Coke oven sidewall thermal repair robot system with high imaging precision, and construction method

Abstract

A coke oven sidewall thermal repair robot system with high imaging precision, and a construction method. The system comprises a crawler traveling mechanism, a lifting platform, a robot, an imaging device, a line marking device, a brick replacement mechanism and a control unit, wherein the crawler traveling mechanism is configured to travel in a coke oven; the lifting platform adjusts the horizontal height of the robot; the imaging device scans and detects a sidewall of the coke oven; the line marking device marks and cuts standard bricks to obtain corresponding repair bricks; and the brick replacement mechanism is arranged at the tail end of the robot and comprises a hexagonal base, and a brick milling assembly, a brick joint milling assembly, a dust cleaning assembly, a material spraying assembly and a brick clamping assembly which are respectively arranged on side edges of the hexagonal base, the brick clamping assembly comprising a clamping head and a material supplementing nozzle. When a repair operation is performed, the imaging device scans the wall of the coke oven in detail, the robot operates the brick replacement mechanism to a damaged site so as to perform cleaning, spray mortar, and mount bricks, thereby completing the repair process. The system can accurately complete a thermal repair task of the wall of the coke oven.

Description

High-imaging-precision coke oven sidewall thermal repair robot system and construction method Technical Field

[0001] The present invention belongs to the technical field of coke oven carbonization chamber repair devices, and more specifically, relates to a coke oven side wall thermal repair robot system with high imaging accuracy and a construction method. Background Art

[0002] During the coke oven production process, coal is loaded into the carbonization chamber under airtight conditions and undergoes a series of stages, including drying, pyrolysis, melting, bonding, solidification, and shrinkage, ultimately transforming into coke. Due to the squeezing and exfoliation of the coal during this conversion process, the bricks at the bottom of the carbonization chamber are susceptible to wear, cracking, and even damage. To ensure uninterrupted production, these bricks must be repaired in a hot environment. This involves inspecting damaged surfaces, cleaning and removing them, and then re-laying them. These repair measures ensure the normal operation of the coke oven.

[0003] Chinese invention patent CN104031660B discloses a method for cleaning brick slag from a hole in the carbonization chamber wall during thermal repair of a coke oven. The method includes: a construction worker observes the elevation of the hole to determine its height and depth within the carbonization chamber; operates a rocker arm to align a peephole with the hole in the carbonization chamber wall, and uses a high-temperature camera to obtain image information of the hole; observes and cleans the damaged bricks in the carbonization chamber wall that are smaller on the outside and larger on the inside; then aligns the peephole with the hole in the carbonization chamber wall to inspect the hole, obtain image information of the hole, formulate a thermal repair plan, and determine the brick filling and spraying method. However, this patent requires manual chiseling of non-perforated damaged areas, and the limited viewing angle results in limited accuracy of the image information obtained.

[0004] Meanwhile, the application of robots in coke oven masonry is also growing. Advances in the manufacturing industry in recent years have led to significant progress in the application of robots in the construction sector. Compared to traditional manual masonry methods, robots offer greater load-bearing capacity, higher accuracy, and greater efficiency. To address this, coke oven designers and refractory brick manufacturers have begun developing refractory bricks and masonry structures suitable for automated robotic coke oven construction. Construction companies are also experimenting with developing robotic coke oven body masonry systems. For example, Chinese invention patent CN115433595B discloses a coke oven body masonry system consisting of an articulated robot, a masonry execution unit, a refractory slurry conveyor, floor rails, and a vertical lift platform. While this patented masonry system can be used for coke oven body construction, its overall size makes it unsuitable for use within the confined space of the carbonization chamber. Furthermore, the system cannot inspect and repair the brick working surface at the bottom of the carbonization chamber in high-temperature environments.

[0005] In summary, in the current literature, the methods for coke oven inspection and repair disclosed are mainly aimed at repairing perforations in the wall, while non-perforated damaged areas need to be manually chiseled through and demolished using a brick hook device. For the inspection of damaged walls in a hot environment, a high-temperature camera is set at the front end of the rocker arm and observed through a peephole. The viewing angle is limited, resulting in limited accuracy of the image information obtained. At the same time, in terms of filling holes, the technology used at the time was unable to perform minimally invasive repairs on damaged walls on most working surfaces, causing the coke oven to work in a defective state, affecting the quality of coking. The existing coke oven body masonry system is mainly suitable for new coke ovens. However, during hot repair construction, the carbonization chamber is in a high-temperature working environment of 700°C. The normal operation of the robot faces the challenge of heat accumulation, which may lead to performance degradation, failure or scrapping of the robot.

[0006] Therefore, there is an urgent need to develop a thermal repair robot system and construction method for coke oven inspection and repair with high imaging accuracy to achieve unmanned operation and ensure the inspection and repair of the working surface of the coke oven carbonization chamber wall in a high-temperature working environment.

[0007] Summary of the Invention

[0008] In view of the fact that the coke oven masonry device in the prior art cannot detect and repair the carbon side wall of the coke oven in a narrow and high-temperature environment, the present invention provides a coke oven side wall thermal repair robot system with high imaging accuracy and a construction method to solve such problems.

[0009] In order to achieve the above-mentioned purpose, the present invention provides a coke oven side wall thermal repair robot system with high imaging accuracy, comprising: a crawler walking mechanism for supporting the upper structure and being able to walk on the bottom of the carbonization chamber; a lifting platform provided on the top of the crawler walking mechanism, which adjusts the robot provided on the top to a specified horizontal height; an imaging device provided on the robot's mechanical arm; a marking device provided outside the coke oven, which receives information on the area of ​​the damaged part and marks and cuts out repair bricks for the standard bricks; a brick replacement mechanism provided at the end of the robot, comprising a hexagonal seat, and a brick milling assembly, a brick seam milling assembly, and a dust cleaning assembly respectively provided on the sides of the hexagonal seat. Parts, spraying components, brick clamping components; the brick clamping component includes a clamping head and a feeding nozzle; and a control unit, which controls the crawler walking mechanism to enter, processes the scanning data of the coke oven side wall collected by the imaging device, plans the repair walking path and formulates corresponding repair operation steps; controls the crawler walking mechanism to exit and load materials, and the robot drives the brick changing mechanism to align with the damaged part, and performs brick milling, brick seam milling, clamping the damaged bricks, blowing out the residue, and spraying slurry on the damaged part in turn. The brick clamping component removes the repair bricks on the lifting platform and accurately places them into the damaged part, and uses the feeding nozzle to spray mortar to fill the brick seams on both sides to complete the repair work.

[0010] Furthermore, the robot also includes a plurality of heat insulation layers arranged in the shell structure, and a water cooling unit arranged in the inner shell.

[0011] Furthermore, the joint part of the robot is provided with a joint protective cover, which is a universal structure and is made of high-temperature wear-resistant material.

[0012] Furthermore, the filling nozzle chucks are arranged in parallel, and follow the synchronous displacement of the chucks to spray and fill the gaps between the two sides of the repair brick and the inner wall surface of the damaged part.

[0013] Furthermore, the marking device is arranged outside the coke oven, and includes a supporting platform, an X-axis linear slide, a Y-axis linear slide and a marking pen; the Y-axis linear slide is provided with two groups, which are arranged parallel to the Y direction on the top of the supporting platform, and the X-axis linear slide is arranged on the two groups of Y-axis linear slides along the X direction, and is driven by the Y-axis linear slide to move linearly along the Y direction; the marking pen is arranged on the X-axis linear slide, and is driven by the X-axis linear slide to move linearly along the X direction.

[0014] Furthermore, a water jet is provided on the X-axis linear slide, and the water jet sprays high-pressure abrasive water jet to directly cut the standard bricks.

[0015] Furthermore, the lifting platform includes a bottom plate, a top plate and a scissors-type lifting mechanism; wherein, the bottom plate and the top plate are connected through a scissors-type lifting mechanism; the bottom of the bottom plate is fixedly connected to the underframe of the crawler walking mechanism through a bracket; the top plate is fixedly provided on the top of the scissors-type lifting mechanism, which provides fixed support for the robot; the scissors-type lifting mechanism is communicatively connected to the control unit, and a height sensor is provided on it, which detects the height value in real time through the height sensor, and the control unit controls the scissors-type lifting mechanism to lift the robot to a specified height.

[0016] Furthermore, a slurry storage box and a high-pressure gas tank are provided in the lifting platform, and the two are respectively connected to the brick replacement mechanism through pipes; a material placement portion is provided on the top of the top plate, and the material placement portion is used to place repair bricks. The repair bricks are arranged in sequence on the material placement portion, and are scanned and positioned by an imaging device, and the robot drives the brick clamping assembly to clamp the corresponding repair bricks.

[0017] Furthermore, the brick milling assembly includes a brick milling tool, which rotates and moves under the drive of a robot to accurately mill broken bricks; the brick seam milling assembly includes a brick seam milling cutter, which rotates and moves under the drive of a robot to accurately mill and clean brick seams; the brick clamping assembly clamps and transports broken bricks; the dust cleaning assembly includes a high-pressure nozzle, which blows out high-pressure gas to blow away milling residues at the damaged area; the spraying assembly sprays slurry on the bottom and sides of the damaged area.

[0018] According to another aspect of the present invention, a construction method of a coke oven side wall thermal repair robot system with high imaging accuracy is provided, comprising the following steps:

[0019] S100: Entrance inspection: The imaging device performs high-precision imaging inspection on the inner wall of the coke oven and uploads the inspection data to the work unit;

[0020] S200: The control unit plans the repair walking path and formulates the corresponding repair operation steps based on the coke oven imaging data, and simultaneously sends the damage information to the marking device, which controls the marking device to mark the standard bricks in turn and cut out the corresponding repair bricks;

[0021] S300: Exit the site to load materials, replenish slurry and high-pressure gas, and arrange the corresponding repair bricks in order on the top of the lifting platform;

[0022] S400: Re-enter the site and walk to the designated point according to the planned repair walking path. The robot drives the brick replacement mechanism to align with the damaged area. The brick replacement mechanism sequentially mills the bricks and brick seams at the damaged area, clamps the damaged bricks, blows out the residue, completes the cleaning operation, and sprays slurry on the inner wall surface of the damaged area.

[0023] S500: The chuck clamps the corresponding repair brick and places it into the damaged area. The filling nozzle sprays slurry to fill the gap between the two sides of the repair brick and the inner wall of the damaged area. After completion, the chuck is withdrawn and the filling nozzle moves horizontally to spray slurry to fill the hole where the chuck is withdrawn;

[0024] S600: Repeat the above-mentioned repairing actions in sequence to repair the damaged part, and exit after completion.

[0025] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0026] 1. The coke oven sidewall thermal repair robot system of the present invention achieves precise inspection and repair of the inner sidewall of the narrow space of the coke oven carbonization chamber by combining a high-precision imaging device with an intelligent control unit. The imaging device includes a laser scanner, a thermal imaging camera, a high-temperature camera, and an image acquisition device, which can provide high-definition and high-resolution imaging of the bricks at the bottom of the coke oven carbonization chamber, realizing accurate identification and location of brick defects. The control unit analyzes and intelligently judges the imaging data to realize the location, classification, and priority sorting of coke oven defects.

[0027] 2. The coke oven side wall thermal repair robot system of the present invention has a control unit that can realize functions such as machine learning, image processing, and path planning, and can analyze and intelligently judge the coke oven imaging data to realize the positioning, classification, and priority sorting of coke oven side wall defects; the control unit can also optimize and guide the robot's operation and repair process in real time based on the detection results and repair plan, so as to improve work efficiency and repair quality.

[0028] 3. The coke oven side wall thermal repair robot system of the present invention, through the robot's flexible movement ability and precise position adjustment, can make the milling brick assembly, brick seam milling assembly, dust cleaning assembly, spraying assembly and brick clamping assembly and other mechanisms work together to accurately repair the side wall of the coke oven carbonization chamber; at the same time, in order to ensure that the robot can work stably and persistently in a high-temperature environment, multiple insulation layers can be set in the robot's shell structure to reduce the conduction of heat inside the shell; in addition, the inner shell of the robot is also provided with a water cooling unit, and the water cooling pipe is laid on the inner shell wall. The water cooling unit can effectively cool the inside of the shell through operation, reduce the temperature increase, and provide good thermal protection. The joint part of the robot adopts a universal structure to provide flexibility and protection to prevent damage to the joints by dust, particulate matter and heat radiation, thereby effectively ensuring the stable operation of the robot in a high-temperature environment.

[0029] 4. The coke oven side wall thermal repair robot system of the present invention uses high-precision imaging detection of an imaging device, and adopts a brick milling component, a brick seam milling component, a dust cleaning component, a spraying component, and a brick clamping component to clean the damaged parts, spray slurry, and install repair bricks, thereby improving the accuracy and efficiency of the detection and repair of bricks on the working surface of the coke oven carbonization chamber wall. Compared with traditional manual operation and repair tools, it has higher precision and work efficiency.

[0030] 5. The coke oven side wall thermal repair robot system of the present invention is arranged in parallel with the chuck through the feeding nozzle and the chuck, which moves synchronously with the chuck. When the chuck clamps the repair brick and puts it into the damaged part, the gap between the two sides of the repair brick and the damaged part is filled with mortar to prevent the repair brick from falling and moving under the action of gravity. After the repair brick is placed, the chuck is withdrawn, and the feeding nozzle can be moved horizontally to fill the hole when the chuck is withdrawn to ensure the stability of the repair brick.

[0031] 6. The coke oven side wall thermal repair robot system of the present invention effectively realizes the precise detection and repair of the side wall of the coke oven carbonization chamber, improves work efficiency and repair quality, reduces the risk of thermal repair, simplifies the thermal repair process, and realizes the normalization of detection and thermal repair of the carbonization chamber. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG1 is a schematic diagram of a construction scene of a coke oven side wall thermal repair robot system with high imaging accuracy according to an embodiment of the present invention;

[0033] FIG2 is a schematic structural diagram of a coke oven side wall thermal repair robot system with high imaging accuracy according to the present invention;

[0034] FIG3 is a schematic structural diagram of a furnace outer end marking device according to an embodiment of the present invention;

[0035] FIG4 is an enlarged schematic diagram of point A in FIG2 ;

[0036] FIG5 is a schematic diagram of the process steps of a construction method of a coke oven side wall thermal repair robot system with high imaging accuracy in an embodiment of the present invention.

[0037] In all the drawings, the same figure marks represent the same technical features, specifically: 1- crawler walking mechanism, including: 101-underframe, 102-crawler, 103-walking transmission assembly; 2-lifting platform, including: 201-bottom plate, 202-top plate, 203-scissors-type lifting mechanism; 3-robot, including: 301-robot end; 4-imaging device; 5-marking device, including: 501-carrying platform, 502-X-axis linear slide, 503-Y-axis linear slide, 504-marking pen; 6-brick replacement mechanism, including: 601-hexagonal seat, 602-brick milling assembly, 603-spraying assembly, 604-brick clamping assembly, 6041-chuck, 6042-feeding nozzle. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0039] As shown in Figures 1-4, the present invention provides a high-precision imaging robot system for thermally repairing coke oven sidewalls. The system comprises a crawler mechanism 1, a lifting platform 2, a robot 3, an imaging device 4, a marking device 5, a brick replacement mechanism 6, and a control unit. The crawler mechanism 1 supports the upper structure and is capable of traveling at the bottom of the carbonization chamber. The lifting platform 2 can be smoothly raised and lowered in a narrow space, adjusting the robot 3, mounted on top, to a specified height. The imaging device 4, mounted on the robot 3, scans the coke oven sidewall and transmits the inspection data to the control unit. The marking device 5, mounted outside the coke oven, receives information about the damaged area and marks and cuts standard bricks. The brick replacement mechanism 6 is located at the end of the robot 3 and comprises a hexagonal base 601, and, located on the sides of the hexagonal base 601, a brick milling assembly 602, a brick seam milling assembly, a dust cleaning assembly, a material spraying assembly 603, and a brick clamping assembly 604. The brick clamping assembly 604 includes a clamping head 6041 and a material replenishment nozzle 6042. When performing repair work, the crawler walking mechanism 1 transports the hot repair robot system to the carbonization chamber of the coke oven, the imaging device 4 scans the side of the coke oven, and sends the detection information of the damaged part to the control unit. The control unit controls the marking device 5 to mark and cut the standard bricks to produce the repair bricks corresponding to the damaged part; after completing the inspection, the coke oven is exited, and after loading the repair materials, it re-enters the site and moves to the corresponding damaged part according to the planned repair walking path. The robot 3 aligns the brick replacement mechanism 6 with the damaged part, rotates the hexagonal seat 601, and cleans the damaged part in sequence through the milling brick assembly 602, the milling brick seam assembly, and the cleaning assembly, and sprays the slurry at the damaged part through the spraying assembly 603. After completion, the brick clamping assembly 604 clamps the corresponding repair brick and places it on the damaged part, and uses the filling nozzle 6042 to spray the brick seams on both sides to prevent the corresponding repair brick from sliding and deflecting. The hot repair robot system of the present invention can improve the accuracy and efficiency of coke oven inspection and repair, thereby completing the hot repair task of the bricks at the bottom of the carbonization chamber.

[0040] As shown in Figures 1-2, in an embodiment of the present invention, the crawler walking mechanism 1 is a mechanism for supporting and realizing the movement of the machine. It is adapted to the plane where slag exists at the bottom of the carbonization chamber, and includes a chassis 101, a crawler 102, and a travel transmission assembly 103. Among them, the chassis 101 is used to install a power assembly to drive the travel transmission assembly 103 to drive the crawler 102 to move. Furthermore, the chassis 101 can also support the upper structure. The crawler 102 provides a stable contact area and a firm grip, can cope with complex working environments, and has a certain load-bearing capacity. At the same time, the crawler 102 uses high-temperature resistant and wear-resistant materials to ensure long-term use under harsh conditions such as high temperature and slag.

[0041] In an embodiment of the present invention, the lifting platform 2 includes a bottom plate 201, a top plate 202 and a scissor-type lifting mechanism 203. The bottom plate 201 and the top plate 202 are connected by a scissor-type lifting mechanism 203; the bottom of the bottom plate 201 is fixedly connected to the chassis 101 of the crawler walking mechanism 1 through a bracket. The top plate 202 is fixedly arranged on the top of the scissor-type lifting mechanism 203, which provides fixed support for the robot 3. The scissor-type lifting mechanism 203 is communicatively connected to the control unit, and a height sensor is provided on it. The height value is detected in real time by the height sensor, and the control unit controls the scissor-type lifting mechanism 203 to lift the robot 3 to a specified height. Furthermore, a slurry storage box and a high-pressure gas tank are provided in the lifting platform 2, and both are connected to the brick replacement mechanism 5 through pipelines. Furthermore, a placing portion is provided on the top of the top plate 202, and the placing portion is used to place repair bricks. By arranging the repair bricks in sequence on the placing portion, after scanning and positioning by the imaging device 4, the robot 3 can drive the brick clamping assembly 604 to clamp the corresponding repair bricks.

[0042] In the embodiment of the present invention, the lifting platform 2 can be lifted and lowered smoothly in a narrow space. To ensure the normal operation of the lifting mechanism in a high-temperature environment, the external structure of the lifting platform 2 is made of high-temperature resistant materials to reduce heat conduction and radiation.

[0043] In an embodiment of the present invention, the robot 3 includes a base part, a swivel part, an upper arm part, a lower arm part, a wrist body part and a wrist. Each joint is driven by a servo motor. In conjunction with the joint robot control unit and high-precision imaging vision technology, the robot end 401 can be accurately positioned and adjusted in a small space to complete tasks such as detection, cleaning, removal and masonry of damaged bricks in the bottom area of ​​the coke oven carbonization chamber.

[0044] To ensure that robot 3 can operate stably and sustainably in high-temperature environments, multiple insulation layers can be incorporated into the robot's housing to reduce heat conduction within the housing. Furthermore, the robot's inner housing is equipped with a water cooling unit, comprising water cooling pipes laid along the inner wall of robot 3. This unit effectively cools the inner wall of robot 3, reducing temperature increases and providing excellent thermal protection.

[0045] Furthermore, the joints of the robot 3 are equipped with joint shields. These universal joint shields provide flexibility and protection against damage from dust, particulate matter, and thermal radiation. These shields are made of high-temperature, wear-resistant material and feature a thermal insulation layer to reduce heat transfer to the joints, ensuring reliable operation of the robot 3 in high-temperature environments.

[0046] In this embodiment of the present invention, all components and materials of the in-furnace robot system, designed for high-temperature operation, are designed to be durable and stable in such environments, ensuring that Robot 3 can efficiently and safely complete its tasks during the maintenance of the bricks at the bottom of the carbonization chamber. Through appropriate thermal insulation design and material selection, Robot 3 can operate stably in high-temperature environments, providing reliable support for maintenance work.

[0047] In an embodiment of the present invention, the imaging device 4 uses high-precision imaging equipment, such as laser scanners, thermal imaging cameras, and high-temperature cameras, which can perform high-definition and high-resolution imaging of the coke oven side wall and provide images of damaged coke oven side wall bricks. Through imaging technology, defects, cracks, and other problems in the damaged wall of the carbonization chamber can be accurately identified and analyzed. By utilizing advanced computer vision technology and image processing algorithms, damaged bricks, cracks, and damaged areas can be quickly and accurately identified and located. Furthermore, the imaging device 4 is installed on the robotic arm of the robot 3, and can synchronously transmit thermal repair information of the coke oven side wall bricks to the outside of the furnace from multiple angles. The operator can perform remote operations through device feedback. The imaging device 4 is coated with thermal insulation material to reduce external heat conduction. At the same time, cooling fins, radiators, or other heat dissipation devices are also installed on the outer surface of the imaging device 4 to further reduce the temperature of the outer surface.

[0048] As shown in Figure 3, the marking device 5 is installed outside the coke oven and marks the standard bricks based on the damaged area information collected by the imaging device 4. It includes a supporting platform 501, an X-axis linear slide 502, a Y-axis linear slide 503, and a marking pen 504. The Y-axis linear slide 503 is provided in two sets and is installed parallel to the top of the supporting platform 501 in the Y direction. The X-axis linear slide 502 is installed on the two sets of Y-axis linear slides 503 along the X direction and is driven by the Y-axis linear slide 503 to move linearly in the Y direction. The marking pen 504 is installed on the X-axis linear slide 502 and is driven by the X-axis linear slide 502 to move linearly in the X direction. When the marking device 5 is in operation, based on the damage detection information received, the control unit controls the X-axis linear slide 502 and the Y-axis linear slide 503 to drive the marking pen 504 to move, marking the standard brick on the support platform 501 to mark the corresponding repair brick outline. After completion, the repair brick is cut along the outline to obtain the repair brick. In the embodiment of the present invention, the outline of the repair brick marked by the marking pen 504 is a square, and its area covers the corresponding damaged area; if the area of ​​the damaged area is larger than the standard brick, multiple standard bricks can be used to piece together and cut to obtain the corresponding required repair brick. Preferably, in the embodiment of the present invention, a water jet is provided on the X-axis linear slide 502. The water jet sprays a high-pressure abrasive water jet to directly cut the standard brick, without the need for marking and then transferring the cutting. The shaping operation of the repair brick can be completed in one go without generating dust. The process is safe, environmentally friendly, fast, and efficient.

[0049] As shown in Figure 4, in an embodiment of the present invention, the brick replacement mechanism 6 is arranged at the end of the robot 3, including a hexagonal seat 601, and a brick milling component 602, a brick seam milling component, a dust cleaning component, a spraying component 603, and a brick clamping component 604 respectively arranged on the sides of the hexagonal seat 601.

[0050] The brick milling assembly 602 includes a brick milling tool. By rotating the brick milling tool and displacing it under the drive of the robot 3, damaged bricks can be precisely milled. The brick seam milling assembly includes a brick seam milling cutter. By rotating the brick seam milling cutter and displacing it under the drive of the robot 3, brick seams can be precisely milled and cleaned. The brick clamping assembly 604 includes a chuck 6041. It is displaced under the drive of the robot 3 to clamp and transport the bricks broken by milling. Furthermore, the chuck 6041 can clamp and place repair bricks in the damaged area to complete the repair work. The dust cleaning assembly includes a high-pressure nozzle, which is connected to the high-pressure gas tank pipeline installed on the lifting platform 2. Under the control of the control unit, it blows out high-pressure gas to blow away the milling residue at the damaged area to avoid affecting subsequent repair operations such as grouting. The spraying assembly 603 is connected to the slurry storage tank pipeline in the lifting platform 2. After completing the cleaning operation at the damaged area, the spraying assembly 603 sprays slurry on the bottom and sides of the damaged area.

[0051] Furthermore, the brick clamping assembly 604 also includes a filling nozzle 6042, which is connected to the slurry storage box through a pipeline to replenish slurry, and is arranged in parallel with the clamp 6041, and moves synchronously with the clamp 6041; when the clamp 6041 clamps the repair brick and puts it into the damaged part, the gap between the two sides of the repair brick and the damaged part is sprayed and filled with grout to prevent the repair brick from falling and moving under the action of gravity. After the repair brick is placed, the clamp 6041 is withdrawn, and the filling nozzle 6042 can be used to fill the hole when the clamp 6041 is withdrawn to ensure the stability of the repair brick.

[0052] In the embodiment of the present invention, when the hot repair robot system for the coke oven side wall is performing repair work, the crawler walking mechanism 1 transports the hot repair robot system to the carbonization chamber of the coke oven, and the lifting platform 2 and the robot 3 cooperate with the imaging device 4 to perform high-precision imaging detection on the inner wall of the coke oven, and upload the detection data to the working unit; the control unit plans the repair walking path and formulates the corresponding repair operation steps according to the coke oven imaging data, and simultaneously sends the damaged part information to the marking device 5, controls the marking device 5 to mark and cut the standard bricks in turn to repair the corresponding bricks; after completing the detection of the damaged part in the coke oven, the crawler walking mechanism 1 withdraws to load materials, replenishes slurry and high-pressure gas, and arranges the corresponding repair bricks in order on the top of the lifting platform 2 ; The crawler walking mechanism 1 enters the site again and walks to the designated point according to the planned repair walking path. The robot 3 drives the brick changing mechanism 6 to align with the damaged part. The brick changing mechanism 6 performs brick milling, brick seam milling, clamping of damaged bricks, and blowing out of residues on the damaged part in turn to complete the cleaning operation and spray slurry on the inner wall of the damaged part; the chuck 6041 clamps the corresponding repair brick and puts it into the damaged part, and the filling nozzle 6042 sprays slurry to fill the gap between the two sides of the repair brick and the inner wall of the damaged part. After completion, the chuck 6041 is withdrawn, and the filling nozzle 6042 moves horizontally to spray and fill the holes when the chuck 6041 is withdrawn to ensure the stability of the repair brick; repeat the above repair actions in sequence to repair the damaged part, and exit the site after completion.

[0053] In this embodiment of the present invention, the control unit can implement functions such as machine learning, image processing, and path planning. It can analyze and intelligently determine coke oven imaging data, enabling the location, classification, and prioritization of coke oven defects. The control unit can also optimize and guide the robot's operation and repair process in real time based on detection results and repair plans, thereby improving work efficiency and repair quality.

[0054] In this embodiment of the present invention, the cooling unit ensures the normal operation of robot 3 in a high-temperature operating environment. A continuous cooling system is employed to remove heat from the robot 3 through a circulating cooling medium, maintaining the robot 3's operating environment temperature below 70°C. Considering high-temperature resistance and heat conduction properties, the cooling medium can be a high-temperature liquid or gas. Furthermore, the outer surface of robot 3 is coated with thermal insulation material to reduce external heat conduction. Cooling fins, radiators, or other heat dissipation devices can also be installed on the outer surface of robot 3 to further reduce the outer surface temperature.

[0055] In an embodiment of the present invention, by combining a high-precision imaging device 4 with an intelligent control unit, accurate detection and repair of the inner wall of the narrow space of the coke oven carbonization chamber is achieved; the imaging device 4 includes a laser scanner, a thermal imaging camera, a high-temperature camera and an image acquisition device, etc., which can provide high-definition and high-resolution imaging of the bricks at the bottom of the coke oven carbonization chamber, and realize accurate identification and positioning of brick defects; the control unit analyzes and intelligently judges the imaging data to realize the positioning, classification and priority sorting of coke oven defects.

[0056] In the embodiment of the present invention, the robot 3 has flexible movement capabilities and precise position adjustment, which can enable the coordinated work of multiple mechanisms such as the brick milling assembly 602, the brick seam milling assembly, the dust cleaning assembly, the spraying assembly 603 and the brick clamping assembly 604, so as to accurately repair the side wall of the coke oven carbonization chamber; at the same time, in order to ensure that the robot 3 can work stably and persistently in a high-temperature environment, multiple insulation layers can be set in the shell structure of the robot 3 to reduce the conduction of heat inside the shell; in addition, the inner shell of the robot 3 is also provided with a water cooling unit, and the water cooling pipe is laid on the inner shell wall. The water cooling unit can effectively cool the inside of the shell through operation, reduce the temperature increase, and provide good thermal protection. The joint part of the robot 3 adopts a universal structure to provide flexibility and protection to prevent damage to the joints by dust, particulate matter and heat radiation, thereby effectively ensuring the stable operation of the robot 3 in a high-temperature environment.

[0057] In the embodiment of the present invention, through the high-precision imaging detection of the imaging device 4, the brick milling assembly 602, the brick seam milling assembly, the dust cleaning assembly, the spraying assembly 603, and the brick clamping assembly 604 are used to clean the damaged areas, spray slurry, and install repair bricks, thereby improving the accuracy and efficiency of the detection and repair of bricks on the working surface of the wall of the coke oven carbonization chamber, and having higher precision and work efficiency than traditional manual operation and repair tools.

[0058] In the embodiment of the present invention, the feeding nozzle 6042 is arranged in parallel with the chuck 6041, and moves synchronously with the chuck 6041. When the chuck 6041 clamps the repair brick and places it into the damaged part, the gaps between the two sides of the repair brick and the damaged part are filled with mortar to prevent the repair brick from falling and moving under the action of gravity. After the repair brick is placed, the chuck 6041 is withdrawn, and the feeding nozzle 6042 can be moved horizontally to fill the hole when the chuck 6041 is withdrawn to ensure the stability of the repair brick.

[0059] The coke oven side wall thermal repair robot system of the embodiment of the present invention effectively realizes the precise detection and repair of the side wall of the coke oven carbonization chamber, improves work efficiency and repair quality, reduces the risk of thermal repair, simplifies the thermal repair process, and realizes the normalization of detection and thermal repair of the carbonization chamber.

[0060] As shown in FIG5 , an embodiment of the present invention further provides a construction method of a coke oven side wall thermal repair robot system with high imaging accuracy, comprising the following steps:

[0061] S100: Entrance inspection: the imaging device 4 performs high-precision imaging inspection on the inner wall of the coke oven and uploads the inspection data to the working unit;

[0062] S200: The control unit plans a repair path and formulates corresponding repair operation steps based on the coke oven imaging data, and simultaneously sends the damaged part information to the marking device 5, which controls the marking device 5 to mark the standard bricks in turn and cut out the corresponding repair bricks;

[0063] S300: Exit the site to load materials, replenish slurry and high-pressure gas, and arrange the corresponding repair bricks in order on the top of the lifting platform 2;

[0064] S400: Re-enter the site and walk to the designated point according to the planned repair walking path. The robot 3 drives the brick replacement mechanism 6 to align with the damaged area. The brick replacement mechanism 6 sequentially mills the bricks and brick seams at the damaged area, clamps the damaged bricks, blows out the residue, completes the cleaning operation, and sprays slurry on the inner wall surface of the damaged area.

[0065] S500: The chuck 6041 grips the corresponding repair brick and places it into the damaged area. The filling nozzle 6042 sprays slurry to fill the gap between the two sides of the repair brick and the inner wall of the damaged area. After completion, the chuck 6041 is withdrawn, and the filling nozzle 6042 moves horizontally to spray slurry to fill the hole where the chuck 6041 was withdrawn;

[0066] S600: Repeat the above-mentioned repairing actions in sequence to repair the damaged part, and exit after completion.

[0067] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A coke oven side wall thermal repair robot system with high imaging accuracy, characterized in that: include: A crawler walking mechanism (1) for supporting the upper structure and being able to walk on the bottom of the carbonization chamber; A lifting platform (2) is provided on the top of the crawler walking mechanism (1), which adjusts the robot (3) provided on the top to a specified horizontal height; an imaging device (4) provided on the mechanical arm of the robot (3); A marking device (5) is provided outside the coke oven, which receives information on the area of ​​the damaged part and marks the standard bricks to cut out repair bricks; The brick replacement mechanism (6) is provided at the end of the robot (3), comprising a hexagonal seat (601), and a brick milling assembly (602), a brick seam milling assembly, a dust cleaning assembly, a material spraying assembly (603), and a brick clamping assembly (604) respectively provided on the sides of the hexagonal seat (601); the brick clamping assembly (604) comprises a clamping head (6041) and a material supplying nozzle (6042); and a control unit, which controls the crawler walking mechanism (1) to enter the site, processes the scanning data of the coke oven side wall collected by the imaging device (4), plans the repair walking path and formulates the corresponding repair operation steps; controls the crawler walking mechanism (1) to exit the site and load materials, and the robot (3) drives the brick replacement mechanism (6) to align with the damaged part, and sequentially performs brick milling, brick seam milling, clamping the damaged brick, blowing out the residue, and spraying slurry on the damaged part; the brick clamping component (604) removes the repair bricks on the lifting platform (2) and accurately places them on the damaged part, and uses the filling nozzle (6042) to spray slurry to fill the brick seams on both sides to complete the repair work.

2. The high imaging accuracy coke oven side wall thermal repair robot system according to claim 1 is characterized in that: The robot (3) further comprises a plurality of heat-insulating layers arranged in the shell structure, and a water-cooling unit arranged in the inner shell.

3. The high imaging accuracy coke oven side wall thermal repair robot system according to claim 1, characterized in that: The joint parts of the robot (3) are provided with joint protective covers, which are universal structures and made of high-temperature wear-resistant materials.

4. A coke oven side wall thermal repair robot system with high imaging accuracy according to any one of claims 1 to 3, characterized in that: The filling nozzle (6042) is arranged in parallel with the clamp (6041), and moves synchronously with the clamp (6041) to spray and fill the gaps between the two sides of the repair brick and the inner wall surface of the damaged part.

5. A coke oven side wall thermal repair robot system with high imaging accuracy according to any one of claims 1 to 3, characterized in that: The marking device (5) is arranged outside the coke oven, and comprises a bearing platform (501), an X-direction linear slide (502), a Y-direction linear slide (503) and a marking pen (504); the Y-direction linear slide (503) is provided with two groups, which are arranged parallel to the Y direction on the top of the bearing platform (501); the X-direction linear slide (502) is arranged on the two groups of Y-direction linear slides (503) along the X direction, and is driven by the Y-direction linear slide (503) to move linearly along the Y direction; the marking pen (504) is arranged on the X-direction linear slide (502), and is driven by the X-direction linear slide (502) to move linearly along the X direction.

6. According to the high imaging precision coke oven side wall thermal repair robot system of claim 5, a water jet is provided on the X-axis linear slide (502), and the water jet sprays a high-pressure abrasive water jet to directly cut standard bricks.

7. A coke oven side wall thermal repair robot system with high imaging accuracy according to any one of claims 1 to 3, characterized in that: The lifting platform (2) comprises a bottom plate (201), a top plate (202) and a scissor-type lifting mechanism (203); wherein the bottom plate (201) and the top plate (202) are connected via the scissor-type lifting mechanism (203); the bottom of the bottom plate (201) is fixedly connected to the chassis (101) of the crawler walking mechanism (1) via a bracket; the top plate (202) is fixedly arranged on the top of the scissor-type lifting mechanism (203) and provides fixed support for the robot (3); the scissor-type lifting mechanism (203) is communicatively connected to a control unit, and a height sensor is provided on the scissor-type lifting mechanism, which detects a height value in real time through the height sensor, and the control unit controls the scissor-type lifting mechanism (203) to lift the robot (3) to a specified height.

8. The high imaging accuracy coke oven side wall thermal repair robot system according to claim 7, characterized in that: The lifting platform (2) is provided with a slurry storage box and a high-pressure gas tank, both of which are connected to the brick replacement mechanism (5) through pipelines; the top of the top plate (202) is provided with a material placement portion, which is used to place repair bricks. The repair bricks are arranged in sequence on the material placement portion, and the imaging device (6) scans and locates them, and the robot (3) drives the brick clamping assembly (604) to clamp the corresponding repair bricks.

9. A coke oven side wall thermal repair robot system with high imaging accuracy according to any one of claims 1 to 3, characterized in that: The brick milling assembly (602) includes a brick milling tool, which rotates and moves under the drive of the robot (3) to accurately mill the damaged bricks; the brick seam milling assembly includes a brick seam milling cutter, which rotates and moves under the drive of the robot (3) to accurately mill and clean the brick seams; the brick clamping assembly (604) clamps and transports the milled and damaged bricks; the dust cleaning assembly includes a high-pressure nozzle, which blows out high-pressure gas to blow away the milling residues at the damaged part; and the spraying assembly (603) sprays slurry on the bottom and sides of the damaged part.

10. A construction method of a coke oven side wall thermal repair robot system with high imaging accuracy according to any one of claims 1 to 9, characterized in that: The steps include: S100: Entry inspection: the imaging device (4) performs high-precision imaging inspection on the inner wall of the coke oven and uploads the inspection data to the working unit; S200: The control unit plans the repair walking path and formulates the corresponding repair operation steps according to the coke oven imaging data, and simultaneously sends the damaged part information to the marking device (5), and controls the marking device (5) to mark the standard bricks in turn and cut out the corresponding repair bricks; S300: Exit the site to load materials, replenish slurry and high-pressure gas, and arrange the corresponding repair bricks in order on the top of the lifting platform (2); S400: re-enter the site and walk to the designated point according to the planned repair walking path. The robot (3) drives the brick replacement mechanism (6) to align with the damaged part. The brick replacement mechanism (6) sequentially mills the bricks and brick seams at the damaged part, clamps the damaged bricks, blows out the residue, completes the cleaning operation, and sprays slurry on the inner wall surface of the damaged part. S500: The chuck (6041) clamps the corresponding repair brick and places it into the damaged part. The filling nozzle (6042) sprays slurry to fill the gap between the two sides of the repair brick and the inner wall of the damaged part. After the completion, the chuck (6041) is withdrawn. The filling nozzle (6042) moves horizontally to spray slurry to fill the hole where the chuck (6041) is withdrawn; S600: Repeat the above-mentioned repairing actions in sequence to repair the damaged part, and exit after completion.

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