Coke oven body building workstation based on articulated robot, and construction method

Abstract

A coke oven body building workstation based on an articulated robot, and a construction method. The workstation comprises: V-shaped rails (1) arranged in parallel; a working platform (3), which is arranged above the V-shaped rails (1), is connected to the V-shaped rails (1) by means of a plurality of rollers (2) and is used for bearing; an articulated robot (4), which is mounted on the working platform (3) and is used for grasping, transporting and building; masonry (5) located on one side of the working platform (3); a masonry control and support part (6), which is arranged on two sides of the masonry (5) and is used for abutting against the masonry (5) to control the position of the masonry (5); a precise and stable conveying part (7) arranged on the working platform (3); and a refractory mud laying part (8), which is arranged on the working platform (3) and is used for discharging materials for building. By providing the articulated robot (4), the masonry control and support part (6), the precise and stable conveying part (7) and the refractory mud laying part (8), the building processes of a coke oven body, such as brick grasping, transporting and stacking, can be implemented, the automation degree is high, the building efficiency is effectively improved, and the labor intensity of manual building is reduced.

Description

Coke oven body masonry workstation and construction method based on articulated robot Technical Field

[0001] The present invention relates to the technical field of coke ovens, and in particular to a coke oven body masonry workstation based on an articulated robot and a construction method. Background Art

[0002] Coke ovens are essential equipment for producing coke from coal. Their masonry structures are complex, with a variety of brick shapes, and individual bricks weighing from a few kilograms to dozens of kilograms. Traditional masonry techniques rely primarily on manual labor, but manual work has numerous drawbacks. Furthermore, the recent growth of the manufacturing industry has driven the use of robots in the construction industry. Compared to traditional manual masonry methods, robots offer greater load capacity, higher accuracy, and greater efficiency. Consequently, industrial robots have begun to be used in the construction of coke oven bodies.

[0003] The existing announcement number CN115433595B is a coke oven body masonry system, which includes an articulated robot, a masonry execution end, a refractory mud conveyor, a ground rail and a vertical lifting platform. The articulated robot and the refractory mud conveyor are installed on the vertical lifting platform through the ground rail, and the masonry execution end is installed on the end of the articulated robot. The masonry execution end includes a sponge vacuum suction cup, a vibration device and a straightedge. During the masonry process, the sponge vacuum suction cup is used to absorb the bricks, and the refractory mud conveyor applies mud material on the bricks. When the bricks are in place, the straightedge is in close contact with the vertical surface of the wall, and at the same time, the vibration device applies vibration to the surface of the bricks so that the side of the bricks fits the straightedge, thereby eliminating the slope that may occur when the bricks are demolded and ensuring the verticality of the furnace body masonry. In addition, the vibration device also helps to discharge the gas in the mud material and improve the fullness of the mud for masonry, but this patent has the following problems:

[0004] 1. When building the furnace head of the carbonization chamber, the furnace head wall width is composed of three bricks. Usually, the left and right bricks are built first, and then the middle brick is filled. However, when the middle brick is placed, the refractory mud on the brick will squeeze the bricks on both sides, causing the bricks built later to have a certain impact on the position accuracy of the bricks built earlier. This patent cannot avoid this impact;

[0005] 2. In the coke oven masonry, a convex tenon and concave mortise structure is used between adjacent layers of refractory bricks and / or adjacent refractory bricks in the same layer. Although this can reduce the misalignment between bricks or brick layers due to thermal expansion, and also avoid the risk of ventilation and leakage in brick joints, when the bricks are placed on the conveyor belt, they cannot be kept stable, which brings certain obstacles to the recognition and grasping of the masonry robot, which can easily affect the masonry of the furnace body.

[0006] Summary of the Invention

[0007] The purpose of the present invention is to provide a coke oven body masonry workstation and construction method based on an articulated robot. By setting up an articulated robot, a masonry control support part, a precise and stable conveying part and a refractory mud laying part, the masonry process of the coke oven body, such as brick grabbing, transportation and stacking, can be completed. The degree of automation is high, which effectively improves the masonry efficiency and reduces the labor intensity of manual masonry to solve the above problems.

[0008] In order to achieve the above-mentioned purpose, according to the first aspect of the present invention, a coke oven body masonry workstation based on an articulated robot is provided, comprising: V-shaped tracks arranged in parallel, a working platform arranged above the V-shaped tracks, connected to the V-shaped tracks by a number of rollers and used for carrying, an articulated robot installed on the working platform and used for grabbing and delivering masonry, masonry located on one side of the working platform, a masonry control support part arranged on both sides of the masonry and used to abut against the masonry to control its position, a precise and stable conveying part arranged on the working platform and used for position adjustment and conveying, a refractory mortar laying part arranged on the working platform, and a control cabinet arranged on the working platform and used for overall control, wherein

[0009] The precise and stable conveying part can fit the top pad to build bricks, so as to correct the spatial posture of the bricks and promote their smooth movement.

[0010] Furthermore, a sponge vacuum suction cup is installed at the end of the articulated robot, and a clamp for clamping is installed on the top of the sponge vacuum suction cup;

[0011] The joint robot is also equipped with a 3D camera for identifying punctuation points.

[0012] Driving the sponge vacuum suction cup can quickly compress the air and generate a strong negative pressure to absorb the masonry bricks.

[0013] Furthermore, the masonry control support portion includes bases arranged on both sides of the masonry and used to support the ground, columns respectively installed on the two bases, linear slides respectively installed on the two columns and used to achieve linear reciprocating motion, L-shaped limit brackets respectively installed on the two linear slides, a number of support seats respectively installed on the two limit brackets and used for distance adjustment and fastening, and support members respectively installed on the several support seats and abutting against the masonry for position control;

[0014] Several of the support members are T-shaped.

[0015] Furthermore, the precise and stable conveying part includes a frame installed on the working platform, an active roller installed on the frame, a driving device arranged on one side of the active roller and used to drive the active roller, a plurality of driven rollers rotatably installed on the frame at equal intervals and used for upper support and guidance, a belt body closedly installed on the active roller and the plurality of driven rollers and used for conveying the movement, and a plurality of brick-shaped limit blocks installed in double rows on the belt body and used for position correction.

[0016] Furthermore, the refractory mud laying unit includes a laying platform installed on the working platform, a plurality of first connecting seats installed in an array on the laying platform and used to provide a mounting reference, two discharge pipes installed on the plurality of first connecting seats and used for feeding materials, a hopper installed on the two discharge pipes and used for storing refractory mud, a screw rod arranged in the hopper for rotating, a second connecting seat installed on the laying platform and located behind the hopper, and a motor installed on the second connecting seat and used to drive the screw rod;

[0017] The two discharge pipes lead into the hopper.

[0018] Furthermore, the support seat includes a base plate installed on the bottom surface of the limiting bracket, a left half plate and a right half plate hinged on the base plate and used to clamp the support member, and a hexagon socket bolt spirally installed on the left half plate and the right half plate and used to rotate back and forth to loosen or tighten.

[0019] Furthermore, the refractory mud laying part also includes a plurality of card tables installed on the side of the laying table, and ash shovels placed on the plurality of card tables and used for application.

[0020] Furthermore, the masonry control support portion also includes a connecting rod that is staggeredly connected to the two columns and is used for reinforcement.

[0021] Furthermore, the masonry control support part also includes a blower installed on the limit bracket and used to produce air, an air storage tank installed at the corner of the limit bracket, and an air supply pipe connecting the air outlet of the blower and the air storage tank, which is connected to the air storage tank in an oblique downward posture and faces the blowing channel of the masonry.

[0022] According to a second aspect of the present invention, a construction method of a coke oven body masonry workstation based on an articulated robot is provided:

[0023] S1: Equipment installation and commissioning: Install the V-shaped track on the pre-erected scaffolding and other construction foundations, and place and install the work platform, articulated robot, masonry control support unit, and precision conveying unit according to the preset positions. Then, electrically connect the articulated robot, sponge vacuum suction cup, fixture, linear slide, drive device and other drive components to the control cabinet. Use the control system and program to debug each operating unit until they can coordinate and operate in the correct sequence.

[0024] S2: Stacking bricks; placing bricks with convex tenons and concave mortise shapes firmly onto corresponding brick-shaped limit blocks, so that the surface of the bricks is parallel to the belt body, and then driving the belt body through the driving device to move the bricks to the designated position;

[0025] S3: Brick suction and mortar application: First, the articulated robot drives the sponge vacuum suction cup to move above the corresponding left and right bricks and firmly absorbs the bricks through the sponge vacuum suction cup. Then, the bricks are sent to the bottom of the discharge pipe. After the refractory mortar is applied, the bricks are laid at the preset masonry. When laying the middle brick, the support members of the masonry control support part press the sides and fronts of the left and right bricks on the outside to prevent them from moving backward.

[0026] S4: Surface application: Move the fixture to pick up the corresponding ash shovel and use the ash shovel to collect the refractory mud under the discharge pipe, and then add the refractory mud to the surface of the newly built masonry;

[0027] S5: Repeat S2-S4 in a loop until the masonry is completed.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The coke oven body masonry workstation based on the articulated robot is equipped with an articulated robot, a masonry control support unit, a precise and stable conveying unit, and a refractory mud laying unit. It can complete the coke oven body masonry process, including brick grabbing, transportation, and stacking. It has a high degree of automation, effectively improving masonry efficiency and reducing the labor intensity of manual masonry.

[0030] 2. The coke oven body masonry workstation based on the articulated robot is equipped with V-shaped tracks and rollers, allowing the workstation to be fixedly installed on other construction foundations and be movable, thereby improving flexibility and greatly facilitating the deployment and use of the workstation.

[0031] 3. The coke oven body masonry workstation based on the articulated robot can press the two outer bricks tightly during the masonry process through the masonry control support part and can continuously climb the height as the masonry progresses, thereby preventing the left and right bricks on the outside from being squeezed and moving backward, and preventing the later-laid bricks from affecting the position accuracy of the earlier-laid bricks, thereby ensuring the masonry accuracy of the furnace body and ensuring the masonry quality;

[0032] 4. The coke oven body masonry workstation based on the articulated robot can use the precise and stable conveying part to cushion bricks with convex tenons and concave mortise shapes, thereby correcting the spatial posture of the bricks and preventing them from tilting. This ensures that the bricks are placed flat on the precise and stable conveying part, and then ensures that the articulated robot can successfully grasp the bricks, avoiding obstacles to the articulated robot's grasping of bricks, and ensuring masonry efficiency and accuracy.

[0033] 5. The coke oven body masonry workstation based on the articulated robot can squeeze the refractory mud onto the bricks in time through the refractory mud laying part after the articulated robot grabs the bricks and moves them into place, ensuring a stable and automatic supply of refractory mud, thereby improving masonry efficiency and reducing manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below with reference to the accompanying drawings and examples.

[0035] FIG1 shows a perspective view of the present invention;

[0036] FIG2 shows a partial right side view of the present invention;

[0037] FIG3 shows a partial perspective view of the present invention;

[0038] FIG4 shows a perspective view of a refractory mud laying portion of the present invention;

[0039] FIG5 shows a right side view of the refractory mud laying portion of the present invention;

[0040] FIG6 shows a perspective view of a masonry control support portion of the present invention;

[0041] FIG7 shows a top view of a masonry control support portion of the present invention;

[0042] FIG8 shows an enlarged view of point A in FIG6 of the present invention;

[0043] FIG9 is a flow chart of a construction method of a coke oven body masonry workstation based on an articulated robot according to an embodiment of the present invention.

[0044] In the figures, the same reference numerals denote the same structural elements, wherein:

[0045] 1. V-shaped track; 2. Roller; 3. Work platform; 4. Articulated robot; 41. Sponge vacuum suction cup; 42. Clamp; 43. 3D camera; 5. Masonry;

[0046] 6. Masonry control support; 61. Base; 62. Column; 63. Linear slide; 64. Limit bracket; 65. Support seat; 651. Base plate; 652. Left half plate; 653. Right half plate; 654. Hexagon socket bolt; 66. Support member; 67. Connecting rod; 68. Blower; 69. Air storage tank; 691. Air duct; 692. Blowing channel;

[0047] 7. Precision conveying unit; 71. Frame; 72. Active roller; 73. Driving device; 74. Driven roller; 75. Belt; 76. Brick-shaped limit block;

[0048] 8. Refractory mortar laying unit; 81. Laying platform; 82. First connecting seat; 83. Discharge pipe; 84. Hopper; 85. Second connecting seat; 86. Motor; 87. Screw rod; 88. Clamping platform; 89. Ash shovel;

[0049] 9. Control cabinet. DETAILED DESCRIPTION

[0050] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0051] Please refer to Figure 1, which shows a stereoscopic view of the present invention; please refer to Figure 2, which shows a partial right side view of the present invention; please refer to Figure 3, which shows a partial stereoscopic view of the present invention; please refer to Figure 4, which shows a stereoscopic view of the refractory mud laying part of the present invention; please refer to Figure 5, which shows a right side view of the refractory mud laying part of the present invention; please refer to Figure 6, which shows a stereoscopic view of the masonry control support part of the present invention; please refer to Figure 7, which shows a top view of the masonry control support part of the present invention; please refer to Figure 8, which shows an enlarged view of point A in Figure 6 of the present invention; please refer to Figure 9, which is a schematic flow chart of the construction method of a coke oven body masonry workstation based on an articulated robot according to an embodiment of the present invention. As shown in Figures 1-9, a coke oven body masonry workstation based on an articulated robot comprises: V-shaped rails 1 arranged in parallel, arranged above the V-shaped rails 1, and connected to the V-shaped rails 1 through a plurality of rollers 2 And a work platform 3 for carrying, an articulated robot 4 installed on the work platform 3 and used for grabbing and delivering masonry, a masonry 5 located on one side of the work platform 3, a masonry control support part 6 arranged on both sides of the masonry 5 and used to abut against the masonry 5 to control its position, a precise and stable conveying part 7 arranged on the work platform 3 and used for position adjustment and conveying, a refractory mortar laying part 8 arranged on the work platform 3, and a control cabinet 9 arranged on the work platform 3 and used for overall control. The articulated robot 4 is one of the forms of industrial robots, also known as an articulated robotic arm or a multi-joint robot. The movement of each joint is rotation, and different end effectors can be used to perform different tasks; all driving components in the workstation are electrically connected to the control cabinet 9, and supplemented by a control system and program to ensure that the coordinated operation of each operating unit can be controlled, and masonry work can be carried out in an orderly manner, ensuring the degree of automation and improving masonry efficiency.

[0052] The precise and stable conveying part 7 can fit the top pad masonry bricks to correct the spatial posture of the bricks and promote their straight movement. The coke oven body masonry workstation based on the articulated robot can complete the masonry processes of the coke oven body such as brick grabbing, transportation, and stacking by setting the articulated robot 4, the masonry control support part 6, the precise and stable conveying part 7 and the refractory mud laying part 8. It has a high degree of automation, effectively improves the masonry efficiency and reduces the labor intensity of manual masonry. By setting the V-shaped track 1 and the roller 2, the workstation can be fixedly installed on a construction foundation such as a scaffold and can move left and right, thereby improving flexibility, and greatly facilitating the deployment and use of the workstation. Through the masonry control support part 6, it can press against the two outer bricks during the masonry process and can continuously climb higher as the masonry progresses. degree, thereby preventing the left and right bricks on the outside from being squeezed and moving backward, preventing the bricks laid later from affecting the position accuracy of the bricks laid earlier, thereby ensuring the accuracy of the furnace body and the quality of the masonry, and through the precise and stable conveying part 7, the convex tenon and concave mortise-shaped bricks can be cushioned respectively, thereby correcting the spatial posture of the bricks and preventing them from being skewed, ensuring that the bricks are placed flat on the precise and stable conveying part 7, and thereby ensuring that the articulated robot 4 can successfully grab the bricks, avoiding obstacles to the articulated robot 4 grabbing the bricks, ensuring the efficiency and accuracy of the masonry, and through the refractory mud laying part 8, the refractory mud can be squeezed onto the bricks in time after the articulated robot 4 grabs the bricks and moves into position, ensuring a stable and automatic supply of refractory mud, thereby improving the efficiency of the masonry and reducing the amount of manual labor.

[0053] Optionally, a sponge vacuum suction cup 41 is installed at the end of the articulated robot 4. The sponge vacuum suction cup 41 is a type of vacuum suction cup, which uses the principle of vacuum negative pressure to transport objects to achieve vacuum grasping. Due to the softness and plasticity of the sponge, the sponge vacuum suction cup 41 can fully contact with the uneven surfaces of objects. At the same time, the sponge vacuum suction cup 41 can maintain a good sealing vacuum performance and a strong suction force, ensuring that the bricks can be firmly adsorbed for transportation and stacking, preventing the bricks from falling, and ensuring safety and reliability. A clamp 42 for clamping is installed on the top of the sponge vacuum suction cup 41, and a pneumatic clamp can be used to ensure that the ash shovel 89 can be clamped;

[0054] The articulated robot 4 is also equipped with a 3D camera 43 for identifying punctuation points. The 3D camera 43 is called an industrial 3D camera. It is based on the principle of MEMS structured light and combines an infrared laser light source to achieve high-precision data acquisition. With the assistance of the 3D camera 43, the articulated robot 4 can quickly and accurately identify the masonry environment, calibrate the origin, and ensure the precise position and posture adjustment of the articulated robot 4 in space, thereby accurately completing the grabbing, spreading and laying of bricks, thereby improving the accuracy and efficiency of masonry.

[0055] Driving the sponge vacuum suction cup 41 can quickly compress the air and generate a strong negative pressure to absorb the masonry bricks, ensuring that the articulated robot 4 can drive the sponge vacuum suction cup 41 to firmly grasp the masonry bricks on the precise conveying part 7, thereby completing the grabbing and delivery of bricks during the masonry process.

[0056] Optionally, the masonry control support portion 6 includes a base 61 provided on both sides of the masonry 5 and used to support the ground, columns 62 respectively mounted on the two bases 61, linear slides 63 respectively mounted on the two columns 62 and used to achieve linear reciprocating motion, L-shaped limit brackets 64 respectively mounted on the two linear slides 63, a plurality of support seats 65 mounted on the two limit brackets 64 and used for distance adjustment and fastening, and support members 66 respectively mounted on the plurality of support seats 65 and abutting against the masonry 5 for position control;

[0057] The support members 66 are T-shaped, ensuring that during the masonry process, the support members 66 can press the sides and fronts of the two bricks located on the left and right sides after the two bricks are stacked to prevent them from moving backward, thereby preventing them from being squeezed and moving backward when the middle brick is placed, thereby preventing the bricks laid later from affecting the position accuracy of the bricks laid earlier during the masonry process, ensuring masonry accuracy and quality. The linear slide 63 is a unit mechanical component, generally referring to a linear module. Its working principle is to drive the belt to make the slider move linearly, ensuring that as the masonry progresses, the masonry 5 continues to increase, and the two limit brackets 64 can be driven to climb synchronously through the linear slide 63 under the control of the control cabinet 9, so as to ensure that the support member 66 can press the bricks of each layer tightly, and ensure the integrity of the function of the workstation. In addition, the components such as the column 62, the base 61, the limit bracket 64 and the support member 66 are made of lightweight materials, so as to make the masonry control support part 6 as lightweight as possible, so as to be more convenient to carry and install. At the same time, the assembly between the various components of the masonry control support part 6 adopts a method that is easy to install and disassemble, so that loading and unloading can be completed quickly, thereby improving work efficiency.

[0058] Optionally, it should be specifically explained that the bottoms of the two bases 61 are respectively equipped with clamping cylinders, which are used to enable the two bases 61 to be directly clamped on the furnace head of the coke oven at the construction site, thereby realizing a direct connection between the masonry control support part 6 and the furnace head, thereby improving the stability and reliability of the masonry control support part 6 during masonry.

[0059] Optionally, the precise and stable conveying section 7 includes a frame 71 mounted on the working platform 3, an active roller 72 mounted on the frame 71, a driving device 73 arranged on one side of the active roller 72 and used to drive the active roller 72, a plurality of driven rollers 74 rotatably mounted on the frame 71 at equal intervals and used for upper support and guidance, a belt 75 closed and mounted on the active roller 72 and the plurality of driven rollers 74 and used for conveying the movement, and a plurality of brick-shaped limit blocks 76 mounted in double rows on the belt 75 and used for position correction, to ensure that after the convex tenon and concave mortise-shaped bricks are respectively placed in the corresponding brick-shaped limit blocks 76, the brick-shaped limit blocks 76 can completely match the irregular parts of the bricks, so that the brick surface and the belt 75 are parallel to each other, ensuring that the space for the bricks is corrected. The posture of the belt 75 is corrected to ensure that the bricks are flat instead of crooked on the belt 75, thereby greatly reducing the difficulty of the articulated robot 4 in grabbing bricks, avoiding obstacles to the articulated robot 4 in grabbing bricks, and preventing the overall operation of the workstation from being interrupted due to failure, ensuring the masonry efficiency and accuracy. The driving device 73 is the power source for the belt 75 to transport bricks. It consists of an electric motor, a reducer and a transmission device. The motor converts electrical energy into mechanical energy through the reducer, and then transmits the power to the active roller 72 through the transmission device, thereby driving the belt 75 to move. When the articulated robot 4 has grabbed all one group of bricks, the driving device 73 is started under the control of the control cabinet 9, thereby transporting the next group of bricks forward to the position to be grabbed, ensuring the convenience of the articulated robot 4 in grabbing bricks and improving the masonry efficiency.

[0060] Optionally, the refractory mud laying unit 8 includes a laying platform 81 installed on the working platform 3, a plurality of first connecting seats 82 installed in an array on the laying platform 81 and used to provide a mounting reference, two discharge pipes 83 installed on the plurality of first connecting seats 82 and used for feeding materials, a hopper 84 installed on the two discharge pipes 83 and used for storing refractory mud, a screw rod 87 rotatingly arranged in the hopper 84, a second connecting seat 85 installed on the laying platform 81 and located behind the hopper 84, and a motor 86 installed on the second connecting seat 85 and used to drive the screw rod 87. Refractory mud refers to clay with a refractoriness greater than 1580°C that can be used as a refractory material and bauxite used as a refractory material, which is an indispensable material for masonry furnace body;

[0061] The two discharge pipes 83 are connected to the hopper 84. When the articulated robot 4 grabs the brick and moves it under the discharge pipe 83, the motor 86 is started under the action of the control cabinet 9 and the control system of the articulated robot 4, thereby driving the screw rod 87 to rotate in the hopper 84, thereby stirring and squeezing the refractory mud in the hopper 84, prompting the refractory mud to be discharged through the discharge pipe 83, and laying refractory mud on the bottom and side of the brick under the twisting of the articulated robot 4. After the laying is completed, the articulated robot 4 moves the brick for masonry, ensuring the synchronization of brick movement and refractory mud laying, and ensuring the completeness of the masonry process. The outlet of the discharge pipe 83 can be a detachable flat-mouth joint, which is convenient for controlling the outflow of refractory mud.

[0062] Optionally, the support seat 65 includes a base plate 651 mounted on the bottom surface of the limiting bracket 64, a left half plate 652 and a right half plate 653 hinged on the base plate 651 and used to clamp the support member 66, and a hexagon socket bolt 654 screwed on the left half plate 652 and the right half plate 653 and used to rotate back and forth for tightening and loosening, ensuring that the hexagon socket bolt 654 can be loosened and the support member 66 can be pushed backward, so that the vertical section of the support member 66 is used to support and abut the masonry 5, and the horizontal section can be adjusted and fixed on the support seat 65, thereby ensuring that the masonry control support part 6 can adapt to masonry 5 of different sizes.

[0063] Optionally, the refractory mud laying part 8 also includes a plurality of card tables 88 installed on the side of the laying table 81, and mortar shovels 89 are placed on the plurality of card tables 88 and used for applying mud, ensuring that different forms of mortar shovels 89 can be replaced on the clamp 42 under the spatial movement of the articulated robot 4 and the loosening action of the clamp 42 to apply mud on the masonry 5, ensuring that the mud application tools can be flexibly replaced according to the specific masonry process.

[0064] Optionally, the masonry control support portion 6 further includes a connecting rod 67 that is staggeredly connected to the two columns 62 and used for reinforcement, so that the two columns 62 are connected as one, thereby enhancing stability and preventing collapse.

[0065] Optionally, it should be specifically explained that two sets of linear slides can be installed on the working platform 3. The two sets of linear slides are perpendicular to the columns 62 and the backs of the two columns 62 are connected to the two sets of linear slides respectively, so that the masonry control support part 6 and the working platform 3 are connected as one. At the same time, the masonry control support part 6 can also be freely moved back and forth under the action of the two sets of linear slides, so that when the working platform 3 moves, it can drive the masonry control support part 6 to move together, so as to move quickly and as a whole to the next construction point and install it with the burner; before moving, release the clamping cylinders on the two bases 61 to disconnect the connection between the masonry control support part 6 and the burner, and then retract the masonry control support part 6 under the joint action of the two sets of linear slides and move it again to prevent it from colliding with the burner or even getting stuck on the burner.

[0066] Optionally, the masonry control support part 6 also includes a blower 68 installed on the limit bracket 64 and used to produce air, an air storage tank 69 installed at the corner of the limit bracket 64, and an air duct 691 for connecting the air outlet of the blower 68 and the air storage tank 69, which is connected to the air storage tank 69 in an oblique downward posture and faces an air blowing channel 692 of the masonry 5. After the blower 68 is driven, the air duct 691 conveys the wind it generates into the air storage tank 69, and then the air blowing channel 692 blows the wind out. The two blowing channels 692 ensure that the wind is blown out in a cross-direction obliquely downward, thereby ensuring that during the masonry process, as the limit bracket 64 rises, the masonry 5 just built below the limit bracket 64 is blown, greatly increasing the flow speed of the air around it, thereby increasing the drying of the refractory mud and accelerating its coagulation, thereby improving the masonry forming efficiency, and at the same time reducing the probability of bricks being displaced by accidental collisions, thereby ensuring masonry accuracy.

[0067] In addition, in another embodiment of the invention, a construction method of a coke oven body masonry workstation based on an articulated robot is provided, comprising the following steps:

[0068] S1: Equipment installation and commissioning: Install the V-shaped track 1 on a pre-erected scaffolding or other construction foundation, and place the work platform 3, articulated robot 4, masonry control support 6, and precision conveying unit 7 in the preset positions. Then, electrically connect the articulated robot 4, sponge vacuum suction cup 41, fixture 42, linear slide 63, drive device 73 and other drive components to the control cabinet 9. Use the control system and program to debug each operating unit until they can coordinate and operate in the correct order.

[0069] S2: Stacking bricks; placing bricks with convex tenons and concave mortise-shaped blocks firmly onto corresponding brick-shaped stoppers 76, so that the surface of the bricks is parallel to the belt 75, and then driving the belt 75 through the driving device 73 to move the bricks to the designated position;

[0070] S3: Brick suction and mortar application; first, the articulated robot 4 drives the sponge vacuum suction cup 41 to move above the corresponding left and right bricks and firmly adsorb the bricks through the sponge vacuum suction cup 41. Then, the bricks are sent to the bottom of the discharge pipe 83. After the refractory mortar is applied, the bricks are laid at the preset masonry 5. When laying the middle brick, the support members 66 of the masonry control support part 6 are used to press the sides and front of the left and right bricks on the outside to prevent them from moving backward.

[0071] S4: Surface application; the mobile fixture 42 clamps the corresponding ash shovel 89 and uses the ash shovel 89 to connect the refractory mud below the discharge pipe 83, and then adds the refractory mud to the surface of the newly built masonry 5;

[0072] S5: Repeat S2-S4 in a loop until the masonry 5 is completed.

[0073] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A coke oven body masonry workstation based on an articulated robot, characterized in that: include: V-shaped rails (1) arranged in parallel, a working platform (3) arranged above the V-shaped rails (1), connected to the V-shaped rails (1) through a plurality of rollers (2) and used for carrying, an articulated robot (4) installed on the working platform (3) and used for grasping and conveying masonry, a masonry (5) located on one side of the working platform (3), a masonry control support part (6) arranged on both sides of the masonry (5) and used for abutting against the masonry (5) to control its position, a precise and stable conveying part (7) arranged on the working platform (3), a refractory mortar laying part (8) arranged on the working platform (3) and used for discharging materials for masonry, and a control cabinet (9) arranged on the working platform (3) and used for overall control, wherein The precise and stable conveying part (7) can fit the top pad masonry bricks to correct the spatial posture of the bricks and promote their smooth movement.

2. A coke oven body masonry workstation based on an articulated robot as claimed in claim 1, characterized in that: A sponge vacuum suction cup (41) is installed at the end of the articulated robot (4), and a clamp (42) for clamping is installed on the top of the sponge vacuum suction cup (41); The articulated robot (4) is also equipped with a 3D camera (43) for identifying punctuation points, wherein Driving the sponge vacuum suction cup (41) can quickly compress the air and generate a strong negative pressure to absorb the masonry bricks.

3. A coke oven body masonry workstation based on an articulated robot as claimed in claim 2, characterized in that: The masonry control support part (6) comprises a base (61) arranged on both sides of the masonry (5) and used for supporting the ground, columns (62) respectively mounted on the two bases (61), a linear slide (63) respectively mounted on the two columns (62) and used for realizing linear reciprocating motion, a limit bracket (64) respectively mounted on the two linear slides (63) and in an L shape, a plurality of support seats (65) mounted on the two limit brackets (64) and used for adjusting the distance and tightening, and a support member (66) respectively mounted on the plurality of support seats (65) and abutting against the masonry (5) for position control; A plurality of the support members (66) are T-shaped.

4. A coke oven body masonry workstation based on an articulated robot as claimed in claim 3, characterized in that: The precise and stable conveying part (7) comprises a frame (71) mounted on the working platform (3), a driving roller (72) mounted on the frame (71), a driving device (73) arranged on one side of the driving roller (72) and used to drive the driving roller (72), a plurality of driven rollers (74) rotatably mounted on the frame (71) at equal intervals and used for upper support and guidance, a belt (75) installed in a closed manner on the driving roller (72) and the plurality of driven rollers (74) and used for conveying and traveling, and a plurality of brick-shaped limit blocks (76) installed in double rows on the belt (75) and used for position correction.

5. A coke oven body masonry workstation based on an articulated robot as claimed in claim 4, characterized in that: The refractory mud laying unit (8) comprises a laying platform (81) installed on the working platform (3), a plurality of first connecting seats (82) installed in an array on the laying platform (81) and used to provide a mounting reference, two discharge pipes (83) installed on the plurality of first connecting seats (82) and used to transport materials, a hopper (84) installed on the two discharge pipes (83) and used to store refractory mud, a screw rod (87) rotatably arranged in the hopper (84), a second connecting seat (85) installed on the laying platform (81) and located behind the hopper (84), and a motor (86) installed on the second connecting seat (85) and used to drive the screw rod (87); The two discharge pipes (83) lead into the hopper (84).

6. A coke oven body masonry workstation based on an articulated robot as claimed in claim 5, characterized in that: The support seat (65) includes a base plate (651) mounted on the bottom surface of the limiting bracket (64), a left half plate (652) and a right half plate (653) hinged on the base plate (651) and used to clamp the support member (66), and a hexagon socket head bolt (654) screwed on the left half plate (652) and the right half plate (653) and used to rotate back and forth to loosen or tighten.

7. A coke oven body masonry workstation based on an articulated robot as claimed in claim 6, characterized in that: The refractory mud laying unit (8) also includes a plurality of card tables (88) installed on the side of the laying platform (81), and mortar shovels (89) respectively placed on the plurality of card tables (88) and used for applying.

8. A coke oven body masonry workstation based on an articulated robot as claimed in claim 7, characterized in that: The masonry control support part (6) also includes a connecting rod (67) which is staggeredly connected to the two uprights (62) and is used for reinforcement.

9. A coke oven body masonry workstation based on an articulated robot as claimed in claim 8, characterized in that: The masonry control support part (6) also includes a blower (68) installed on the limiting bracket (64) and used for producing air, an air storage tank (69) installed at the corner of the limiting bracket (64), an air delivery duct (691) used to connect the air outlet of the blower (68) and the air storage tank (69), and an air blowing channel (692) connected to the air storage tank (69) in an oblique downward posture and facing the masonry (5).

10. A construction method of a coke oven body masonry workstation based on an articulated robot as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Equipment installation and debugging; the V-shaped track (1) is installed on a pre-erected scaffolding or other construction foundation, and the work platform (3), articulated robot (4), masonry control support (6) and precision conveying unit (7) are placed and installed according to the preset positions, and then the articulated robot (4), sponge vacuum suction cup (41), fixture (42), linear slide (63), drive device (73) and other driving components are electrically connected to the control cabinet (9), and the control system and program are used to debug each operating unit so that it can be coordinated and operated in the correct order; S2: stacking bricks; placing bricks with convex tenons and concave mortise holes firmly on corresponding brick-shaped limit blocks (76) respectively, so that the surface of the bricks and the belt body (75) are parallel to each other, and then the belt body (75) is driven by the driving device (73) to move and deliver the bricks to the designated position; S3: sucking and transporting bricks, applying mud and laying bricks; first, the sponge vacuum suction cup (41) is driven by the joint robot (4) to move to the top of the corresponding left and right bricks and firmly adsorb the bricks by the sponge vacuum suction cup (41), and then the bricks are sent to the bottom of the discharge pipe (83). After the refractory mud is laid, the bricks are laid at the preset masonry (5). When laying the middle brick, the side and front sides of the left and right bricks located on the outside are pressed tightly by the plurality of support members (66) of the masonry control support part (6) to prevent them from moving backward; S4: Surface application; the mobile fixture (42) clamps the corresponding ash shovel (89) and uses the ash shovel (89) to connect the refractory mud under the discharge pipe (83), and then adds the refractory mud to the surface of the newly built masonry (5); S5: S2-S4 are repeated in a loop until the masonry (5) is completed.

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