CN115538796A - Intelligent brick distribution system for brick laying of coke oven - Google Patents

Abstract

The application discloses intelligent brick distribution system for brick laying of a coke oven. The system mainly comprises a brick warehousing-out robot and a brick distribution robot, wherein two sides of the brick distribution robot are respectively a single-model brick placing area and a brick distribution area, and the two areas are provided with marks. Firstly, a brick warehouse-out robot is used for carding the single type of bricks according to the material, specification and type in a refractory material warehouse, stacking the bricks onto a special brick plate, finally transporting the bricks to a single type brick placing area, and performing number matching placement according to a planned mark. And then the brick distribution robot distributes bricks according to the daily schedule of coke oven masonry construction, manual post setting, brick positioning, positioning and plate distribution, fixed-point construction and the reverse sequence of brick construction and construction. Through the brick warehouse entry and exit robot and the brick distribution robot, the intelligent brick warehouse entry and exit management is carried out, and the bricks are accurately distributed according to design requirements, so that the accuracy and the working efficiency of the brick warehouse entry and the brick distribution are improved.

Description

Intelligent brick distribution system for coke oven brick laying

Technical Field

The application relates to the technical field of coking construction, in particular to an intelligent brick distribution system for brick laying of a coke oven.

Background

With the development of large-volume coke oven technology, the design of the coke oven is continuously promoted, and related bricklaying is sent to a construction site from a brickyard for warehousing management. The size deviation of bricking is provided with certain reasonable scope, and the length error of fragment of brick is negative tolerance or positive tolerance, and the brickwork joint between the fragment of brick probably surpasss qualified scope, need unpack the inspection size error, then classify and put things in good order. Because the brick volume is great, need high to put things in good order, the brick warehouse entry picks up the brick volume great. The conventional method needs a plurality of people to be transferred in a connecting mode, the people need to transfer from a low position to a high position for stacking when entering the warehouse, the people need to transfer from the high position to the low position for stacking when leaving the warehouse, and then the plate distribution personnel carry out plate distribution construction according to the daily building plan of the coke oven masonry, the mode of people setting a post, brick positioning, plate positioning and plate distribution and fixed-point building so as to meet the building requirements on the next day. The refractory material of a single coke oven is about 3 thousands of tons, the number of the brickwork types is as many as thousands of types, the labor and the time are consumed, the efficiency is low, and in the face of complicated materials, specifications and quantity, mistakes are easy to occur in the process of manually distributing bricks.

Disclosure of Invention

In view of this, the application provides coke oven brick laying intelligence and joins in marriage brick system can improve the precision and the work efficiency that the fragment of brick warehouse entry and join in marriage the brick.

The application provides a coke oven intelligent brick distribution system that lays bricks includes:

a brick warehouse-in and warehouse-out robot for transporting bricks to a single-type brick placing area;

and, a join in marriage brick robot, inhale utensil and ground rail including intelligent recognition mechanism, second joint robot, vacuum, the vacuum is inhaled the utensil and is installed second joint robot tip, intelligent recognition mechanism is used for discerning so that the second joint robot places regional building pile to joining in marriage the brick region with the single type brick, the ground rail is used for bearing the required motion of second joint robot when the operation of piling building.

Optionally, the single-model brick placing area and the brick matching area are respectively provided with an identification structure.

Optionally, the brick warehouse entry and exit robot includes automobile body, walking wheel, stand robot and rotatory elevating platform, the stand robot is used for snatching of laying bricks, rotatory elevating platform is used for carrying out the altitude mixture control along with the brick snatchs the in-process.

Optionally, the road wheels are mecanum wheels.

Optionally, the stand column robot comprises a first rotating platform, a first stand column, a first vertical rail, a lifting platform and a first joint robot, the first rotating platform is connected with a vehicle body through a shaft, the first stand column is fixedly connected with the first rotating platform, the first vertical rail is arranged on one side of the first stand column, and the first joint robot moves up and down through the lifting platform by taking the first vertical rail as a running path.

Optionally, rotatory elevating platform includes revolving stage two, stand two, vertical rail two, track seat, fork and counter weight, and revolving stage two links to each other with the automobile body axle, and stand two and revolving stage two fixed connection, one side of stand two are equipped with vertical rail two, and the fork uses vertical rail two to reciprocate as the traffic route through the track seat, and the opposite side of stand two is equipped with the counter weight, be equipped with the lifting rack on the stand two, be equipped with lift driving motor on the track seat, lift driving motor's output is equipped with gear and lifting rack meshing.

Optionally, the lifting driving motor is synchronously controlled by a controller of the first joint robot to perform lifting adjustment, and the rotation control of the second rotating platform is synchronously controlled by the controller of the first joint robot to perform rotation adjustment.

Optionally, the gripping assembly of the first articulated robot is a vacuum chuck.

Optionally, the ground rail includes a track frame, a translation rack, a movable bottom plate, a translation driving motor, and a gear, the translation rack is fixedly installed on the inner side or the outer side of the track frame, the movable bottom plate is movably installed on the upper surface of the track frame, the translation driving motor is fixedly installed on the upper surface of the movable bottom plate, the gear is arranged at the output end of the translation driving motor, the gear is engaged with the translation rack, and the translation driving motor is synchronously controlled by the joint robot controller to perform horizontal translation.

According to the intelligent brick distribution system for the coke oven brick laying, the intelligent brick storage and delivery management and the accurate brick distribution according to the design requirements are performed through the brick storage and delivery robot and the brick distribution robot, so that the accuracy and the working efficiency of the brick storage and delivery and the brick distribution are improved.

Drawings

The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.

Fig. 1 is an overall structural diagram of an intelligent brick-matching system for coke oven brick laying according to the embodiment of the present application;

fig. 2 is a block warehousing robot provided in an embodiment of the present application);

fig. 3 is a schematic view illustrating a second rotation state of the rotary table and a lifting state of the fork according to the embodiment of the present application;

fig. 4 is a structural diagram of a brick-matching robot provided in an embodiment of the present application;

FIG. 5 is a side view of a brick matching robot provided in an embodiment of the present application;

fig. 6 is a schematic brick matching view of a brick matching area provided in an embodiment of the present application.

Wherein the elements in the figures are identified as follows:

110-brick warehouse-in and warehouse-out robot; 111-a vehicle body; 112-a road wheel; 113-column robot; 1131, rotating table one; 1132-column one; 1133, vertical rail one; 1134, lifting platform; 1135 — first joint robot; 1136, rotating table driving motor; 114-a rotary elevating platform; 1141-rotating table two; 1142-upright column two; 1143-vertical rail two; 1144-a rail seat; 1145-a pallet fork; 1146-counterweight; 1147-a lifting rack; 1148-a lifting drive motor; 120-brick matching robot; 122-a second articulated robot; 115,123-vacuum suction; 124-ground rail; 1241-a track frame; 1242-translating the rack; 1243-moving the base plate; 1244-translation drive motor; 1245-gear; 1246-air compressing device; 200-bricklaying; 210-a brick board; 300-a single-type brick placement area; 400-a brick matching area; 500-identify structures.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Further, the present application may repeat reference numerals and/or reference letters in the various examples for simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or arrangements discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The application provides an intelligent brick distribution system for brick laying of a coke oven, which mainly comprises a No. 1 robot (a brick warehousing-in and warehousing-out robot 110) and a No. 2 robot (a brick distribution robot 120) as shown in figure 1.

1# robot mainly includes automobile body 111, mecanum wheel, upright post robot 113 and rotatory elevating platform 114, and wherein, upright post robot 113 and rotatory elevating platform 114 set up respectively in the both sides of automobile body 111, and upright post robot 113 carries out snatching of fragment of brick, and rotatory elevating platform 114 snatchs the scope along with the fragment of brick and carries out the height to adjusting, and rotatory elevating platform 114 carries out 180 degrees rotations after filling with the fragment of brick, places the brick board 210 that will fully load to and joins in marriage brick region 400.

The Mecanum wheel is an omnibearing motion device and can realize the motion modes of advancing, transversely moving, obliquely moving, rotating, combining and the like. A circle of independent planet wheels with an inclination angle of 45 degrees are arranged in the circumferential direction of a central wheel of the Mecanum wheel, and the planet wheels divide the advancing speed of the central wheel into X and Y directions, so that the wheel can transversely slide to realize advancing and transverse movement. The resulting combination of these forces then, depending on the direction and speed of the respective wheels, produces a resultant force vector in any desired direction thereby ensuring that the platform is free to move in the direction of the resultant force vector without changing the direction of the wheels themselves.

The upright post robot 113 comprises a first rotating platform 1131, a first upright post 1132, a first vertical rail 1133, a lifting platform 1134 and a first joint robot 1135, wherein the first rotating platform 1131 is in shaft connection with the vehicle body 111 and is in transmission connection with the first rotating platform 1136, the first upright post 1132 is fixedly connected with the first rotating platform 1131, the first vertical rail 1133 is arranged on one side of the first upright post 1132, and the joint robot moves up and down by taking the first vertical rail 1133 as a running path through the lifting platform 1134. The first joint robot, also called joint mechanical arm or multi-joint robot, the six-axis joint robot used in this example, the robot body is mainly composed of a base part, a rotation base part, a large arm part, a small arm part, a wrist body part, a wrist and the like. The mechanical body joint is driven by a servo motor, and all joints are mutually matched to realize the position and posture adjustment of the tail end of the joint robot in the space. The all-directional motion equipment and the lifting platform 1134 are combined, the working range of horizontal movement and vertical movement of the joint robot is expanded, and the selection and stacking work of bricks is completed under the control of a joint robot controller and the accurate identification and positioning of a high-precision three-dimensional vision technology.

The gripping device of the first joint robot can adopt a clamp or a suction tool, the vacuum suction tools 115 and 123 of the embodiment are sponge vacuum suction cups, each hole is independently controlled by adopting a honeycomb type suction hole, vacuum can be automatically opened when a product is sucked, and the suction holes can be automatically closed once the product touches the holes or uneven places, so that the whole vacuum system can be maintained without leakage, and the effect of successful transportation can be achieved. An independent one-way valve is arranged in each hole of the sponge vacuum sucker, so that the phenomenon that when an object is sucked, the object is smaller than the sponge sucker or the sucked object is not completely covered in the sucker to leak vacuum is prevented, and the one-way valve can be automatically closed when the one-way valve is not in contact with the object, so that the working of the one-way valve is not influenced. A vacuum generator is arranged in the sponge vacuum sucker, and driven by pressure air, and the air compression equipment 1246 is synchronously controlled by the joint robot controller to adjust the stretching of the air cylinder.

The rotary lifting platform 114 comprises a second rotating platform 1141, a second upright post 1142, a second vertical rail 1143, a rail seat 1144, a pallet fork 1145 and a counterweight 1146, the second rotating platform 1141 is connected with the vehicle body 111 by a shaft, the second upright post 1142 is fixedly connected with the second rotating platform 1141, one side of the second upright post 1142 is provided with the second vertical rail 1143, the pallet fork 1145 moves up and down by taking the second vertical rail 1143 as a running path through the rail seat 1144, and the other side of the second upright post 1142 is provided with the counterweight 1146. Be equipped with lifting rack 1147 on the second column 1142, be equipped with lifting drive motor 1148 on the track seat 1144, lifting drive motor 1148's output is equipped with gear 1245 and lifting rack 1147 meshing, lifting drive motor 1148 receives joint robot controller synchro control to carry out lift adjustment, the rotation control of revolving stage two 1141 receives joint robot controller synchro control to carry out rotation adjustment, carry out 180 degrees rotations after rotatory elevating platform 114 fills up the fragment of brick, place full-load brick board 210 to the region 400 of joining in marriage the brick.

The # 2 robot mainly comprises an intelligent recognition mechanism (not shown in the figure), a second joint robot 122, vacuum suction devices 115 and 123 and a ground rail 124, wherein the vacuum suction devices 115 and 123 are installed at the end part of the second joint robot 122, and the second joint robot 122 runs by taking the ground rail 124 as a path.

The intelligent recognition mechanism is a high-precision three-dimensional vision technology, can accurately recognize, position and control the brickwork 200, and realizes the brickwork 200 matching operation.

The second joint robot 122, also called joint mechanical arm or multi-joint robot, is a six-axis joint robot used in this example, and the robot body mainly comprises a base part, a rotation base part, a large arm part, a small arm part, a wrist part, and a wrist. The mechanical body joints are driven by servo motors, and the joints are mutually matched to realize the position and posture adjustment of the tail end of the joint robot in the space. The working range of the horizontal movement of the joint robot is expanded by combining the ground rail 124, and the work of selecting and matching the bricks 200 is completed under the control of the joint robot controller and the accurate identification and positioning of the high-precision three-dimensional vision technology.

The gripping means of the second articulated robot 122 may employ grippers or suction cups, the vacuum suction cups 115,123 of this example being in line with those employed by the brick in and out warehouse robot 110.

The ground rail 124 comprises a track frame 1241, a translation rack 1242, a movable bottom plate 1243, a translation driving motor 1244 and a gear 1245, the translation rack 1242 is fixedly installed on the inner side or the outer side of the track frame 1241, the movable bottom plate 1243 is movably installed on the upper surface of the track frame 1241, the translation driving motor 1244 is fixedly installed on the upper surface of the movable bottom plate 1243, the gear 1245 is arranged at the output end of the translation driving motor 1244, the gear 1245 is meshed with the translation rack 1242, and the translation driving motor 1244 is synchronously controlled by the joint robot controller to move horizontally.

The two sides of the No. 2 robot are respectively a single-model brick placing area 300 and a brick matching area 400, and the two areas are both provided with identification structures 500. Firstly, a No. 1 robot is used for carding the brickwork 200 according to the material, specification and model in a refractory material warehouse, stacking the brickwork to a special brick plate 210, finally transporting the brickwork to a single-model brick placing area 300, and placing the brickwork in a number mode according to a planned identification structure 500. And then, stacking the later-built bricks 200 in pairs to the bottom of a 400 tray in a brick distribution area according to the reverse sequence of the No. 1 robot in the daily building plan, the manual setting, the brick positioning, the positioning and the plate matching, the fixed-point building and the building of the bricks 200, and stacking the first-built bricks 200 in pairs to the upper part of the 400 tray in the brick distribution area.

It should be noted that the present application clearly makes the following intelligent contributions to the related art:

1. the intelligent brick distribution system for the coke oven brick laying 200 mainly comprises a No. 1 robot (brick warehousing and delivery robot 110) and a No. 2 robot (brick distribution robot 120), wherein two sides of the No. 2 robot are respectively a single-model brick placement area 300 and a brick distribution area 400, and the two areas are provided with identification structures 500. Firstly, a No. 1 robot is used for carding the brickwork 200 according to the material, specification and model in a refractory material warehouse, stacking the brickwork to a special brick plate 210, finally transporting the brickwork to a single-model brick placing area 300, and placing the brickwork in a number mode according to a planned identification structure 500. Then the No. 1 robot carries out the brick distribution according to the reverse sequence of the daily plan of coke oven masonry construction, manual post setting, brick positioning, positioning and plate distribution, fixed-point construction and brick 200 construction. Through brick warehouse entry and exit robot 110 and join in marriage brick robot 120, carry out the brick intelligence warehouse entry and exit and manage and join in marriage the brick according to the design requirement precision to improve the brick warehouse entry and join in marriage precision and the work efficiency of brick.

2. 1# robot mainly includes automobile body 111, walking wheel 112, upright post robot 113 and rotatory elevating platform 114, and wherein, upright post robot 113 and rotatory elevating platform 114 set up respectively in the both sides of automobile body 111, and upright post robot 113 carries out snatching of fragment of brick, and rotatory elevating platform 114 snatchs the scope along with the fragment of brick and carries out the height to adjusting, and rotatory elevating platform 114 carries out 180 degrees rotations after filling with the fragment of brick, places full-load brick board 210 to and joins in marriage brick region 400.

3. The 2# robot mainly comprises an intelligent recognition mechanism, a second joint robot 122, vacuum suction tools 115 and 123 and a ground rail 124, wherein the vacuum suction tools 115 and 123 are installed at the end parts of the joint robot, and the second joint robot 122 runs by taking the ground rail 124 as a path. The intelligent recognition mechanism is a high-precision three-dimensional vision technology, can accurately recognize and position the brickwork 200, and realizes the brickwork 200 matching operation.

4. The vacuum suction devices 115 and 123 adopt a sponge vacuum sucker, each hole is independently controlled by adopting a honeycomb type suction hole, when the refractory bricks are sucked, the vacuum can be automatically opened, and once the refractory bricks touch the holes or the grooves, the suction holes can be automatically closed, so that the whole vacuum system can be maintained without leakage, the effect of successfully sucking irregular bricks is achieved, and the honeycomb vacuum sucker is suitable for sucking bricks of different types.

The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application.

Claims (9)

1. The intelligent brick distribution system for coke oven brick laying is characterized by comprising:

a brick warehouse-in and warehouse-out robot for transporting bricks to a single-type brick placing area;

and, a join in marriage brick robot, inhale utensil and ground rail including intelligent recognition mechanism, second joint robot, vacuum, the vacuum is inhaled the utensil and is installed second joint robot tip, intelligent recognition mechanism is used for discerning so that the second joint robot places regional building pile to joining in marriage the brick region with the single type brick, the ground rail is used for bearing the required motion of second joint robot when the operation of piling building.

2. The intelligent coke oven brick laying and distributing system according to claim 1, wherein the single-type brick placing area and the brick distributing area are respectively provided with an identification structure.

3. The intelligent brick distribution system for the bricklaying of the coke oven according to claim 1, wherein the brick warehousing and ex-warehousing robot comprises a vehicle body, traveling wheels, a column robot and a rotary lifting platform, the column robot is used for grabbing the bricklaying, and the rotary lifting platform is used for carrying out height adjustment along with the grabbing process of the bricks.

4. The coke oven brick laying intelligent brick matching system of claim 3, wherein the road wheels are Mecanum wheels.

5. The intelligent coke oven brick laying and distributing system according to claim 3, wherein the column robot comprises a first rotating table, a first column, a first vertical rail, a lifting platform and a first joint robot, the first rotating table is connected with the first vehicle body through a shaft, the first column is fixedly connected with the first rotating table, the first vertical rail is arranged on one side of the first column, and the first joint robot moves up and down through the lifting platform by taking the first vertical rail as a running path.

6. The intelligent coke oven brick laying and brick distribution system according to claim 3, wherein the rotary lifting platform comprises a second rotary table, a second vertical column, a second vertical rail, a rail seat, a pallet fork and a counterweight, the second rotary table is connected with a vehicle body shaft, the second vertical column is fixedly connected with the second rotary table, the second vertical rail is arranged on one side of the second vertical column, the pallet fork moves up and down through the rail seat by taking the second vertical rail as a running path, the counterweight is arranged on the other side of the second vertical column, a lifting rack is arranged on the second vertical column, a lifting driving motor is arranged on the rail seat, and a gear is arranged at the output end of the lifting driving motor and meshed with the lifting rack.

7. The intelligent coke oven brick laying and distributing system according to claim 6, wherein the lifting drive motor is synchronously controlled by the controller of the first joint robot to perform lifting adjustment, and the rotation control of the second rotating table is synchronously controlled by the controller of the first joint robot to perform rotation adjustment.

8. The intelligent coke oven brick laying and distributing system according to claim 5, wherein the grabbing component of the first articulated robot is a vacuum suction tool.

9. The intelligent coke oven brick laying and brick matching system according to claim 1, wherein the ground rail comprises a track frame, a translation rack, a moving bottom plate, a translation driving motor and a gear, the translation rack is fixedly installed on the inner side or the outer side of the track frame, the moving bottom plate is movably installed on the upper surface of the track frame, the translation driving motor is fixedly installed on the upper surface of the moving bottom plate, the gear is arranged at the output end of the translation driving motor, the gear is meshed with the translation rack, and the translation driving motor is synchronously controlled by a joint robot controller to carry out horizontal translation.

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