Hot repair robot system for coke oven coking chamber narrow space bottom bricks and construction method

Abstract

A hot repair robot system for coke oven coking chamber narrow space bottom bricks and a construction method. The system comprises a tracked traveling mechanism, a material conveying platform, a base, a robot, a brick replacing mechanism and an imaging mechanism; the tracked traveling mechanism is used for traveling at the bottom of a coking chamber; the material conveying platform conveys bricks to a material taking position; the base supports and stabilizes the robot; the robot is provided with a cooling unit for ensuing that the robot works under a high-temperature environment; the brick replacing mechanism comprises a T-shaped support, the top end of the T-shaped support is connected to the tail end of the robot, a mortar applying mechanism is arranged at the front end, and a cleaning mechanism is arranged at the rear end; the cleaning mechanism comprises a brick milling assembly, a brick joint milling assembly, a brick clamping assembly and an ash cleaning assembly; and during repairing, the imaging mechanism scans coke oven coking chamber bottom bricks in detail, the robot operates the brick replacing mechanism to a damaged position for cleaning, mortar applying and brick installing, to complete repairing. The system can accurately implement a hot repair task for coking chamber bottom bricks.

Description

Robotic system and construction method for hot repair of bottom bricks in narrow space of coke oven carbonization chamber Technical Field

[0001] The present invention belongs to the technical field of coke oven carbonization chamber repair devices, and more specifically, relates to a robot system and a construction method for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber. 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 CN102925167B discloses a device for laying bricks at the bottom of a coke oven hot repair carbonization chamber. The device comprises a long frame with a handlebar mounted on one end and a telescopic rod mounted on the other end. Wheels are mounted on both sides of the telescopic rod to form a trolley structure. Flattening rollers, ash troughs, and bottom brick clamps are mounted on the telescopic rods in sequence along the direction of the wheels. The bottom brick clamps are two-claw clamping structures and are connected to a bottom brick clamp control handle via a control line. The bottom brick clamp control handle is mounted on the handlebars. The ash trough is provided with a discharge mechanism and is connected to an ash trough discharge control handle via a control line. The ash trough discharge control handle is also mounted on the handlebars. However, in this patent, the construction workers are located outside the carbonization chamber and cannot accurately assess the damaged surface inside the chamber. Moreover, the device cannot achieve the purpose of excavating and patching the bottom bricks of the carbonization chamber.

[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, currently available coke oven thermal repair and carbonization chamber bottom brick masonry systems are primarily designed for replacing entire bottom bricks and are incapable of excavating and patching deep-seated carbonization chamber bottom bricks. Existing coke oven body masonry systems are primarily suitable for new coke oven construction. Furthermore, in high-temperature operating environments, heat accumulation poses a challenge to the proper operation of robots, potentially leading to performance degradation, failure, or even failure.

[0006] Therefore, there is an urgent need to develop a robot system that can perform hot repair of bricks at the bottom of the narrow space of the coke oven carbonization chamber, and to develop corresponding construction methods to achieve unmanned operation and ensure the inspection and repair of the brick working surface at the bottom of the carbonization chamber under high-temperature working environment.

[0007] Summary of the Invention

[0008] Since the existing coke oven masonry device cannot detect and repair the bottom bricks of the carbonization chamber in a narrow and high-temperature environment, the present invention provides a coke oven carbonization chamber bottom brick hot repair robot system and construction method to solve this problem.

[0009] To achieve the above-mentioned purpose, the present invention provides a robot system for hot repairing bricks at the bottom of a narrow space in a coke oven carbonization chamber, comprising: a crawler walking mechanism for supporting an upper structure and being able to walk on the bottom of the carbonization chamber; a feeding platform provided on the top of the crawler walking mechanism, which transports bricks to a material taking location; a base provided on the top of the feeding platform, which provides fixed support for the robot; a brick replacement device provided at the end of the robot, comprising a T-shaped support, a mortar laying mechanism and a cleaning structure respectively connected to the front and rear ends of the bottom of the T-shaped support; the cleaning structure comprises a hexagonal seat rotatably connected to the rear end of the bottom of the T-shaped support, and a brick milling assembly, a brick seam milling assembly, a brick clamping assembly and a dust cleaning assembly respectively provided on the sides of the hexagonal seat. The mortar laying mechanism includes a displacement component and a slurry squeezing component; an imaging mechanism provided on the side of the feeding platform; and a control unit, which controls the crawler walking mechanism to enter, processes the scanning data of the bricks at the bottom of the coke oven carbonization chamber collected by the imaging mechanism, plans the repair walking path and brakes the corresponding repair operation steps, and controls the robot to drive the brick replacement device to align with the damaged part, so that the cleaning mechanism can perform 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 controls the slurry squeezing component to accurately lay the mortar on the bottom and side of the damaged part under the drive of the displacement component, and the brick clamping component removes the bricks on the feeding platform and accurately places them into the damaged part 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 mortar laying mechanism also includes a supporting platform, the center of which is vertically fixedly connected to the front end of the bottom of the T-shaped support, and a displacement component is provided at the front end; the displacement component includes an X-axis linear slide and a Y-axis linear slide; the Y-axis linear slide is provided with two groups, which are arranged parallel to the front end of the supporting platform along the Y direction; the X-axis linear slide is arranged on 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 slurry squeezing component is arranged on the X-axis linear slide, and is driven by the X-axis linear slide to move linearly along the X direction; the slurry squeezing component is connected to the storage box provided on the robot through a conveying pipe to lay the mortar on the bottom and side of the damaged area.

[0013] Furthermore, the hexagonal seat is a hexagonal disc structure, the center of which is rotatably connected to the rear end of the T-shaped support through a rotating shaft disc. The rotating shaft disc is communicatively connected to the control unit, and the rotating shaft disc drives the hexagonal seat to rotate precisely to a specified angle under the control of the control unit.

[0014] Furthermore, the brick milling assembly includes a brick milling tool, which rotates and moves under the drive of the robot 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 to accurately mill and clean the brick seams; the brick clamping assembly includes a chuck, which moves under the drive of the robot to clamp and transport the broken bricks; the dust cleaning assembly includes a high-pressure nozzle, which is connected to the high-pressure gas tank pipeline provided on the robot, and blows out high-pressure gas under the control of the control unit to blow away the milling residues at the damaged parts.

[0015] Furthermore, the crawler walking mechanism includes a chassis, crawlers, and a walking transmission assembly.

[0016] Furthermore, the feeding platform is arranged on the top of the crawler walking mechanism, which includes a bracket, a frame, a roller, a belt body and a driving assembly; the bracket is provided with multiple groups, and the bottoms of the multiple groups of brackets are symmetrically fixed on both sides of the base frame, and the tops thereof provide fixed support for the frame body; a plurality of rollers are provided on the frame body in parallel and at intervals; the driving assembly is used to drive the rollers to rotate; a belt body is provided on the outer periphery of the plurality of rollers, and the belt body is driven to reciprocate to perform feeding operations through the rotation of the rollers.

[0017] Furthermore, the base includes a top plate, columns, cylinders and pads; the columns are provided in multiple groups, which are symmetrically fixed on both sides of the top of the frame; the bottom of the top plate is fixedly connected to the tops of multiple columns, which are used to carry and install the robot; the cylinders are provided in four groups, which are symmetrically fixed in pairs on the top of the top plate, and the ends of the piston rods are fixedly connected to the pads.

[0018] According to another aspect of the present invention, a construction method of a robot system for hot-repairing bottom bricks in a narrow space of a coke oven carbonization chamber is provided, comprising the following steps:

[0019] S100: Loading, placing bricks on the material platform, adding refractory mortar and high-pressure gas;

[0020] S200: Entry inspection: The crawler walking mechanism transports the hot repair robot system into the coke oven's carbonization chamber. The imaging mechanism begins to scan the bottom bricks of the coke oven's carbonization chamber from multiple angles, obtaining accurate hot repair information and transmitting it to the outside of the oven in real time.

[0021] S300: Planning a repair path and formulating corresponding repair operation steps based on the coke oven imaging data;

[0022] S400: The crawler walking mechanism moves to the designated point according to the planned repair walking path, and the robot drives the brick replacement device to align with the damaged area;

[0023] S500: The cleaning mechanism sequentially mills the bricks at the damaged parts, mills the brick seams, clamps the damaged bricks, and blows out the residue to complete the cleaning operation;

[0024] S600: The slurry squeezing component applies mortar to the bottom and sides of the damaged area;

[0025] S700: The brick clamping component removes bricks from the feeding platform and places them precisely into the damaged area to complete the repair work.

[0026] S800: The crawler walking mechanism moves to the next damaged area according to the planned repair walking path, and the robot performs the corresponding repair work until all repair work in the carbonization chamber is completed and then exits.

[0027] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0028] 1. The thermal repair robot system of the present invention achieves precise inspection and repair of bottom bricks within the confined space of a coke oven carbonization chamber by combining a high-precision imaging mechanism with an intelligent control unit. The imaging mechanism includes a laser scanner, a thermal imaging camera, a high-temperature camera, and image acquisition equipment, which can provide high-definition and high-resolution imaging of the bottom bricks of the coke oven carbonization chamber, enabling accurate identification and location of brick defects. The control unit analyzes and intelligently determines the imaging data to locate, classify, and prioritize coke oven defects.

[0029] 2. The thermal repair robot system of the present invention, through the joint robot with flexible movement ability and precise position adjustment, can make the brick milling assembly, brick seam milling assembly, brick clamping assembly, dust cleaning assembly and mortar laying mechanism and other mechanisms work together, and can accurately repair the damaged bricks at the bottom 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 are set in the shell structure of the robot 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.

[0030] 3. The thermal repair robot system of the present invention uses high-precision imaging detection of the imaging mechanism, and adopts a brick milling mechanism, a brick seam milling mechanism, a brick clamping mechanism, a dust cleaning mechanism and a mortar laying mechanism to clean, apply mortar and install bricks at damaged areas, thereby improving the accuracy and efficiency of the detection and repair of bricks at the bottom of the coke oven carbonization chamber. Compared with traditional manual operation and repair tools, it has higher precision and work efficiency.

[0031] 4. The thermal repair robot system of the present invention effectively realizes the precise detection and repair of the bottom bricks 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 scenario of a robot system for hot-repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to an embodiment of the present invention;

[0033] FIG2 is a schematic diagram of a robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to the present invention;

[0034] FIG3 is a side view of a robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber;

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

[0036] FIG5 is an enlarged schematic diagram of point B in FIG3 ;

[0037] FIG6 is a flowchart showing the steps of a construction method of a robot system for hot-repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to an embodiment of the present invention.

[0038] Throughout the drawings, identical reference numerals denote identical technical features, specifically: 1 - crawler travel mechanism, comprising: 101 - chassis, 102 - crawler track, 103 - travel transmission assembly; 2 - feeding platform, comprising: 201 - bracket, 202 - frame, 203 - roller, 204 - conveyor belt; 3 - base, comprising: 301 - top plate, 302 - column, 303 - cylinder, 304 - spacer; 4 - robot, comprising: 401 - robot end; 5- Brick replacement device, including: 501- T-shaped support, 502- hexagonal seat, 503- rotating shaft, 504- brick milling assembly, 505- brick clamping assembly, 5051- chuck, 506- dust cleaning assembly, 5061- high-pressure gas tank, 507- mortar laying mechanism, 5071- supporting platform, 5072- Y-axis linear slide, 5073- X-axis linear slide, 5074- slurry squeezing assembly, 5075- material storage box, 5076- conveying pipe; 6- imaging mechanism; 7- bricks. DETAILED DESCRIPTION

[0039] 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.

[0040] As shown in Figures 1-5, the present invention provides a robot system for hot repairing bricks at the bottom of a narrow space in a coke oven carbonization chamber, comprising a crawler walking mechanism 1, a feeding platform 2, a base 3, a robot 4, a brick replacement mechanism 5 and an imaging mechanism 6. The crawler walking mechanism 1 is used to support the upper structure and can walk on the bottom of the carbonization chamber. The feeding platform 2 includes a roller 203 and a conveyor belt 204 arranged on the top of the crawler walking mechanism 1, and the two cooperate to transport bricks 7 to the material collection point. The base 3 includes a top plate 301, a cylinder 303 and a pad 304. The cylinder 303 pushes the pad 304 to contact the side wall of the carbonization chamber to support the top plate 301 firmly. The robot 4 is fixed on the top plate 301. The brick replacement device 5 includes a T-shaped support 501, the top of which is connected to the end of the robot 4. The front end is equipped with a mortar application mechanism 507, and the rear end is equipped with a cleaning mechanism. The cleaning mechanism includes a hexagonal seat 502 rotatably connected to the bottom rear end of the T-shaped support 501, and a brick milling assembly 504, a brick joint milling assembly, a brick clamping assembly 505, and a dust cleaning assembly 506 respectively arranged on the side of the hexagonal seat 502. The imaging mechanism 6 is located on the side of the feeding platform 2. When performing repair work, the crawler walking mechanism 1 transports the hot repair robot system to the carbonization chamber of the coke oven, and the imaging mechanism 6 performs a detailed scan of the bricks at the bottom of the coke oven carbonization chamber, obtains accurate hot repair information and transmits it to the outside of the oven in real time. After judging the damaged part, the robot 4 moves the brick replacement mechanism 5 to the damaged part, rotates the hexagonal seat 502, and cleans the damaged part in sequence through the milling brick assembly 504, the milling brick seam assembly, the brick clamping assembly 505 and the dust cleaning assembly 506. After completion, the T-shaped support 501 is rotated to make the mortar applying mechanism 507 align with the damaged part for mortar application. After completion, the brick clamping assembly 505 clamps the brick 7 on the feeding platform 2 and places it on the damaged part to complete the repair work. The hot repair robot system of the present invention can improve the accuracy and efficiency of coke oven detection and repair, thereby completing the hot repair task of the bricks at the bottom of the carbonization chamber.

[0041] As shown in Figures 2-3, 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 base frame 101, a crawler 102, and a travel transmission assembly 103. Among them, the base frame 101 is used to install a power assembly to drive the travel transmission assembly 103 to drive the crawler 102 to move. Furthermore, the base frame 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.

[0042] The feeding platform 2 is arranged on the top of the crawler walking mechanism 1, and includes a bracket 201, a frame 202, a roller 203, a belt 204 and a drive assembly. The bracket 201 is provided in multiple groups, and the bottoms of the multiple groups of brackets 201 are symmetrically fixed on both sides of the base frame 101, and the tops thereof provide fixed support for the frame 202. A plurality of rollers 203 are arranged on the frame 202 in parallel and at intervals. The drive assembly is used to drive the rollers 203 to rotate. The belt 204 is provided on the outer periphery of each roller 203, and the rotation of the roller 203 drives the belt 204 to reciprocate to perform the feeding operation. The conveying platform 2 is communicatively connected to the control unit of the hot repair robot system, and data is uploaded through the speed sensor, which can realize functions such as automatic start and stop, and speed adjustment. In order to ensure the normal operation of the feeding platform 2 in a high temperature environment, the external structure of the feeding platform 2 is made of high-temperature resistant materials, and reasonable heat insulation protection measures are taken to reduce heat conduction and radiation.

[0043] In the embodiment of the present invention, the base 3 includes a top plate 301, columns 302, cylinders 303 and pads 304. The columns 302 are provided in multiple groups, which are symmetrically fixed on both sides of the top of the frame 202 to avoid interference with the conveying of bricks 7 by the belt 204. The bottom of the top plate 301 is fixedly connected to the tops of multiple columns 302, which are used to carry and install the robot 4. The cylinders 303 are provided in four groups, which are symmetrically fixed in pairs on the top of the top plate 301. The ends of the piston rods are fixedly connected to the pads 304. Driven by the cylinders, the piston rods drive the pads 304 to contact the side walls of the carbonization chamber, thereby supporting the top plate 301 firmly and ensuring that the robot 4 can operate smoothly.

[0044] In an embodiment of the present invention, the robot 4 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 of the coke oven carbonization chamber.

[0045] To ensure that robot 4 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 4. This unit effectively cools the inner wall of robot 4, reducing temperature increases and providing excellent thermal protection.

[0046] Furthermore, the joints of robot 4 are equipped with universal joint shields, which 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 robot 4 in high-temperature environments.

[0047] 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 4 can efficiently and safely complete its tasks during the maintenance of bricks on the carbonization chamber floor. Through appropriate insulation design and material selection, robot 4 can operate stably in high-temperature environments, providing reliable support for maintenance work.

[0048] As shown in FIG3-5 , in an embodiment of the present invention, the brick replacement mechanism 5 includes a T-shaped support 501 , a mortar laying mechanism 507 , and a cleaning mechanism.

[0049] The T-shaped support 501 is an inverted T-shaped structure, the top of which is fixedly connected to the robot end 401 and is driven by the robot 4 to rotate and adjust its posture; the two ends of its bottom are respectively connected to the mortar laying mechanism 507 and the cleaning mechanism.

[0050] The cleaning mechanism includes a hexagonal seat 502 rotatably connected to the bottom rear end of the T-shaped support 501, and a brick milling assembly 504, a brick joint milling assembly, a brick clamping assembly 505, and a dust cleaning assembly 506, which are respectively arranged on the sides of the hexagonal seat 502. The hexagonal seat 502 is a hexagonal disc structure, and its center is rotatably connected to the rear end of the T-shaped support 501 via a rotating shaft disk 503. The rotating shaft disk 503 is in communication with the control unit. Under the control of the control unit, the rotating shaft disk 503 can drive the hexagonal seat 502 to accurately rotate to a specified angle. The brick milling assembly 504, the brick joint milling assembly, the brick clamping assembly 505, and the dust cleaning assembly 506 are respectively arranged on the sides of the hexagonal seat 502. The brick milling assembly 504 includes a brick milling tool. By rotating the brick milling tool and displacing it under the drive of the robot 4, broken bricks can be accurately milled. The brick joint milling assembly includes a brick joint milling tool, which can accurately mill and clean the brick joints by rotating the brick milling tool and moving under the drive of the robot 4. The brick clamping assembly 505 includes a chuck 5051, which moves under the drive of the robot 4 to clamp and transport the bricks that are broken by milling; further, the chuck 5051 can clamp intact bricks and place them in the damaged area to complete the repair work. The dust cleaning assembly 506 includes a high-pressure nozzle, which is connected to the high-pressure gas tank 5061 pipeline installed on the robot 4. Under the control of the control unit, it blows out high-pressure gas to blow away the milling residues at the damaged area to avoid affecting subsequent repair operations such as grouting.

[0051] The mortar application mechanism 507 is located at the bottom front end of the T-shaped support 501 and includes a support platform 5071, a displacement assembly, and a slurry squeezing assembly 5074. The center of the support platform 5071 is vertically fixedly connected to the bottom front end of the T-shaped support 501. The displacement assembly includes an X-axis linear slide 5073 and a Y-axis linear slide 5072. The Y-axis linear slide 5072 has two sets, which are arranged parallel to the front end of the support platform 5071 in the Y direction. The X-axis linear slide 5073 is installed on the two sets of Y-axis linear slides 5072 along the X direction and is driven by the Y-axis linear slides 5072 to move linearly in the Y direction. The slurry squeezing assembly 5074 is installed on the X-axis linear slide 5073 and is driven by the X-axis linear slide 5073 to move linearly in the X direction. The slurry squeezing assembly 5074 is connected to the storage box 5075 on the robot 4 via a delivery pipe 5076 to apply mortar to the bottom and sides of the damaged area. In an embodiment of the present invention, when applying grout, according to the information of the damaged part scanned by the imaging mechanism 6, after completing the cleaning operation, the robot 4 drives the mortar applying mechanism 507 to move to the damaged part to complete the preliminary grouting positioning adjustment; through the information of the damaged part, the control unit controls the Y-axis linear slide 5072 and the X-axis linear slide 5073 to drive the slurry squeezing component 5074 to perform precise slurrying work along the X and Y directions.

[0052] In an embodiment of the present invention, the imaging mechanism 6 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 surface and provide images of damaged bricks at the bottom of the carbonization chamber. Through imaging technology, defects, cracks, and other problems in the bricks at the bottom of the carbonization chamber can be accurately identified and analyzed. By utilizing advanced computer vision technology and image processing algorithms, broken bricks, cracks, and damaged areas can be quickly and accurately identified and located. The imaging mechanism 6 is installed on the frame 202 of the feeding platform 2, and can synchronously transmit the thermal repair information of the bottom bricks in the narrow space of the coke oven carbonization chamber to the outside of the furnace from multiple angles, and the operator can perform remote operation through system feedback. The imaging mechanism 6 is coated with heat-insulating 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 mechanism 6 to further reduce the temperature of the outer surface.

[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 intelligent control system 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 4 in a high-temperature operating environment. A continuous cooling system is employed to remove heat from the robot 4 through a circulating cooling medium, maintaining the robot 4 operating environment temperature below 70°C. Considering high-temperature resistance and heat conduction characteristics, the cooling medium can be a high-temperature liquid or gas. Furthermore, the outer surface of robot 4 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 4 to further reduce the outer surface temperature.

[0055] In the embodiment of the present invention, through the high-precision imaging detection of the imaging mechanism 6, the brick milling mechanism 503, the brick seam milling mechanism, the brick clamping mechanism 505, the dust cleaning mechanism 506 and the mortar laying mechanism 507 are used to clean the damaged parts, apply mortar and install bricks 7, thereby improving the accuracy and efficiency of the detection and repair of the bricks at the bottom of the carbonization chamber of the coke oven, and having higher precision and work efficiency compared with traditional manual operation and repair tools.

[0056] As shown in FIG6 , the present invention also provides a construction method of a robot system for hot-repairing bottom bricks in a narrow space of a coke oven carbonization chamber, comprising the following steps:

[0057] S100: Loading, placing bricks 7 on the material platform 2, and adding refractory mortar and high-pressure gas;

[0058] S200: Entry inspection: The crawler walking mechanism 1 transports the hot repair robot system into the carbonization chamber of the coke oven. The imaging mechanism 6 begins to scan the bottom bricks of the coke oven carbonization chamber in detail from multiple angles, obtaining accurate hot repair information and transmitting it to the outside of the oven in real time.

[0059] S300: Planning a repair path and formulating corresponding repair operation steps based on the coke oven imaging data;

[0060] S400: The crawler walking mechanism 1 moves to the designated point according to the planned repair walking path, and the robot 4 drives the brick replacement device 4 to align with the damaged part;

[0061] S500: The cleaning mechanism sequentially mills the bricks at the damaged parts, mills the brick seams, clamps the damaged bricks, and blows out the residue to complete the cleaning operation;

[0062] S600: The slurry squeezing assembly 5074 applies mortar to the bottom and sides of the damaged area;

[0063] S700: The brick clamping assembly 505 removes the brick 7 from the feeding platform 2 and places it precisely on the damaged area to complete the repair work;

[0064] S800: The crawler walking mechanism 1 moves to the next damaged area according to the planned repair walking path, and the robot 2 performs the corresponding repair work until all the repair work in the carbonization chamber is completed and then exits.

[0065] 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 robot system for hot repairing bricks at the bottom of a coke oven carbonization chamber in a narrow space, characterized by: include: A crawler walking mechanism (1) for supporting the upper structure and being able to walk on the bottom of the carbonization chamber; A conveying platform (2) is provided on top of the crawler walking mechanism (1) and conveys the bricks (7) to a material taking location; A base (3) is provided on top of the feeding platform (2) and provides fixed support for the robot (4); A brick replacement device (5) provided at the end of the robot (4) comprises a T-shaped support (501), a mortar laying mechanism (507) and a cleaning mechanism respectively connected to the front and rear ends of the bottom of the T-shaped support (501); the cleaning mechanism comprises a hexagonal seat (502) rotatably connected to the rear end of the bottom of the T-shaped support (501), and a brick milling assembly (504), a brick joint milling assembly, a brick clamping assembly (505) and a dust cleaning assembly (506) respectively provided on the sides of the hexagonal seat (502); the mortar laying mechanism (507) comprises a displacement assembly and a slurry squeezing assembly (5074); An imaging mechanism (6) is provided on the side of the feeding platform (2); and a control unit, which controls the crawler walking mechanism (1) to enter the site, processes the scanning data of the bricks at the bottom of the coke oven carbonization chamber collected by the imaging mechanism (6), plans the repair walking path and formulates corresponding repair operation steps, and controls the robot (4) to drive the brick replacement device (4) to align with the damaged part, so that the cleaning mechanism sequentially performs brick milling, brick seam milling, clamping the damaged bricks, and blowing out the residue on the damaged part to complete the cleaning operation, controls the slurry squeezing component (5074) to accurately apply the mortar to the bottom and side of the damaged part under the drive of the displacement component, and controls the brick clamping component (505) to remove the bricks (7) on the feeding platform (2) and accurately place them in the damaged part to complete the repair work.

2. A coke oven carbonization chamber narrow space bottom brick hot repair robot system according to claim 1, characterized in that: The robot (4) further comprises a plurality of heat-insulating layers arranged in the shell structure, and a water-cooling unit arranged in the inner shell.

3. A robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to claim 2, characterized in that: The joint parts of the robot (4) are provided with joint protective covers, which are universal structures and made of high-temperature wear-resistant materials.

4. A robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to any one of claims 1 to 3, characterized in that: The mortar laying mechanism (507) further comprises a bearing platform (5071), the center of which is vertically fixedly connected to the front end of the bottom of the T-shaped support (501), and a displacement assembly is provided at the front end thereof; the displacement assembly comprises an X-direction linear slide (5073) and a Y-direction linear slide (5072); the Y-direction linear slide (5072) is provided with two groups, which are arranged parallel to the front end of the bearing platform (5071) along the Y direction; the X-direction linear slide (5073) is provided along the X direction. On two sets of Y-direction linear slides (5072), the Y-direction linear slides (5072) drive the linear displacement along the Y direction; the slurry squeezing component (5074) is arranged on the X-direction linear slide (5073), and is driven by the X-direction linear slide (5073) to move linearly along the X direction; the slurry squeezing component (5074) is connected to the storage box (5075) arranged on the robot (4) through a conveying pipe (5076), and the slurry is applied to the bottom and sides of the damaged area.

5. A robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to any one of claims 1 to 3, characterized in that: The hexagonal seat (502) is a hexagonal disc structure, the center of which is rotatably connected to the rear end of the T-shaped support (501) via a rotating shaft disc (503). The rotating shaft disc (503) is communicatively connected to a control unit. Under the control of the control unit, the rotating shaft disc (503) drives the hexagonal seat (502) to rotate accurately to a specified angle.

6. A robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to any one of claims 1 to 3, characterized in that: The brick milling assembly (504) includes a brick milling tool, which rotates and moves under the drive of the robot (4) to accurately mill damaged bricks; the brick seam milling assembly includes a brick seam milling cutter, which rotates and moves under the drive of the robot (4) to accurately mill and clean brick seams; the brick clamping assembly (505) includes a chuck (5051), which moves under the drive of the robot (4) to clamp and transport the milled damaged bricks; the dust cleaning assembly (506) includes a high-pressure nozzle, which is connected to a high-pressure gas tank (5061) provided on the robot (4) through a pipeline, and blows out high-pressure gas under the control of the control unit to blow away the milling residues at the damaged parts.

7. A robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to any one of claims 1 to 3, characterized in that: The crawler walking mechanism (1) comprises a base frame (101), a crawler (102), and a walking transmission assembly (103).

8. A robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to claim 7, characterized in that: The feeding platform (2) is arranged on the top of the crawler walking mechanism (1), and comprises a bracket (201), a frame (202), a roller (203), a belt (204) and a driving assembly; the bracket (201) is provided with multiple groups, and the bottoms of the multiple groups of brackets (201) are symmetrically fixed on both sides of the base frame (101), and the tops thereof provide fixed support for the frame (202); a plurality of rollers (203) are arranged on the frame (202) in parallel and at intervals; the driving assembly is used to drive the rollers (203) to rotate; the belt (204) is sleeved on the outer periphery of the plurality of rollers (203), and the belt (204) is driven to reciprocate by the rotation of the rollers (203) to perform feeding operations.

9. A robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to claim 8, characterized in that: The base (3) includes a top plate (301), columns (302), cylinders (303) and pads (304); the columns (302) are provided in multiple groups and are symmetrically fixed on both sides of the top of the frame (202); the bottom of the top plate (301) is fixedly connected to the tops of the multiple columns (302) and is used to carry and install the fixed robot (4); the cylinders (303) are provided in four groups, which are symmetrically fixed in pairs on the top of the top plate (301), and the ends of the piston rods are fixedly connected to the pads (304).

10. A construction method of a robot system for hot repairing bottom bricks in a narrow space of a coke oven carbonization chamber according to any one of claims 1 to 9, characterized in that: The steps include: S100: Loading, placing bricks (7) on the material platform (2), and adding refractory mortar and high-pressure gas; S200: Entry inspection: the crawler walking mechanism (1) transports the hot repair robot system into the carbonization chamber of the coke oven, and the imaging mechanism (6) begins to scan the bottom bricks of the coke oven carbonization chamber in detail from multiple angles, obtaining accurate hot repair information and transmitting it to the outside of the oven in real time; S300: Planning a repair path and formulating corresponding repair operation steps based on the coke oven imaging data; S400: The crawler walking mechanism (1) walks to the designated point according to the planned repair walking path, and the robot (4) drives the brick replacement device (4) to align with the damaged part; S500: The cleaning mechanism sequentially mills the bricks at the damaged parts, mills the brick seams, clamps the damaged bricks, and blows out the residue to complete the cleaning operation; S600: The slurry squeezing assembly (5074) applies mortar to the bottom and sides of the damaged area; S700: The brick clamping assembly (505) removes the brick (7) on the feeding platform (2) and places it precisely on the damaged area to complete the repair work; S800: The crawler walking mechanism (1) moves to the next damaged part according to the planned repair walking path, and the robot (2) performs the corresponding repair work until all the repair work in the carbonization chamber is completed and then exits.

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