Apparatus and method for sealing coke oven door

Abstract

The present invention provides an apparatus and a method for sealing a coke oven door in order to prevent gas leakage. Provided in one embodiment is the apparatus for sealing a coke oven door, comprising: a sealing material supply unit including a nozzle for discharging a sealing material; a robot which is connected to the sealing material supply unit, and which includes 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 a plurality of coke ovens are arranged, and in the vertical direction which is the longitudinal direction of the plurality of coke ovens; and a control unit for controlling the robot arm.

Description

Coke oven door sealing device and method

[0001] The present invention relates to a coke oven door sealing device and method.

[0002] A coke oven is a facility that produces red-hot coke by loading coal into multiple carbonization chambers and applying high-temperature heat to the coal for a certain period of time to remove impurities. Coke is a fuel with a high carbon content and trace amounts of impurities, and is usually made from coal. Coke produced from coal is gray, hard, and porous.

[0003] In the coke manufacturing process, fuel coal is supplied into the carbonization chamber through the inlet at the top of each carbonization chamber, and the red-hot coke that has completed dryness is loaded onto a fire truck through an area with an open door and then transported to the process location.

[0004] The coke oven is equipped with doors for the inflow of coal and the discharge of coke, and each door is operated by a desorption device to open or close the corresponding carbonization chamber.

[0005] During the red-hot coke dry-out process, coke gas (COG), a gaseous impurity, is generated inside the carbonization chamber. While this gas should not leak out through the door, the high-temperature, high-pressure environment inside the carbonization chamber can cause gas leaks from the top inlet, 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 due to the door may be damaged by the adhered foreign substances.

[0007] This causes high-temperature gas to leak out of the coke oven, causing damage and deformation of various equipment, deteriorating air quality, and creating environmental pollution issues. Workers are also exposed to the risk of safety accidents such as burns, gas poisoning, falls, and entrapment.

[0008] In the past, workers would board a service car, go directly to the gas leak area, and then seal the leak site.

[0009] (Patent Document 1) KR 10-0417099 B1

[0010] The purpose of the present invention is to provide a coke oven door sealing device and method capable of blocking and preventing the leakage of gas generated during the coke manufacturing process.

[0011] The present invention, in one embodiment, aims to provide a coke oven door sealing device and a coke oven door sealing method capable of hermetically sealing a coke oven by controlling a robot arm to move a nozzle along the edge of an oven door located within a work target area using edge tracking technology using a laser generator.

[0012] In one embodiment of the present invention, it is an object to provide a coke oven door sealing device and a coke oven door sealing method capable of monitoring a sealing operation in real time using a camera placed at the end of a robot arm, and capable of monitoring the entire work target area after the sealing operation is completed using a camera placed at a base supporting the robot arm.

[0013] In order to achieve the above-mentioned purpose, the present invention provides the following coke oven door sealing device and coke oven door sealing method.

[0014] In one embodiment, the present invention provides a sealing device for a coke oven door, comprising: a sealing material supply unit including a nozzle for discharging a 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 a horizontal direction in which a plurality of coke ovens are arranged and a vertical direction in a longitudinal 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 an edge of an oven door of one of the plurality of coke ovens.

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

[0016] In one embodiment, the present invention provides a sealing device for a coke oven door, comprising: a detection unit that includes one or more sensors and detects whether a gas leak has occurred for a plurality of coke ovens; a sealing unit that includes a nozzle that discharges a sealing material and a robot arm that moves the position of the nozzle; and a moving unit that moves the sealing unit in horizontal and vertical directions, wherein the plurality of coke ovens are divided into a plurality of sealing zones, the detection unit detects a work target zone where a gas leak has occurred among the plurality of sealing zones, the moving unit moves the sealing unit to the work target zone, and the sealing unit controls the robot arm so that the nozzle moves along an edge of the oven door located within the work target zone.

[0017] The present invention can provide a coke oven door sealing device and sealing method capable of blocking and preventing the leakage of gas generated during the coke manufacturing process through the above configuration.

[0018] In one embodiment, the present invention provides a coke oven door sealing device and a coke oven door sealing method capable of hermetically sealing a coke oven by controlling a robot arm to move a nozzle along the edge of an oven door located within a work target area using edge tracking technology using a laser generator.

[0019] In one embodiment of the present invention, a coke oven door sealing device and a coke oven door sealing method can be provided, which enable real-time monitoring of a sealing operation using a camera placed at the end of a robot arm, and enable monitoring of the entire work target area after completion of the sealing operation using a camera placed at a base supporting the robot arm.

[0020] FIG. 1 is a drawing showing the configuration of a coke oven door sealing device according to one embodiment of the present invention.

[0021] FIG. 2a is a block diagram illustrating the configuration of a coke oven door sealing device according to one embodiment of the present invention.

[0022] FIG. 2b is a drawing showing a part of a coke oven door sealing device according to one embodiment of the present invention.

[0023] FIG. 3 is a drawing exemplarily showing a plurality of sealing areas in a coke oven door sealing method according to one embodiment of the present invention.

[0024] FIG. 4a is an exemplary drawing for explaining an operation of a coke oven door sealing device according to one embodiment of the present invention.

[0025] FIG. 4b is an exemplary drawing for explaining an operation of a coke oven door sealing device according to one embodiment of the present invention.

[0026] FIG. 4c is an exemplary drawing for explaining an operation of a coke oven door sealing device according to one embodiment of the present invention.

[0027] FIG. 4d is an exemplary drawing for explaining an operation of a coke oven door sealing device according to one embodiment of the present invention.

[0028] Figure 5 is a flow chart of a coke oven door sealing method according to one embodiment of the present invention.

[0029] FIG. 6 is a drawing of an entire system including a coke oven door sealing device according to one embodiment of the present invention.

[0030] Hereinafter, with reference to the attached drawings, preferred embodiments will be described in detail so that those skilled in the art can easily practice the present invention. However, in describing preferred embodiments of the present invention in detail, if it is determined that a specific description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, the same reference numerals are used throughout the drawings for parts that have similar functions and actions. In addition, in this specification, terms such as “upper,” “upper part,” “top surface,” “lower,” “lower side,” “lower surface,” and “side” are based on the drawings, and in reality, they may vary depending on the direction in which elements or components are arranged.

[0031] Additionally, throughout the specification, when a part is said to be "connected" to another part, this includes not only cases where it is "directly connected," but also cases where it is "indirectly connected" with other elements intervening. Furthermore, unless specifically stated otherwise, "including" a component does not exclude other components, but rather implies the inclusion of other components.

[0032] FIG. 1 illustrates a coke oven door sealing device according to one embodiment of the present invention.

[0033] Referring to FIG. 1, a coke oven door sealing device (100) can be applied to a site where a plurality of coke ovens (10) are arranged. The coke oven door sealing device (100) can prevent and block gas leakage by sealing an area where gas leakage occurs in a plurality of coke ovens (10).

[0034] Gas leaks can occur in the gap between the oven door and the oven frame of a coke oven (10). Causes of gas leaks include deterioration of the oven door due to long-term use, deformation due to physical impact caused by opening and closing the oven door, or a gap widening caused by tar from coal becoming stuck and hardened between the oven door and the oven frame.

[0035] Traditionally, workers in service vehicles would physically move to the gas leak site and seal the leak. The present invention provides a device and method for blocking and preventing gas leaks from coke ovens using a robot, eliminating the need for on-site personnel.

[0036] Referring to FIGS. 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).

[0037] FIG. 2b is an enlarged view of a sealing material supply unit (110) and a robot (120) of a coke oven door sealing device (100) according to one embodiment of the present invention. Hereinafter, the configuration of the coke oven door sealing device (100) will be described in detail with reference to FIGS. 1, 2a, and 2b together.

[0038] The sealing material supply unit (110) may include a nozzle (111) and a supply line (112).

[0039] The nozzle (111) can discharge a sealant. The sealant may be used to hermetically seal a gas leak point in a coke oven. For example, the sealant may be used to seal the area between the oven door and the frame of a coke oven.

[0040] The sealant may be discharged from the nozzle (111) in a semi-solid state. The sealant may include a thermosetting material that is in a semi-solid state below a specific temperature and hardens at high temperatures. For example, the sealant may include one or more materials selected from the group consisting of ceramol and mortar.

[0041] The sealing material discharged from the nozzle (111) can seal the edge of the oven door by hardening after being discharged by the heat generated inside the coke oven. Gas leakage can be prevented by sealing the edge of the oven door with the hardened sealing material.

[0042] The supply line (112) is connected to the nozzle (111) and can supply sealing material to the nozzle (111).

[0043] The robot (120) may include a robot arm (121) and a base (122).

[0044] The robot arm (121) is connected to the sealant supply unit (110) and can support at least a portion of the sealant supply unit (110).

[0045] For example, the robot arm (121) can support the supply line (112).

[0046] 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 the end can be freely adjusted.

[0047] The nozzle (111) through which the sealing material is discharged can be positioned adjacent to the end of the robot arm (121). Accordingly, 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).

[0048] Specifically, the coke oven door sealing device (100) may further include a control unit that controls a robot arm (121). The control unit may control the robot arm (121) so that the nozzle (111) moves along the edge of an oven door of any one of the plurality of coke ovens (10).

[0049] The base (122) is connected to the lower part of the robot arm (121) and can support the robot arm (121).

[0050] The moving part (130) can move the robot (120) using one or more motors.

[0051] The moving part (130) can move the robot in horizontal and vertical directions. Here, the horizontal direction refers to the direction in which the plurality of coke ovens (10) are arranged, and the vertical direction refers to the longitudinal direction of the plurality of coke ovens (10).

[0052] The moving part (130) may include a frame part (131), a support part (132), and a detection part (133). The support part (132) supports the base (122) of the robot (120) from below, and may also be connected to the frame part (131).

[0053] The frame part (131) can move horizontally. By moving along the horizontal direction in which a plurality of coke ovens are arranged, the frame part (131) can move the robot (120) over a wide area.

[0054] Accordingly, as the frame part (131) moves in the horizontal direction, the support part (132) connected to the frame part (131) and the robot (120) placed on the support part (132) can move together in the horizontal direction.

[0055] The support member (132) can move vertically along the length direction of the frame member (131). As the support member (132) moves vertically, the robot (120) placed on the support member (132) can move vertically together.

[0056] The detection unit (133) may include one or more sensors. The detection unit (133) may detect the positions of the frame unit (131) and the support unit (132) for a plurality of coke ovens (10).

[0057] The detection unit (133) can recognize buckstays located on both sides of the oven door. The detection unit (133) can derive the horizontal position of the frame unit (131) based on the number of buckstays recognized while the frame unit (131) moves horizontally.

[0058] For example, if the movement of the frame part (131) is stopped after three buckstays are recognized by the detection part (133) while the frame part (131) is moving in the horizontal direction, the horizontal position of the frame part (131) can be derived by considering that the frame part (131) is facing the coke oven located third from the reference position.

[0059] In another embodiment, the sensing unit (133) can recognize the identification code of each of the plurality of coke ovens (10). The sensing unit (133) can derive the horizontal position of the frame unit (131) based on the identification code of the recognized coke oven.

[0060] Additionally, the detection unit (133) can derive the vertical position of the support unit (132) based on the length of the section in which the support unit (132) rises or falls.

[0061] A plurality of coke ovens (10) may be divided into a plurality of sealing zones. For example, as illustrated in FIG. 3, a plurality of coke ovens (10) may be arranged horizontally with a buckstay (11) between them, and one side of each coke oven (10) may be divided into a plurality of sealing zones.

[0062] The sealing zones shown in FIG. 3 are merely exemplary, and the sealing zones for one coke oven (10) may be divided into more or fewer sealing zones than the example shown in FIG. 3.

[0063] The moving unit (130) can move the robot (120) to a target work area. The target work area may refer to an area among multiple sealing areas where a gas leak has occurred. The target work area may be determined, for example, based on information about the oven door and information about which section of the oven door it is located in.

[0064] The moving part (130) can move the robot (120) to the work target area by, for example, moving the frame part (131) in the horizontal direction and then moving the support part (132) in the vertical direction.

[0065] The robot (120) is moved to the vicinity of the work target area by the moving part (130) and can perform sealing work on the work target area.

[0066] Referring to FIG. 2b, the robot (120) may further include a laser generator (123) that generates a laser. The laser generator (123) may be placed, for example, at the end of the robot arm (121).

[0067] The coke oven door sealing device (100) according to the present invention can detect the edge of the oven door using edge tracking technology and vision finding technology using a laser generator (123).

[0068] Specifically, the control unit can detect the edge of the oven door located within the work target area based on the shape information of the oven door stored in advance and the shape recognized by the laser generated by the laser generator (123).

[0069] The control unit can control the nozzle (111) to perform a sealing operation by discharging the sealant while moving along the edge of the oven door located within the work target area.

[0070] Referring again to FIG. 2b, the robot (120) may further include a first camera (124) and a second camera (125).

[0071] The first camera (124) may be placed, for example, at the end of the robot arm (121). The first camera (124) may acquire an image of an area including the vicinity of the end of the robot arm (121).

[0072] The control unit can monitor the progress of the sealing work for the work target area based on the image acquired by the first camera (124).

[0073] The second camera (125) can be placed, for example, on the base (122). The second camera (125) can acquire an image of an area including the work target area.

[0074] The control unit can monitor whether a gas leak occurs in the work target area after the sealing work for the work target area is completed based on the image acquired by the second camera (125).

[0075] If the control unit determines that a gas leak is occurring in the work area even after the sealing work for the work area has been completed, the control unit may perform a re-sealing work for the work area. The control unit may control the robot arm (121) to perform the re-sealing work for the work area.

[0076] Figures 4a to 4d are exemplary drawings for explaining an operation of a coke oven door sealing device according to one embodiment of the present invention. Figures 4a to 4d sequentially illustrate an operation in which a coke oven door sealing device (100) moves from a standby position and performs a sealing operation on a work target area.

[0077] Fig. 4a is a drawing showing a coke oven door sealing device (100) positioned in a standby position. In the standby position, the support member (132) of the coke oven door sealing device (100) may be lowered.

[0078] Figures 4b and 4c illustrate the coke oven door sealing device (100) moving to the work target area.

[0079] As shown in Fig. 4b, the frame portion (131) of the coke oven door sealing device (100) moves horizontally, thereby enabling the robot (120) to move over a wide area in the horizontal direction.

[0080] Next, as illustrated in FIG. 4c, the support member (132) of the coke oven door sealing device (100) is moved vertically, thereby allowing the robot (120) to move vertically. The coke oven door sealing device (100) can move the robot (120) to the work target area through horizontal movement and vertical movement.

[0081] After the robot (120) moves to the work target area, the coke oven door sealing device (100) can perform sealing work on the work target area.

[0082] 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 target area. The nozzle (111) can discharge the sealing material while moving along the edge of the oven door located within the work target area.

[0083] After the coke oven door sealing device (100) completes the sealing work for the work target area, the support member (132) of the coke oven door sealing device (100) can be moved downward in the vertical direction as shown in FIG. 4d.

[0084] With the support member (132) lowered, the coke oven door sealing device (100) can be moved back to the standby position shown in FIG. 4a by horizontally moving the frame member (131).

[0085] Fig. 5 is a flowchart of a coke oven door sealing method according to one embodiment of the present invention. As illustrated in Fig. 5, the coke oven door sealing method (500) may include a step of moving a robot (S510), a step of moving a nozzle by controlling a robot arm (S520), and a step of discharging a sealant from the nozzle (S530).

[0086] In the step of moving the robot (S510), the robot can move in a horizontal direction and a vertical direction. Here, the horizontal direction refers to the direction in which the plurality of coke ovens are arranged, and the vertical direction refers to the longitudinal direction of the plurality of coke ovens.

[0087] Specifically, the step of moving the robot (S510) may include a step of moving the robot in a horizontal direction and a step of moving the robot in a vertical direction.

[0088] In one embodiment, the step of moving the robot (S510) may sequentially perform the step of moving the robot in a horizontal direction and the step of moving the robot in a vertical direction.

[0089] The step of moving the robot in a horizontal direction may include the step of recognizing buckstays located on both sides of the oven door and the step of deriving the horizontal position of the robot based on the number of buckstays.

[0090] In the robot moving step (S510), the robot may be moved to a work target area by moving horizontally and vertically. The work target area may refer to an area where a gas leak has occurred among multiple sealing areas.

[0091] In the step of moving the nozzle (S520), the nozzle may discharge a sealant. The sealant may include a thermosetting material that hardens at high heat.

[0092] The nozzle is at least partially connected to the robot arm and can be moved by the robot arm. In the step of moving the nozzle (S520), the robot arm can be controlled so that the nozzle moves along the edge of the oven door of one of the plurality of coke ovens.

[0093] The step of moving the nozzle (S520) may include a step of recognizing a shape using a laser generator and a step of detecting the edge of the oven door.

[0094] The laser generator may be positioned at the end of the robot arm. In the step of detecting the edge of the oven door, the edge of the oven door located within the work target area may be detected based on previously stored shape information of the oven door and the shape recognized by the laser generator.

[0095] At least a portion of the edge of the oven door can be hermetically sealed by the step (S530) of discharging the sealant from the nozzle.

[0096] The coke oven door sealing method (500) may further include a step of supplying the sealant to a nozzle through a supply line supported by a robot arm.

[0097] Additionally, the coke oven door sealing method (500) may further include a step of acquiring a first image by a first camera disposed at an end of a robot arm and a step of monitoring the progress of a sealing operation for a work target area based on the first image.

[0098] The first image acquired by the first camera may be an image of an area including the vicinity of the end of the robot arm.

[0099] In addition, the coke oven door sealing method (500) may further include a step of acquiring a second image by a second camera disposed on a base supporting a robot arm, and a step of monitoring whether a gas leak occurs in the work target area after the sealing work for the work target area is completed based on the second image.

[0100] The second image acquired by the second camera may be an image of an area including the work target area.

[0101] The coke oven door sealing method (500) may further include a step of performing a re-sealing operation on the work area if it is determined that a gas leak is occurring in the work area after the sealing operation on the work area is completed.

[0102] FIG. 6 is a drawing of an entire system including a coke oven door sealing device according to one embodiment of the present invention.

[0103] Referring to FIG. 6, the entire system (60) may include a coke oven door sealing device (100) and a detection unit (610).

[0104] 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 a plurality of coke ovens (10).

[0105] The detection unit (610) may further include a monitoring device (612). The monitoring device (612) may detect whether a gas leak has occurred in a plurality of coke ovens based on images acquired by one or more cameras (611).

[0106] The detection unit (610) can detect a work target area where a gas leak has occurred among multiple sealing areas.

[0107] The detection unit (610) and the coke oven door sealing device (100) can transmit and receive data to each other through wired or wireless communication.

[0108] For example, the detection unit (610) can transmit information on the work target area to the coke oven door sealing device (100).

[0109] The coke oven door sealing device (100) can move the robot (120) to the work target area based on information on the work target area received from the detection unit (610).

[0110] Specifically, the moving part (130) can move the robot (120) to the work target area by moving the frame part (131) in the horizontal direction and then moving the support part (132) in the vertical direction.

[0111] The coke oven door sealing device (100) can control the robot arm so that the nozzle moves along the edge of the oven door located within the work target area after moving the robot (120) to the work target area.

[0112] The nozzle can be moved along the edge of the oven door located within the work area to dispense the sealant.

[0113] Additionally, the coke oven door sealing device (100) can transmit an image acquired by a first camera placed at the end of the robot arm or an image acquired by a second camera placed at the base to the detection unit (610).

[0114] In one embodiment of the present invention, a coke oven door sealing device (100) can identify whether a 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. The one or more wide-area image sensors can sense, for example, a coke oven door.

[0115] Additionally, the coke oven door sealing device (100) can perform a gas barrier operation of discharging a sealing material based on the result of identifying whether there is a leak of toxic gas.

[0116] Specifically, the coke oven door sealing device (100) can obtain narrow-area sensing information on a gas leak site where gas is leaking from the equipment based on light. The narrow-area sensing information can be obtained using one or more laser sensors provided in the coke oven door sealing device (100).

[0117] One or more laser sensors may be provided on a robot (120) included in a coke oven door sealing device (100). For example, one or more laser sensors may be installed at the tip of a robot arm (121).

[0118] The coke oven door sealing device (100) can identify a crack area as a line based on narrow-area sensing information, and perform an operation of sealing with a sealing material based on the location where the crack area and the toxic gas leakage are identified. The coke oven door sealing device (100) can discharge a sealing material and melt the sealing material to seal the location where a gas leakage is detected.

[0119] A coke oven door sealing device (100) can seal a crack area by creating a movement path for moving a dispenser that discharges a sealant along a crack area, and by causing the dispenser to supply a sealant while moving along the created movement path. For example, the dispenser of the coke oven door sealing device (100) can be implemented as a part of a nozzle (111).

[0120] The coke oven door sealing device (100) can detect whether additional toxic gas leaks when the supply of sealing material from the dispenser is stopped. The detection of additional toxic gas leaks can be performed using one or more laser sensors or other sensors provided in the coke oven door sealing device (100). The other sensors can be either image sensors or laser sensors.

[0121] The coke oven door sealing device (100) can perform the task of discharging sealing material through a dispenser and sealing the opening until the opening through which toxic gas leaks is not identified.

[0122] The coke oven door sealing device (100) may further include an air generator for exposing an opening through which toxic gases leak. The coke oven door sealing device (100) may use the air generator to blow air toward an area where toxic gases are detected, and may use one or more sensors to detect the opening.

[0123] The coke oven door sealing device (100) can be adjusted to bring the distance between one or more sensors and the source of toxic gas closer when a crack area is not identified. For example, the coke oven door sealing device (100) can adjust the position of the robot arm (121) on which one or more sensors are installed so that the robot arm (121) approaches the facility.

[0124] The coke oven door sealing device (100) can determine whether a toxic gas leak has been identified by applying the acquired wide-area image to a pre-trained first machine learning model. In addition, the coke oven door sealing device (100) can determine whether a crack area has been detected, and at least one of location information and shape information of the crack area by applying the acquired narrow-area sensing information to a pre-trained second machine learning model.

[0125] Additionally, in describing the present invention, 'part' or 'unit' can be implemented in various ways, for example, by a processor, program instructions executed by a processor, a software module, microcode, a computer program product, a logic circuit, an application-specific integrated circuit, firmware, etc.

[0126] The content of the method disclosed in the embodiments of the present application can be directly implemented in a hardware processor, or can be implemented and performed by a combination of hardware and software modules within the processor. The software module can be stored in a conventional storage medium such as a random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, etc. The storage medium is located in a memory, and the processor reads the information stored in the memory and combines it with the hardware to complete the content of the above-described method. To avoid duplication, a detailed description is omitted herein.

[0127] In the implementation process, each content of the above-described method can be completed by a hardware logical integrated circuit of a processor or an instruction in the form of software.

[0128] That is, those skilled in the art will appreciate that the exemplary units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may implement the described functions using different methods for each specific application, but such implementations should not be considered outside the scope of the present application.

[0129] It should be understood that the disclosed devices and methods may be implemented in other ways, as described in the embodiments herein. For example, the device embodiments described above are merely exemplary, and the division of the units, for example, is merely a logical functional division, and other division methods may exist in actual implementations. For example, multiple units or assemblies may be combined or integrated into another system, or certain features may be ignored or not performed. On the other hand, the coupling or direct coupling or communication connection between the units shown or discussed may be an indirect coupling or communication connection through some interface, device, or unit, and may be electrical, mechanical, or in other forms.

[0130] The units described above as separate components may be physically separate, and the components represented as units may or may not be physical units, i.e., located in one location or distributed across multiple network units. Depending on actual needs, some or all of these units may be selected to achieve the objectives of the present embodiment.

[0131] That is, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist alone, or two or more units may be integrated into one unit.

[0132] If the above function is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a single computer-readable storage medium. Based on this understanding, the technical solution of the present application, or a part that essentially contributes to the prior art or a part of the technical solution, can be implemented in the form of a software product, and the computer software product is stored in a single storage medium and includes a small number of instructions to cause a single computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The above-mentioned storage medium includes various media capable of storing program code, such as a USB memory, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or a CD-ROM.

[0133] The present invention is not limited to the embodiments described above and the attached drawings. The scope of the invention is defined by the appended claims, and it will be apparent to those skilled in the art that various substitutions, modifications, and alterations can be made without departing from the technical spirit of the invention as defined in the claims.

Claims

1. A sealant supply unit including a nozzle for discharging sealant; A robot connected to the sealant 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 a horizontal direction in which a plurality of coke ovens are arranged and in a vertical direction in the longitudinal direction of the plurality of coke ovens; and A control unit that controls the above robot arm Including, A coke oven door sealing device wherein the control unit controls the robot arm to move the nozzle along the edge of the oven door of one of the plurality of coke ovens.

2. In paragraph 1, The above moving part The frame part moving in the horizontal direction; A support member supporting the base, connected to the frame member, and moving in the vertical direction along the length direction of the frame member; and A sensing unit for detecting the positions of the frame and the support for the plurality of coke ovens A coke oven door sealing device comprising:

3. In paragraph 2, A coke oven door sealing device in which the above detection unit recognizes buckstays located on both sides of the oven door, and derives a horizontal position of the frame part based on the number of buckstays recognized while the frame part moves in the horizontal direction.

4. In paragraph 2, The above plurality of coke ovens are divided into a plurality of sealing zones, A coke oven door sealing device in which the moving part moves the frame part in the horizontal direction and then moves the support part in the vertical direction to move the robot to a work target area where a gas leak has occurred among the plurality of sealing areas.

5. In paragraph 4, The robot further includes a laser generator disposed at the end of the robot arm and generating a laser, A coke oven door sealing device wherein the control unit detects the edge of the oven door located within the work target area based on the shape information of the oven door stored in advance and the shape recognized by the laser.

6. In paragraph 5, A coke oven door sealing device in which 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 target area to discharge the sealant.

7. In paragraph 6, The robot further comprises a first camera positioned at the end of the robot arm, A coke oven door sealing device wherein the control unit monitors the progress of the sealing operation based on the image acquired by the first camera.

8. In paragraph 6, The robot further comprises a second camera disposed on the base, A coke oven door sealing device in which the control unit monitors whether a gas leak occurs in the work target area after the sealing work is completed based on the image acquired by the second camera, and performs a re-sealing work on the work target area if it is determined that a gas leak has occurred in the work target area.

9. In paragraph 1, The above sealant supply unit further includes a supply line for supplying the sealant to the nozzle, The above robot arm is a coke oven door sealing device supporting the above supply line.

10. Step of moving the robot in horizontal and vertical directions; A step of moving a nozzle by controlling a robot arm included in the above robot; and Step of discharging sealant from the above nozzle Including, A method for sealing a coke oven door, wherein the step of moving the nozzle controls the robot arm so that the nozzle moves along the edge of an oven door of one of a plurality of coke ovens.

11. In Article 10, The step of moving the above robot is: A step of moving the robot in the horizontal direction in which a plurality of coke ovens are arranged; and A step of moving the robot in the vertical direction which is the longitudinal direction of the plurality of coke ovens. A coke oven door sealing method comprising:

12. In paragraph 11, The step of moving the robot in the horizontal direction is: A step of recognizing the buckstays located on both sides of the oven door; and A step of deriving the horizontal position of the robot based on the number of the above buckstays. A coke oven door sealing method comprising:

13. In paragraph 11, The above plurality of coke ovens are divided into a plurality of sealing zones, A coke oven door sealing method wherein the step of moving the robot comprises moving the robot to a work target area where a gas leak has occurred among the plurality of sealing areas.

14. In paragraph 13, The step of moving the above nozzle is: A step of recognizing a shape using a laser generator placed at the end of the robot arm; and A step of detecting an edge of the oven door located within the work target area based on the shape information of the oven door stored in advance and the shape recognized by the laser generator. A coke oven door sealing method comprising:

15. In paragraph 14, A step of acquiring a first image by a first camera placed at the end of the robot arm; and A step of monitoring the progress of the sealing work for the work target area based on the first image above. A method for sealing a coke oven door further comprising:

16. In paragraph 15, A step of acquiring a second image by a second camera placed on a base supporting the robot arm; and A step of monitoring whether a gas leak occurs in the work target area after the sealing work for the work target area is completed based on the second image. A method for sealing a coke oven door further comprising:

17. In paragraph 16, Step of performing resealing work on the work area if it is determined that gas leakage occurs in the work area after the sealing work on the work area is completed. A method for sealing a coke oven door further comprising:

18. In paragraph 10, A step of supplying the sealant to the nozzle through a supply line supported by the robot arm. A method for sealing a coke oven door further comprising:

19. A detection unit including one or more sensors and detecting whether a gas leak occurs for a plurality of coke ovens; A sealing unit including a nozzle for discharging sealant and a robot arm for moving the position of the nozzle; A moving part that moves the above sealing part in horizontal and vertical directions Including, The above plurality of coke ovens are divided into a plurality of sealing zones, The above detection unit detects a work target area where a gas leak has occurred among the plurality of sealing areas, The above moving part moves the sealing part to the work target area, The sealing device of the coke oven door controls the robot arm so that the nozzle moves along the edge of the oven door located within the work target area.

20. In paragraph 19, The above sealing portion further includes a laser generator that is placed at the end of the robot arm and generates a laser, A coke oven door sealing device that detects the edge of the oven door located within the work target area based on the shape information of the oven door stored in advance and the shape recognized by the laser.

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