Sealing device and method for coke oven doors

Abstract

The present invention provides a sealing device and method for a coke oven door that can block and prevent gas leakage generated during the coke manufacturing process. [Solution] The coke oven door sealing device of the present invention is characterized by including a sealing material supply unit including a nozzle for discharging sealing material, a robot connected to the sealing material supply unit and including a robot arm for moving the position of the nozzle and a base for supporting the robot arm, a moving unit for moving the robot in the horizontal direction in which the plurality of coke ovens are arranged and in the vertical direction which is the length direction of the plurality of coke ovens, and a control unit for controlling the robot arm.

Description

Technical Field

[0001] The present invention relates to a sealing device and method for a coke oven door, and more particularly, provides a sealing device and method for a coke oven door that can block and prevent gas leakage generated during the coke production process.

Background Art

[0002] A coke oven has a plurality of carbonization chambers for charging coal, and is a facility for producing red-hot coke by applying high-temperature heat to the coal charged in the carbonization chamber for a certain period of time to remove impurities. Coke is a type of fuel with a high carbon content and a small amount of impurities. It is mainly made from coal. The coke made from coal is gray, hard, and porous.

[0003] In the coke production process, fuel coal is supplied into the interior of the carbonization chamber through the charging ports at the upper part of each carbonization chamber. The red-hot coke after the completion of carbonization is loaded onto a fire truck through the area where the door is opened, and then transported to the process position.

[0004] A coke oven is provided with doors for the inflow of coal and the discharge of coke. Each door is operated by a detaching device to open or close the corresponding carbonization chamber.

[0005] During the carbonization process of red-hot coke, coke oven gas (COG), which is an impurity composed of gas components, is generated inside the carbonization chamber. The gas should not leak to the outside through the door. However, since the interior of the carbonization chamber is in a high-temperature and high-pressure environment, gas leakage may occur from the upper charging port, the extrusion side door, or the coke side door.

[0006] In particular, a large amount of foreign substances (such as tar and carbon) generated during the coke production process adhere to the surface of the door and the door frame, and the airtightness of the coke oven by the door may be impaired by the adhered foreign substances.

[0007] This results in high-temperature gases leaking out of the coke oven, causing damage and deformation to various equipment, leading to environmental pollution issues such as degraded air quality, and exposing workers to the risk of safety accidents such as burns, gas poisoning, falls, and confinement.

[0008] Traditionally, workers would travel directly to the gas leak area in a service vehicle and then perform the work of sealing the leak. [Prior art documents] [Patent Documents]

[0009] [Patent Document 1] Korean Registered Patent Publication No. 10-0417099 [Overview of the project] [Problems that the invention aims to solve]

[0010] The present invention aims to provide a sealing device and method for a coke oven door that can block and prevent gas leakage generated during the coke manufacturing process.

[0011] The present invention aims to provide a coke oven door sealing device and a coke oven door sealing method that can airtightly seal a coke oven by controlling a robotic arm so that a nozzle moves along the edge of the oven door located within the work area using edge tracking technology with a laser generator.

[0012] The present invention aims to provide a sealing device and a sealing method for a coke oven door that enable real-time monitoring of the sealing operation using a camera positioned at the end of a robot arm, and enable overall monitoring of the work area after the sealing operation is completed using a camera positioned on a base supporting the robot arm. [Means for solving the problem]

[0013] To achieve the above-mentioned objectives, the present invention provides the following sealing device for a coke oven door and a sealing method for a coke oven door.

[0014] The coke oven door sealing device of the present invention includes a sealing material supply unit including a nozzle for discharging sealing material, a robot connected to the sealing material supply unit and including a robot arm for moving the position of the nozzle and a base for supporting the robot arm, a moving unit for moving the robot in the horizontal direction in which the plurality of coke ovens are arranged and in the vertical direction which is the length direction of the plurality of coke ovens, and a control unit for controlling the robot arm, wherein the control unit controls the robot arm so that the nozzle moves along the edge of one of the oven doors of the plurality of coke ovens.

[0015] The present invention provides a method for sealing a coke oven door, comprising the steps of moving a robot in a horizontal and vertical direction, moving a nozzle by controlling a robotic arm included in the robot, and discharging a sealing material from the nozzle, wherein the step of moving the nozzle is characterized in that the robotic arm is controlled so that the nozzle moves along the edge of one of the oven doors of a plurality of coke ovens.

[0016] The coke oven door sealing device of the present invention includes one or more sensors, a sensing unit that senses whether or not gas leaks occur in a plurality of coke ovens, a sealing unit that includes a nozzle for discharging a sealing material and a robot arm for moving the position of the nozzle, and a moving unit that moves the sealing unit in the horizontal and vertical directions, wherein the plurality of coke ovens are divided into a plurality of sealing areas, the sensing unit detects a work target area in which a gas leak has occurred among the plurality of sealing areas, the moving unit moves the sealing unit to the work target area, and the sealing unit controls the robot arm so that the nozzle moves along the edge of the oven door located within the work target area.

Advantages of the Invention

[0017] According to the present invention, with the above-described configuration, it is possible to provide a sealing device and a sealing method for a coke oven door that can block and prevent gas leakage generated during the production process of coke.

[0018] The present invention can hermetically seal a coke oven by controlling a robot arm using an edge tracking technology with a laser generator so that a nozzle moves along the edge of an oven door located within a work target area. It is possible to provide a sealing device for a coke oven door and a sealing method for a coke oven door.

[0019] The present invention can monitor the sealing operation in real time using a camera arranged at the end of a robot arm, and can monitor the entire work target area after the sealing operation is completed using a camera arranged on a base that supports the robot arm. It is possible to provide a sealing device for a coke oven door and a sealing method for a coke oven door.

Brief Description of the Drawings

[0020] [Figure 1] It is a diagram showing the configuration of a sealing device for a coke oven door according to an embodiment of the present invention. [Figure 2a] It is a block diagram showing the configuration of a sealing device for a coke oven door according to an embodiment of the present invention. [Figure 2b] It is a diagram showing a part of a sealing device for a coke oven door according to an embodiment of the present invention. [Figure 3] It is a diagram exemplarily showing a plurality of sealing areas in a sealing method for a coke oven door according to an embodiment of the present invention. [Figure 4a] It is an exemplary diagram for explaining an operation of a sealing device for a coke oven door according to an embodiment of the present invention. [Figure 4b]It is an exemplary diagram for explaining an operation of a sealing device for a coke oven door according to an embodiment of the present invention. [Figure 4c] It is an exemplary diagram for explaining an operation of a sealing device for a coke oven door according to an embodiment of the present invention. [Figure 4d] It is an exemplary diagram for explaining an operation of a sealing device for a coke oven door according to an embodiment of the present present present. [Figure 5] It is a flowchart of a sealing method for a coke oven door according to an embodiment of the present invention. [Figure 6] It is a diagram of an entire system including a sealing device for a coke oven door according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0021] Hereinafter, with reference to the accompanying drawings, preferred embodiments will be described in detail so that those having ordinary knowledge in the technical field to which the present invention pertains can easily implement the present invention. However, when it is determined that a specific description of related known functions or configurations may unnecessarily obscure the gist of the present invention in describing the preferred embodiments of the present invention in detail, the detailed description thereof will be omitted. Also, for parts having similar functions and actions, the same reference numerals are used throughout the drawings. In addition, in this specification, terms such as "upper", "upper part", "upper surface", "lower", "lower part", "lower surface", "side surface", etc. are based on the drawings and may actually vary depending on the direction in which elements or components are arranged.

[0022] Furthermore, throughout the specification, when a part is said to be "connected" to another part, this includes not only the case where it is "directly connected", but also the case where it is "indirectly connected" with other elements interposed therebetween. Also, when a component is said to "include", it means that, unless otherwise specified, it does not exclude other components and may further include other components.

[0023] Figure 1 shows a sealing device for a coke oven door according to one embodiment of the present invention.

[0024] As shown in Figure 1, the coke oven door sealing device 100 can be applied to sites where multiple coke ovens 10 are located. The coke oven door sealing device 100 can prevent and block gas leaks by sealing the areas where gas leaks occur in the multiple coke ovens 10.

[0025] Gas leaks can occur in the gap between the oven door and the oven frame of the coke oven 10. Causes of gas leaks include deterioration of the oven door due to prolonged use, deformation caused by physical impact from opening and closing the oven door, or widening of the gap due to tar generated from coal solidifying and hardening between the oven door and the oven frame.

[0026] Conventionally, workers in service vehicles would travel directly to the gas leak area and then seal the leak. The present invention aims to provide a device and method for shutting off and preventing gas leaks generated in a coke oven using a robot, eliminating the need for on-site worker intervention.

[0027] As shown in Figures 1 and 2a, the coke oven door sealing device 100 may include a sealing material supply unit 110, a robot 120, and a moving unit 130.

[0028] Figure 2b is an enlarged view of the sealing material supply unit 110 and robot 120 of the coke oven door sealing device 100 according to one embodiment of the present invention. Below, Figures 1, 2a, and 2b are shown together, and the configuration of the coke oven door sealing device 100 will be described in detail.

[0029] The sealant supply unit 110 may include a nozzle 111 and a supply line 112.

[0030] The nozzle 111 can dispense a sealing material. The sealing material may be used to airtightly seal gas leaks in a coke oven. For example, the sealing material can be used to seal the area between the oven door and the frame of a coke oven.

[0031] The sealant can be dispensed from the nozzle 111 in a semi-solid state. The sealant may include thermosetting materials that are semi-solid below a certain temperature and harden at high temperatures. For example, the sealant may include one or more materials from Ceramol and mortar.

[0032] The sealant discharged from nozzle 111 hardens after being discharged by the heat generated inside the coke oven, thereby sealing the edges of the oven door. The hardened sealant seals the edges of the oven door, preventing gas leaks.

[0033] The supply line 112 is connected to the nozzle 111 and can supply sealing material to the nozzle 111.

[0034] The robot 120 may include a robot arm 121 and a base 122.

[0035] The robot arm 121 is connected to the seal material supply unit 110 and can support at least a portion of the seal material supply unit 110.

[0036] For example, the robot arm 121 can support the supply line 112.

[0037] The robot arm 121 can move the position of the nozzle 111. The robot arm 121 includes, for example, one or more joints, and the position and angle of its end can be freely adjusted.

[0038] The nozzle 111 from which the sealing material is discharged may be positioned adjacent to the end of the robot arm 121. Therefore, the coke oven door sealing device 100 can move the position of the nozzle 111 by controlling the coordinates of the end of the robot arm 121.

[0039] Specifically, the coke oven door sealing device 100 may further include a control unit that controls a robotic arm 121. The control unit can control the robotic arm 121 so that the nozzle 111 moves along the edge of one of the oven doors of the multiple coke ovens 10.

[0040] The base 122 is connected to the lower part of the robot arm 121 and can support the robot arm 121.

[0041] The mobile unit 130 can move the robot 120 using one or more motors.

[0042] The mobile unit 130 can move the robot in the horizontal and vertical directions. Here, the horizontal direction can represent the direction in which the multiple coke ovens 10 are arranged, and the vertical direction can represent the length direction of the multiple coke ovens 10.

[0043] The mobile unit 130 may include a frame unit 131, a support unit 132, and a sensing unit 133. The support unit 132 supports the base 122 of the robot 120 from below and can be further connected to the frame unit 131.

[0044] The frame section 131 can move horizontally. By moving the frame section 131 along the horizontal direction in which the multiple coke ovens are arranged, the robot 120 can be moved over a wide area.

[0045] Therefore, as the frame portion 131 moves horizontally, the support portion 132 connected to the frame portion 131 and the robot 120 positioned on the support portion 132 can be moved horizontally together.

[0046] The support portion 132 can move vertically along the length of the frame portion 131. As the support portion 132 moves vertically, the robot 120 positioned on the support portion 132 can move vertically along with it.

[0047] The sensing unit 133 may include one or more sensors. The sensing unit 133 can sense the positions of the frame portion 131 and the support portion 132 relative to a plurality of coke ovens 10.

[0048] The sensing unit 133 can recognize the backstays located on both sides of the oven door. The sensing unit 133 can derive the horizontal position of the frame 131 based on the number of backstays recognized while the frame 131 is moving horizontally.

[0049] For example, if the frame section 131 stops moving after the sensing unit 133 has recognized three backstays while the frame section 131 is moving horizontally, the horizontal position of the frame section 131 can be derived by assuming that the frame section 131 is facing the third coke oven from the reference position.

[0050] In other embodiments, the sensing unit 133 can recognize the identification code of each of the multiple coke ovens 10. Based on the recognized coke oven identification codes, the sensing unit 133 can derive the horizontal position of the frame unit 131.

[0051] Furthermore, the sensing unit 133 can determine the vertical position of the support unit 132 based on the length of the section in which the support unit 132 rises or falls.

[0052] Multiple coke ovens 10 can be divided into multiple sealing areas. For example, as shown in Figure 3, multiple coke ovens 10 can be arranged horizontally with a backstay 11 in between, and one side of each coke oven 10 can be divided into multiple sealing areas.

[0053] The sealing areas shown in Figure 3 are illustrative examples only, and the number of sealing areas for a single coke oven 10 may be greater or less than the example shown in Figure 3.

[0054] The mobile unit 130 can move the robot 120 to the work area. The work area can refer to the area where a gas leak has occurred among several sealing areas. The work area can be determined, for example, by information about the oven door and information about a certain section of the oven door.

[0055] The moving unit 130 can move the robot 120 to the work area by, for example, moving the frame unit 131 horizontally and then moving the support unit 132 vertically.

[0056] The robot 120 can move to the vicinity of the work area using the mobile unit 130 and perform sealing work on the work area.

[0057] As shown in Figure 2b, the robot 120 may further include a laser generator 123 that generates a laser. The laser generator 123 may be located, for example, at the end of the robot arm 121.

[0058] The coke oven door sealing device 100 according to the present invention can detect the edges of the oven door using edge tracking technology and vision finding technology using a laser generator 123.

[0059] Specifically, the control unit can detect the edges of oven doors located within the work area based on the shape information of already stored oven doors and the shape recognized by the laser generated by the laser generator 123.

[0060] The control unit can control the nozzle 111 to perform a sealing operation by dispensing sealant while it moves along the edge of the oven door located within the work area.

[0061] As shown in Figure 2b, the robot 120 may further include a first camera 124 and a second camera 125.

[0062] The first camera 124 may be positioned, for example, at the end of the robot arm 121. The first camera 124 can acquire an image of a region including the vicinity of the end of the robot arm 121.

[0063] The control unit can monitor the progress of the sealing work on the work area based on the image acquired by the first camera 124.

[0064] The second camera 125 may be located, for example, on the base 122. The second camera 125 can acquire an image of the area including the work area.

[0065] Based on the image acquired by the second camera 125, the control unit can monitor whether or not a gas leak has occurred in the work area after the sealing work on the work area is completed.

[0066] The control unit can perform resealing operations on the work area if it determines that a gas leak has occurred in the work area even after the sealing operation on the work area is completed. The control unit can control the robot arm 121 to perform resealing operations on the work area.

[0067] Figures 4a to 4d are illustrative diagrams illustrating one operation of a coke oven door sealing device according to one embodiment of the present invention. Figures 4a to 4d sequentially show the operation of the coke oven door sealing device 100 moving from a standby position to perform sealing work on the work area.

[0068] Figure 4a shows the coke oven door sealing device 100 in a standby position. In the standby position, the support portion 132 of the coke oven door sealing device 100 may be in a lowered position.

[0069] Figures 4b and 4c show the coke oven door sealing device 100 moving to the work area.

[0070] As shown in Figure 4b, the frame portion 131 of the coke oven door sealing device 100 moves horizontally, allowing the robot 120 to move over a wide area horizontally.

[0071] Next, as shown in Figure 4c, the support portion 132 of the coke oven door sealing device 100 moves vertically, thereby allowing the robot 120 to move vertically. The coke oven door sealing device 100 can move the robot 120 to the work area by moving horizontally and vertically.

[0072] After the robot 120 moves to the work area, the coke oven door sealing device 100 can perform sealing work on the work area.

[0073] Specifically, the coke oven door sealing device 100 can control the robot arm 121 so that the nozzle 111 moves along the edge of the oven door located within the work area. The nozzle 111 can discharge sealing material while moving along the edge of the oven door located within the work area.

[0074] After the coke oven door sealing device 100 completes the sealing work on the work area, the support portion 132 of the coke oven door sealing device 100 can move downward in the vertical direction, as shown in Figure 4d.

[0075] With the support portion 132 in the lowered position, the coke oven door sealing device 100 can be moved back to the standby position shown in Figure 4a by horizontally moving the frame portion 131.

[0076] Figure 5 is a flowchart of a coke oven door sealing method according to one embodiment of the present invention. As shown in Figure 5, the coke oven door sealing method 500 may include steps S510 of moving a robot, step S520 of moving a nozzle by controlling a robot arm, and step S530 of discharging a sealing material from the nozzle.

[0077] In step S510, where the robot is moved, the robot can move in both the horizontal and vertical directions. Here, the horizontal direction can represent the direction in which the multiple coke ovens are arranged, and the vertical direction can represent the length direction of the multiple coke ovens.

[0078] Specifically, step S510, which involves moving the robot, may include steps of moving the robot horizontally and steps of moving the robot vertically.

[0079] In one embodiment, step S510, which involves moving the robot, can sequentially include steps of moving the robot horizontally and steps of moving the robot vertically.

[0080] The step of moving the robot horizontally may include the step of recognizing the backstays located on both sides of the oven door, and the step of deriving the robot's horizontal position based on the number of backstays.

[0081] In step S510, where the robot is moved, the robot can move to the work area by moving horizontally and vertically. The work area can refer to the area among multiple sealing areas where a gas leak has occurred.

[0082] In step S520, where the nozzle is moved, the nozzle can dispense the sealing material. The sealing material may include a thermosetting material that hardens at high temperatures.

[0083] The nozzle is connected to a robotic arm, at least in part, and its position can be moved by the robotic arm. In step S520, when the nozzle is moved, the robotic arm can be controlled so that the nozzle moves along the edge of one of the oven doors of a plurality of coke ovens.

[0084] Step S520, which involves moving the nozzle, may include steps of recognizing the shape using a laser generator and detecting the edge of the oven door.

[0085] The laser generator may be positioned at the end of the robot arm. In the step of detecting the oven door edge, the oven door edge located within the work area can be detected based on the shape information of the already stored oven door and the shape recognized by the laser generator.

[0086] Step S530, in which the sealing material is discharged from the nozzle, allows for the airtight sealing of at least a portion of the edge of the oven door.

[0087] The coke oven door sealing method 500 may further include the step of supplying the sealing material to a nozzle via a supply line supported by a robotic arm.

[0088] Furthermore, the coke oven door sealing method 500 may further include the steps of acquiring a first image by a first camera positioned at the end of a robotic arm, and monitoring the progress of the sealing operation with respect to the work area based on the first image.

[0089] The first image acquired by the first camera may be an image of a region including the vicinity of the end of the robot arm.

[0090] Furthermore, the coke oven door sealing method 500 may further include the steps of acquiring a second image by a second camera positioned on a base supporting a robotic arm, and monitoring whether or not gas leaks have occurred in the work area after the sealing work for the work area has been completed based on the second image.

[0091] The second image acquired by the second camera may be an image of the area including the work area.

[0092] The coke oven door sealing method 500 may further include a step of resealing the work area if it is determined that a gas leak has occurred in the work area after the sealing work to the work area has been completed.

[0093] Figure 6 is a diagram of the overall system including a sealing device for a coke oven door according to one embodiment of the present invention.

[0094] As shown in Figure 6, the overall system 60 may include a coke oven door sealing device 100 and a sensing unit 610.

[0095] The sensing unit 610 may include one or more sensors. For example, the sensing unit 610 may include one or more cameras 611 that photograph multiple coke ovens 10.

[0096] The sensing unit 610 may further include a monitoring device 612. The monitoring device 612 can detect whether or not gas leaks are occurring in multiple coke ovens based on images acquired by one or more cameras 611.

[0097] The sensing unit 610 can detect the work area where a gas leak has occurred among multiple sealed areas.

[0098] The sensing unit 610 and the sealing device 100 for the coke oven door can send and receive data from each other via wireless communication.

[0099] For example, the sensing unit 610 can transmit information about the work area to the sealing device 100 of the coke oven door.

[0100] The coke oven door sealing device 100 can move the robot 120 to the work area based on information about the work area received from the sensing unit 610.

[0101] Specifically, the mobile unit 130 can move the robot 120 to the work area by moving the frame unit 131 horizontally and then moving the support unit 132 vertically.

[0102] The coke oven door sealing device 100 can move the robot 120 to the work area and then control the robot arm so that the nozzle moves along the edge of the oven door located within the work area.

[0103] The nozzle can dispense the sealant while moving along the edge of the oven door located within the work area.

[0104] Furthermore, the coke oven door sealing device 100 can transmit images acquired by a first camera located at the end of the robot arm, or images acquired by a second camera located at the base, to the sensing unit 610.

[0105] In one embodiment of the present invention, the coke oven door sealing device 100 can identify the presence or absence of toxic gas leaks using a wide-area image including the exterior of the equipment. The coke oven door sealing device 100 can acquire a wide-area image including the exterior of the equipment using one or more wide-area image sensors. One or more wide-area image sensors can, for example, sense the coke oven door.

[0106] Furthermore, the coke oven door sealing device 100 can perform a gas sealing operation by discharging a sealing material based on the results of identifying whether or not there is a leak of toxic gas.

[0107] Specifically, the coke oven door sealing device 100 can acquire narrow-area sensing information about gas leak locations where gas leaks from the equipment based on light. The narrow-area sensing information can be acquired using one or more laser sensors provided in the coke oven door sealing device 100.

[0108] One or more laser sensors can be installed on a robot 120 included in the coke oven door sealing device 100. For example, one or more laser sensors may be installed at the tip of a robot arm 121.

[0109] The coke oven door sealing device 100 can identify crack areas by line based on narrow-area sensing information and perform sealing operations with a sealant based on the location where the crack area and toxic gas leaks are identified. The coke oven door sealing device 100 can dispense sealant and melt the sealant to seal the location where a gas leak is detected.

[0110] The coke oven door sealing device 100 generates a movement path for moving a dispenser that dispenses sealing material along the crack area, and seals the crack area by providing the sealing material through the dispenser while moving the dispenser along the generated movement path. For example, the dispenser of the coke oven door sealing device 100 can be implemented as part of a nozzle 111.

[0111] The coke oven door sealing device 100 can detect the presence or absence of further toxic gas leaks if the supply of sealing material from the dispenser is interrupted. Further toxic gas leak detection can be performed using one or more laser sensors or other sensors provided by the coke oven door sealing device 100. The other sensors may be either image sensors or laser sensors.

[0112] The coke oven door sealing device 100 can perform the task of sealing the opening by dispensing sealing material through a dispenser until the opening from which toxic gases leak out can no longer be identified.

[0113] The coke oven door sealing device 100 may further include an air generator for exposing an opening from which toxic gases may escape. The coke oven door sealing device 100 may use the air generator to blow air toward the area where toxic gases are detected and detect the opening using one or more sensors.

[0114] The coke oven door sealing device 100 can be adjusted to reduce the distance between one or more sensors and the toxic gas source when no crack area is identified. For example, the coke oven door sealing device 100 can adjust the position of the robotic arm 121 so that the robotic arm 121 on which one or more sensors are installed is close to the facility.

[0115] The coke oven door sealing device 100 can determine whether or not a toxic gas leak is detected by applying acquired wide-area images to a pre-trained first machine learning model. Furthermore, the coke oven door sealing device 100 can determine at least one of the following: whether or not a crack region is detected, the location information of the crack region, and the shape information, by applying acquired narrow-area sensing information to a pre-trained second machine learning model.

[0116] Furthermore, in the description of the present invention, "~part" or "unit" can be implemented in various ways, such as a processor, program instructions performed by a processor, software modules, microcode, computer program products, logic circuits, application-specific integrated circuits, firmware, and the like.

[0117] The methods disclosed in the embodiments of this application can be implemented directly by a hardware processor, or by a combination of hardware and software modules within a processor, and can be executed and completed. The software modules can be stored in conventional storage media such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, or registers. The storage media are located in memory, and the processor reads the information stored in memory and combines it with its hardware to complete the methods described above. To avoid redundancy, a detailed explanation is omitted here.

[0118] In the implementation process, each of the above-described methods can be completed by hardware logic integrated circuits or software-based instructions within the processor.

[0119] In other words, a person with ordinary skill in the art will see that each exemplary unit and algorithmic stage described in the embodiments disclosed herein can be combined and implemented by electronic hardware or by a combination of computer software and electronic hardware. Whether such functions are implemented in hardware or software will depend on the specific application of the technical solution and the design constraints. A person with ordinary skill may implement the described functions using different methods for each specified application, but such implementations should not be considered outside the scope of this application.

[0120] In some embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the embodiments of the apparatus described above are merely illustrative, and the division of the units is merely one type of logical functional division, and in actual implementation, other divisional arrangements may exist, for example, multiple units or assemblies may be combined or integrated into another system, or some features may be ignored or not performed. On the other hand, the coupling or direct coupling or communication connection between elements described or discussed may be an indirect coupling or communication connection via some interface, apparatus or unit, and may be in electrical, mechanical or otherwise.

[0121] The units described above as separated components may be physically separated, and the components shown as units may be physical units or not. That is, they may be located in one place or distributed across multiple network units. Depending on the actual needs, some or all of these units can be selected to achieve the objectives of this embodiment.

[0122] In other words, each functional unit in each embodiment of this application may be integrated into a single processing unit, each unit may exist independently, or two or more units may be integrated into a single unit.

[0123] If the above functions are implemented in the form of a software function unit and sold or used as an independent product, they can be stored on a single computer-readable storage medium. Based on this understanding, the parts of the technical solution of this application that are essentially or contribute to the prior art, or parts of the above technical solution, can be implemented in the form of a software product, which is stored on a single storage medium and, with some instructions, causes a single computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of this application. The above-mentioned storage medium includes various media capable of storing program code, such as USB memory, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or CD-ROMs.

[0124] The present invention is not limited by the embodiments described above or the accompanying drawings. The scope of the rights is limited by the accompanying claims, and it will be obvious to those who are ordinarily skilled in the art that various forms of substitution, modification, and alteration are possible without departing from the technical idea of ​​the invention as described in the claims. [Explanation of symbols]

[0125] 10 Coke oven 60 Overall System 100 sealing device 110 Sealing material supply unit 111 Nozzles 112 supply lines 120 robots 121 Robot Arm 122 Base 122 124 Camera 1 125 Second Camera 130 Mobile Unit 131 Frame section 132 Support part 133 Sensing part 610 Sensing part 611 Camera 612 Monitoring device S510 Robot movement stage S520 Stage of moving the nozzle S530 Stage in which sealing material is discharged from the nozzle. 500 Coke oven door sealing method

Claims

1. A seal material supply unit including a nozzle for dispensing seal material, A robot including a robot arm connected to the sealing material supply section and which moves the position of the nozzle, and a base that supports the robot arm, A moving unit that moves the robot in the horizontal direction in which multiple coke ovens are arranged, and in the vertical direction which is the length direction of the multiple coke ovens, Includes a control unit for controlling the robot arm, The coke oven door sealing device is characterized in that the control unit controls the robot arm so that the nozzle moves along the edge of one of the oven doors of the plurality of coke ovens.

2. The aforementioned movable part is The frame portion that moves in the horizontal direction, A support portion that supports the base, is connected to the frame portion, and moves vertically along the length direction of the frame portion, The sealing device for a coke oven door according to claim 1, further comprising a sensing unit for sensing the position of the frame portion and the support portion relative to the plurality of coke ovens.

3. The sealing device for a coke oven door according to claim 2, characterized in that the sensing unit recognizes backstays located on both sides of the oven door and derives the horizontal position of the frame based on the number of backstays recognized while the frame is moving in the horizontal direction.

4. The aforementioned multiple coke ovens are divided into multiple sealing areas, The sealing device for a coke oven door according to claim 2, characterized in that the moving part moves the frame part in the horizontal direction, and then moves the support part in the vertical direction, thereby moving the robot to the work target area where a gas leak has occurred among the plurality of sealing areas.

5. The robot further includes a laser generator positioned at the end of the robot arm that generates a laser, The coke oven door sealing device according to claim 4, characterized in that the control unit detects the edge of the oven door located within the work area based on the shape information of the oven door already stored and the shape recognized by the laser.

6. The sealing device for a coke oven door according to claim 5, characterized in that the control unit controls the robot arm to perform a sealing operation in which the nozzle moves along the edge of the oven door located within the work area and discharges the sealing material.

7. The robot further includes a first camera positioned at the end of the robot arm, The sealing device for a coke oven door according to claim 6, characterized in that the control unit monitors the progress of the sealing work based on an image acquired by the first camera.

8. The robot further includes a second camera positioned on the base, The sealing device for a coke oven door according to claim 6, characterized in that the control unit monitors whether or not a gas leak has occurred in the work area after the sealing work is completed, based on an image acquired by the second camera, and if it is determined that a gas leak has occurred in the work area, it performs a resealing operation on the work area.

9. The seal material supply unit further includes a supply line for supplying the seal material to the nozzle, The sealing device for a coke oven door according to claim 1, characterized in that the robot arm supports the supply line.

10. The steps include moving the robot horizontally and vertically, The steps include: moving the nozzle by controlling the robotic arm included in the robot; The step includes discharging a sealing material from the nozzle, A method for sealing a coke oven door, characterized in that the step of moving the nozzle involves controlling the robotic arm so that the nozzle moves along the edge of one of the oven doors of a plurality of coke ovens.

11. The step of moving the robot is: A step of moving the robot in the horizontal direction in which multiple coke ovens are arranged, A method for sealing a coke oven door according to claim 10, comprising the step of moving the robot in the vertical direction which is the longitudinal direction of the plurality of coke ovens.

12. The step of moving the robot in the horizontal direction is: The steps include recognizing the backstays located on both sides of the oven door, A method for sealing a coke oven door according to claim 11, comprising the step of deriving the horizontal position of the robot based on the number of backstays.

13. The aforementioned multiple coke ovens are divided into multiple sealing areas, The step of moving the robot is to move the robot to the work area where a gas leak has occurred among the plurality of sealing areas, as described in claim 11, for sealing a coke oven door.

14. The step of moving the nozzle is: The steps include: recognizing the shape using a laser generator positioned at the end of the robot arm; A method for sealing a coke oven door according to claim 13, characterized by comprising the step of detecting the edge of the oven door located within the work area based on the shape information of the oven door already stored and the shape recognized by the laser generator.

15. The steps include acquiring a first image with a first camera positioned at the end of the robot arm, The method for sealing a coke oven door according to claim 14, further comprising the step of monitoring the progress of the sealing work on the work area based on the first image.

16. The steps include acquiring a second image using a second camera positioned on a base supporting the robot arm, The method for sealing a coke oven door according to claim 15, further comprising the step of monitoring whether or not a gas leak has occurred in the work area after the sealing work to the work area has been completed based on the second image.

17. The method for sealing a coke oven door according to claim 16, further comprising the step of performing a resealing operation on the work area if it is determined that a gas leak has occurred in the work area after the sealing operation on the work area has been completed.

18. The method for sealing a coke oven door according to claim 10, further comprising the step of supplying the sealing material to the nozzle via a supply line supported by the robotic arm.

19. A sensing unit that includes one or more sensors and detects whether or not gas leaks occur in multiple coke ovens, A sealing section including a nozzle for dispensing sealing material and a robot arm for moving the position of the nozzle, The seal portion includes a movable part that moves the seal portion in the horizontal and vertical directions, The aforementioned multiple coke ovens are divided into multiple sealing areas, The sensing unit detects the work area where a gas leak has occurred among the multiple sealing areas, The moving part moves the sealing part to the work area, The sealing device for a coke oven door is characterized in that the sealing portion controls the robot arm so that the nozzle moves along the edge of the oven door located within the work area.

20. The sealing portion is located at the end of the robot arm and further includes a laser generator that generates a laser, The sealing portion is characterized in that it detects the edge of the oven door located within the work area based on the shape information of the oven door that has already been stored and the shape recognized by the laser, as described in claim 19.

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