioned above the lifting device; The control system is electrically connected to the mobile chassis device, the lifting device, and the testing tools. The mobile chassis, lifting device, and control system are all electrically connected to the battery pack.

[0004] Furthermore, the lifting device adopts a hydraulic lifting platform.

[0005] Furthermore, the mobile chassis device includes a chassis, drive wheels, a drive motor, and a steering mechanism; the drive wheels are four in number. A drive motor is mounted on the chassis, the drive motor is connected to a steering mechanism, and the steering mechanism is connected to the drive wheels; Furthermore, the control system also employs the ROS2 system.

[0006] Furthermore, it also includes a communication system, which is connected to the control system and the battery pack.

[0007] Furthermore, the testing tools include: Temperature monitoring module: used to detect the temperature of the coke oven gas exchanger; The temperature monitoring module uses a multispectral thermal imager; Gas sensor: used to detect the gas concentration in the coke oven gas exchanger; Sound monitoring module: used for sound detection of the coke oven gas exchanger; the sound detection module uses a microphone; Image acquisition module: used to inspect the appearance and component connections of the coke oven gas exchanger; the image acquisition module includes a high-definition camera; Laser scanner: Used to identify obstacles during walking.

[0008] This utility model provides a coke oven gas exchanger inspection robot, which realizes automated and intelligent inspection of coke oven gas exchangers, improves inspection efficiency and accuracy, and ensures safe production. 1. Innovative structural design: Employing a unique walking mechanism, it can adapt to the complex terrain and harsh environment of the coke oven, ensuring the stability and reliability of the robot during the inspection process.

[0009] The optimized sensor layout enables comprehensive monitoring of all key parts of the coke oven, improving the accuracy and completeness of data acquisition.

[0010] 2. Advanced functional integration: It integrates a variety of advanced detection technologies, including high-precision temperature detection, sensitive gas detection, and intelligent image recognition, which can accurately detect potential problems in coke oven equipment.

[0011] 3. Highly efficient control system and communication technology: By adopting an advanced control system, the robot can achieve autonomous navigation, intelligent obstacle avoidance, and precise positioning, thereby improving inspection efficiency.

[0012] Stable and reliable communication technology ensures real-time data transmission and remote monitoring, allowing operators to keep abreast of the coke oven's operating status.

[0013] Advantages and effects: 1. Improve inspection efficiency: Robots can work 24 hours a day without interruption, which greatly shortens the inspection cycle and improves inspection efficiency.

[0014] 2. Enhanced detection accuracy: The detection tool can accurately collect various parameters of the coke oven gas exchanger, avoiding the problems of missed detection and false detection caused by manual inspection, and improving the accuracy of detection.

[0015] 3. Ensuring personnel safety: Robots can work in harsh environments, avoiding direct contact between inspection personnel and dangerous environments such as high temperatures, high dust levels, and toxic and harmful gases, thus ensuring personnel safety.

[0016] 4. Achieve intelligent management: The intelligent decision-making function of the control system and the real-time data transmission of the communication system enable the remote monitoring center to understand the operating status of the coke oven gas exchanger in a timely manner, thus realizing intelligent management of the exchanger. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model 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.

[0018] Figure 1 This is a schematic diagram of the robot in this application; Reference numerals: 101, hydraulic lifting platform; 102, multispectral thermal imager; 103, gas leak sensor; 104, laser scanner; 105, camera; 106, communication antenna; 107, microphone; 108, gas detection sensor; 109, battery pack; 110, drive wheel. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0021] Figure 1 This is a schematic diagram of the robot in this application; A coke oven gas exchanger inspection robot includes a mobile chassis, a robot body, a lifting device, inspection tools, a control system, and a battery pack. The robot body is positioned above the mobile chassis device; The lifting device is located above the robot body; The detection tool is positioned above the lifting device; The control system is electrically connected to the mobile chassis device, the lifting device, and the testing tools. The mobile chassis device, lifting device and control system are all electrically connected to the battery pack 109.

[0022] Furthermore, the mobile chassis device includes a chassis, drive wheels, a drive motor, and a steering mechanism; the drive wheels are four in number. A drive motor is mounted on the chassis, the drive motor is connected to a steering mechanism, and the steering mechanism is connected to the drive wheels; Furthermore, the control system also employs the ROS2 system.

[0023] Furthermore, it also includes a communication system, which is connected to the control system and the battery pack.

[0024] Furthermore, the testing tools include: Temperature monitoring module: used to detect the temperature of the coke oven gas exchanger; The temperature monitoring module uses a multispectral thermal imager 102; Gas sensor: used to detect the gas concentration in the coke oven gas exchanger; The gas sensor includes a gas leak sensor 103 and a gas detection sensor 108; Sound monitoring module: used for sound detection of the coke oven gas exchanger; the sound detection module uses a microphone 107; Image acquisition module: used to inspect the appearance and component connections of the coke oven gas exchanger; the image acquisition module includes a high-definition camera 105; Laser scanner 104: Used to identify obstacles during walking.

[0025] Example 1: The coke oven gas exchanger inspection robot of this utility model mainly includes: a mobile chassis device, a robot body, a lifting device, detection tools, a control system, a communication system, and a battery pack; Mobile chassis device: used for free movement in complex terrain and environments around the coke oven; The main body of the robot is positioned above the mobile chassis device; a communication antenna 106 is located behind the main body of the lifting device robot. Detection tools: used to detect parameters such as temperature, gas concentration (including H2S, CO and O2), sound, and images of the coke oven gas exchanger; the detection tools are installed on top of the robot body; Lifting device: used to adjust the vertical stroke of the inspection tool; the lifting device is located above the robot body; The control system, centered on a microprocessor, is responsible for controlling the robot's movement and the data acquisition and processing of the detection tools. The control system has intelligent decision-making capabilities, enabling it to determine the operating status of the switch based on detected data and promptly issue alarm signals.

[0026] Communication System: Employing wireless communication technology, this system enables data transmission and communication between the robot and the remote monitoring center. The communication system features strong anti-interference capabilities and high transmission rates, ensuring accurate data transmission. Alarm module: Used to determine the operating status of the switch based on the identification transmitted by the control system, and to issue an alarm signal in a timely manner.

[0027] The battery pack 109 provides power to the mobile chassis device, lifting device, control system and communication system; The mobile chassis device adopts a wheeled structure, which has good passability and stability, and can move freely in the complex terrain and environment around the coke oven.

[0028] The mobile chassis device includes a chassis, drive wheels 110, a drive motor, and a steering mechanism; there are four drive wheels 110. A drive motor is mounted on the chassis, the drive motor is connected to a steering mechanism, and the steering mechanism is connected to the drive wheels; The drive motor and steering mechanism enable the robot to move forward, backward, and turn.

[0029] The lifting device adopts a hydraulic lifting platform 101 to realize the vertical stroke adjustment of the detection component; Travel range: 0–1.5m; Detection tools include: Temperature monitoring module: used to detect the temperature of the coke oven gas exchanger; The temperature monitoring module uses a multispectral thermal imager 102; through infrared temperature measurement and other technologies, it monitors the temperature of the switch equipment in real time, promptly detects abnormal heating of the equipment, and prevents equipment failure and safety accidents caused by overheating.

[0030] Gas sensor: used to detect the gas concentration (including H2S, CO and O2) of the coke oven gas exchanger; the gas sensor includes a gas leak sensor 103 and a gas detection sensor 108; Sound monitoring module: used for sound detection of the coke oven gas exchanger; the sound detection module uses a microphone 107; Image acquisition module: used to acquire images of the appearance and component connections of the coke oven gas exchanger; the image acquisition module includes a high-definition camera 105; Laser scanner 104: Used to identify obstacles during walking; The control system collects and analyzes the sound signals generated during equipment operation to achieve non-contact monitoring of equipment status, such as providing fault warnings for high-frequency whistling sounds generated by valve and pipeline leaks. The acquired images can be used to collect and analyze images of the switch's appearance and component connections, and detect problems such as damage, corrosion, and dust accumulation on the device's surface.

[0031] Communication system: This system can transmit collected images, data, and other information to the central control room in real time, facilitating remote monitoring and analysis by operators. It also has data storage capabilities, enabling the preservation of historical inspection data for subsequent retrieval and analysis, providing data support for equipment maintenance and management.

[0032] Intelligent early warning and alarm: When equipment abnormality or environmental safety hazards are detected, it can promptly issue audible and visual alarm signals and transmit the alarm information to the central control room to remind staff to handle the situation in a timely manner.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coke oven gas exchanger inspection robot, characterized in that: Mobile chassis, robot body, lifting device, testing tools, control system and battery pack; The robot body is positioned above the mobile chassis device; The lifting device is located above the robot body; The detection tool is positioned above the lifting device; The control system is electrically connected to the mobile chassis device, the lifting device, and the testing tools. The mobile chassis device, lifting device, and control system are all electrically connected to the battery pack.

2. The coke oven gas exchanger inspection robot according to claim 1, characterized in that: The mobile chassis device includes a chassis, drive wheels, a drive motor, and a steering mechanism; there are four drive wheels. A drive motor is mounted on the chassis, the drive motor is connected to a steering mechanism, and the steering mechanism is connected to the drive wheels.

3. The coke oven gas exchanger inspection robot according to claim 1, characterized in that: The control system also employs the ROS2 system.

4. The coke oven gas exchanger inspection robot according to claim 1, characterized in that: The lifting device is a hydraulic lifting platform.

5. The coke oven gas exchanger inspection robot according to claim 1, characterized in that: It also includes a communication system, which is connected to the control system and the battery pack.

6. The coke oven gas exchanger inspection robot according to claim 1, characterized in that: Detection tools include: Temperature monitoring module: used to detect the temperature of the coke oven gas exchanger; The temperature monitoring module uses a multispectral thermal imager; Gas sensor: used to detect the gas concentration in the coke oven gas exchanger; Sound monitoring module: used for sound detection of coke oven gas exchangers; the sound monitoring module uses a microphone; Image acquisition module: used to inspect the appearance and component connections of the coke oven gas exchanger; the image acquisition module includes a high-definition camera; Laser scanner: Used to identify obstacles during walking.

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