CN117285941A - Joint robot-based coke oven body masonry workstation and construction method - Google Patents

Abstract

The invention provides a joint robot-based coke oven body masonry workstation and a construction method, wherein the workstation comprises the following components: the V-shaped track is arranged above the V-shaped track, is connected with the V-shaped track through a plurality of rollers and is used for bearing a working platform, a joint robot which is arranged on the working platform and used for grabbing and conveying bricks is arranged on one side of the working platform, a brick body which is arranged on two sides of the brick body and is used for abutting the brick body to control the position of the brick body, a brick body control supporting part which is arranged on the working platform and is used for positioning and conveying, a refractory mortar laying part which is arranged on the working platform, and a brick body control supporting part which can abut against two bricks on the outer side in the laying process to prevent the left brick and the right brick on the outer side from being extruded and then moved, so that the brick position precision of the brick body built later is prevented from being influenced, the laying precision of a furnace body is further ensured, and the laying quality is ensured.

Description

Joint robot-based coke oven body masonry workstation and construction method

Technical Field

The invention relates to the technical field of coke ovens, in particular to a coke oven body masonry workstation based on a joint robot and a construction method.

Background

The coke oven is an important device for refining coke by using coal, and has complex masonry structure, various bricks and different weights of single bricks from several kilograms to tens of kilograms. The traditional masonry process is mainly finished by manpower, but the manual masonry has a plurality of defects, and the development of the manufacturing industry in recent years promotes the application of robots in the building field. Compared with the traditional manual masonry mode, the robot has larger bearing capacity, higher accuracy and higher efficiency. Industrial robots are thus beginning to be applied to the masonry of coke oven bodies.

The prior coke oven body masonry system with the bulletin number of CN115433595B comprises a joint robot, a masonry execution end, a refractory mortar conveyer, a ground rail and a vertical lifting platform. The joint robot and the refractory mortar conveyer are arranged on the vertical lifting platform through ground rails, and the masonry execution end is arranged at the end part of the joint robot. The masonry execution end comprises a sponge vacuum sucker, a vibrating device and a guiding rule. In the masonry process, the sponge vacuum chuck is used for adsorbing bricks, and the fireproof slurry conveyor is used for coating plastering slurry on the bricks. When the brick falls, the guiding rule is tightly attached to the vertical surface of the wall body, and meanwhile the vibration device applies vibration on the surface of the brick, so that the side surface of the brick is attached to the guiding rule, the inclination possibly occurring when the brick is drawn is eliminated, and the verticality of the masonry of the furnace body is ensured. In addition, the vibrating device also helps to discharge the gas in the slurry to increase the slurry fullness of the masonry, but this patent has the following problems:

1. when the furnace end of the carbonization chamber is built, the width of the furnace end wall is formed by three bricks, namely, a left brick and a right brick are built firstly, then a middle brick is filled, but when the middle brick is put in, refractory mortar carried on the bricks can squeeze the bricks on two sides, so that the bricks built later have a certain influence on the position accuracy of the bricks built earlier, and the influence cannot be avoided in the patent;

2. in the coke oven masonry, adopting the structure of convex tenon and concave mortise between adjacent layers of refractory bricks and/or adjacent refractory bricks of the same layer, the dislocation between bricks or brick layers can be reduced, and meanwhile, the risk of ventilation and blowby of brick joints is avoided, but when the bricks are placed on a conveying belt, the bricks cannot be kept stable, so that certain obstacle is brought to the identification and grabbing of a masonry robot, and the masonry of a furnace body is very easy to influence.

Disclosure of Invention

The invention aims to provide a coke oven body masonry workstation based on a joint robot and a construction method, wherein the joint robot, a masonry control supporting part, a precise and stable conveying part and a refractory mortar laying part are arranged to finish the masonry flow of a coke oven body such as brick grabbing, conveying, stacking and the like, so that the automation degree is high, the masonry efficiency is effectively improved, and the labor intensity of manual masonry is reduced, so that the problems are solved.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a coke oven body masonry workstation based on articulated robots, comprising: the V-arrangement track of parallel arrangement, set up V-arrangement track top, through a plurality of gyro wheels with V-arrangement track is connected and is used for the work platform that bears, installs on the work platform and be used for grabbing and send joint robot of building, be located the brickwork of work platform one side, set up and be used for the butt the brickwork is in both sides the brickwork control supporting part in order to control its position, set up on the work platform and be used for the steady conveying part of position adjustment transportation, set up the fire clay laying part on the work platform set up on the work platform and be used for the control cabinet of total accuse, wherein

The precise and stable conveying part can be attached to the top pad to build bricks so as to correct the space posture of the bricks and promote the bricks to travel smoothly.

Further, a sponge vacuum chuck is arranged at the tail end of the joint robot, and a clamp for clamping is arranged at the top of the sponge vacuum chuck;

the joint robot is also provided with a 3D camera for identifying punctuation, wherein

The sponge vacuum chuck is driven to rapidly compress air and generate strong negative pressure so as to adsorb the masonry bricks.

Further, the masonry control supporting part comprises bases arranged at two sides of the masonry and used for supporting the ground, upright posts respectively arranged on the two bases, linear sliding tables respectively arranged on the two upright posts and used for realizing linear reciprocating motion, limiting brackets respectively arranged on the two linear sliding tables and in an L shape, a plurality of supporting seats respectively arranged on the two limiting brackets and used for distance adjustment fastening, and supporting pieces respectively arranged on the plurality of supporting seats and abutted on the masonry and used for controlling positions;

and a plurality of the supporting pieces are T-shaped.

Further, the precise and stable conveying part comprises a frame body arranged on the working platform, a driving roller arranged on the frame body, a driving device arranged on one side of the driving roller and used for driving the driving roller, a plurality of driven rollers which are arranged on the frame body in a equidistant rotating mode and used for supporting and guiding, a plurality of belt bodies which are arranged on the driving roller and the driven rollers in a closing mode and used for conveying and advancing, and a plurality of brick-type limiting blocks which are arranged on the belt bodies in a double-row mode and used for correcting positions.

Further, the refractory mortar laying part comprises a laying table mounted on the working platform, a plurality of first connecting seats which are mounted on the laying table in an array and are used for providing a mounting standard, two discharging pipes which are mounted on the first connecting seats and are used for conveying materials, a hopper which is mounted on the two discharging pipes and is used for storing the refractory mortar, a screw rod which is arranged in the hopper in a rotating way, a second connecting seat which is mounted on the laying table and is positioned behind the hopper, and a motor which is mounted on the second connecting seats and is used for driving the screw rod;

the two discharging pipes are led into the hopper.

Further, the supporting seat comprises a base plate arranged on the bottom surface of the limiting support, a left half plate and a right half plate hinged on the base plate and used for clamping the supporting piece, and inner hexagon bolts spirally arranged on the left half plate and the right half plate and used for rotating back and forth to tighten.

Further, the refractory mortar laying part further comprises a plurality of clamping tables arranged on the side surfaces of the laying table, and ash shovels respectively arranged on the clamping tables and used for application.

Further, the masonry control support portion further comprises connecting rods which are connected to the two upright posts in a staggered mode and used for reinforcement.

Further, the masonry control supporting portion further comprises a blower which is arranged on the limiting support and used for producing wind, a wind storage tank which is arranged at the corner of the limiting support and used for communicating an air outlet of the blower with a wind conveying pipeline which is communicated with the wind storage tank, and a blowing channel which is communicated with the wind storage tank in an inclined downward posture and faces the masonry.

According to a second aspect of the invention, there is provided a construction method of a coke oven body masonry workstation based on articulated robots:

s1: installing and debugging equipment; installing the V-shaped track on a construction foundation such as a pre-built scaffold and arranging an installation working platform, a joint robot, a masonry control supporting part, a precise and stable conveying part and the like according to preset positions, then electrically connecting driving elements such as the joint robot, a sponge vacuum chuck, a clamp, a linear sliding table, a driving device and the like on a control cabinet, and debugging each operation unit to be capable of sequentially and coordinately running according to a correct sequence by assisting a control system and a program;

s2: stacking bricks; the method comprises the steps of stably placing convex tenons and concave mortise-shaped bricks on corresponding brick-shaped limiting blocks respectively, enabling the surfaces of the bricks to be parallel to a belt body, and then driving the belt body to operate through a driving device to convey the bricks to a designated position;

s3: sucking and transporting bricks and laying mud for masonry; firstly, a joint robot drives a sponge vacuum chuck to move to the positions above corresponding left and right bricks, the bricks are firmly adsorbed by the sponge vacuum chuck, then the bricks are conveyed to the position below a discharge pipe, a preset masonry is carried out after the laying of fire clay is completed, when middle bricks are built, the side surfaces and the front surfaces of the left and right bricks positioned at the outer sides are abutted through a plurality of supporting pieces of a masonry control supporting part, and the rear movement of the left and right bricks is prevented;

s4: surface coating; the movable clamp clamps the corresponding ash shovel, and connects the fire clay below the discharging pipe by the ash shovel, and then the fire clay is added and applied on the surface of the masonry just built;

s5: and (5) circularly repeating the steps S2-S4 until the masonry is built.

Compared with the prior art, the invention has the following beneficial effects:

1. the joint robot-based coke oven body masonry workstation can finish masonry flows of coke oven bodies such as brick grabbing, conveying, stacking and the like by arranging the joint robot, the masonry control supporting part, the precise and stable conveying part and the refractory mortar laying part, has high automation degree, effectively improves masonry efficiency and reduces labor intensity of manual masonry;

2. according to the joint robot-based coke oven body masonry workstation, the V-shaped track and the idler wheels are arranged, so that the workstation can be fixedly installed on other construction bases and can move, flexibility is improved, and deployment and use of the workstation are greatly facilitated;

3. according to the joint robot-based coke oven body masonry workstation, two bricks on the outer side can be abutted through the masonry control supporting part in the masonry process, and the height can be continuously increased along with the masonry, so that the left and right bricks on the outer side are prevented from being extruded and then moved, the influence of the bricks on the position precision of bricks which are built firstly by a later step is prevented, the masonry precision of the oven body is further ensured, and the masonry quality is ensured;

4. according to the joint robot-based coke oven body masonry workstation, the convex tenon and the concave mortise-shaped bricks can be respectively propped up by the precise and stable conveying part, so that the space posture of the bricks is corrected, the bricks are prevented from being inclined, the bricks are ensured to be placed on the precise and stable conveying part smoothly, the joint robot is ensured to be capable of successfully grabbing the bricks, the blocking caused by grabbing the bricks by the joint robot is avoided, and the masonry efficiency and the masonry precision are ensured;

5. this coke oven furnace body masonry workstation based on joint robot can in time extrude the refractory clay to the fragment of brick after joint robot snatchs the fragment of brick and moves in place through the refractory clay laying portion, ensures the stable automatic supply of refractory clay to improve and build efficiency, reduce the manual work amount of labour.

Drawings

The invention will be further described with reference to the drawings and examples.

FIG. 1 shows a perspective view of the present invention;

FIG. 2 shows a partial right side view of the present invention;

FIG. 3 shows a partial perspective view of the present invention;

fig. 4 shows a perspective view of the refractory mortar applying section of the invention;

fig. 5 shows a right side view of the refractory mortar applying section of the invention;

FIG. 6 shows a perspective view of the masonry control support portion of the present invention;

FIG. 7 shows a top view of the masonry control support portion of the present invention;

FIG. 8 shows an enlarged view of FIG. 6 at A in accordance with the present invention;

fig. 9 is a schematic flow chart of a construction method of a coke oven body masonry workstation based on a joint robot in an embodiment of the invention.

In the drawings, like reference numerals designate like structural elements, wherein:

1. a V-shaped track; 2. a roller; 3. a working platform; 4. a joint robot; 41. a sponge vacuum chuck; 42. a clamp; 43. a 3D camera; 5. a masonry;

6. a masonry control support; 61. a base; 62. a column; 63. a linear sliding table; 64. a limit bracket; 65. a support base; 651. a substrate; 652. a left half plate; 653. a right half plate; 654. an inner hexagon bolt; 66. a support; 67. a connecting rod; 68. a blower; 69. a wind storage tank; 691. an air delivery pipeline; 692. a blowing channel;

7. a precise and stable conveying part; 71. a frame body; 72. a driving roller; 73. a driving device; 74. a driven roller; 75. a belt body; 76. brick-type limiting blocks;

8. a refractory mortar laying section; 81. a laying platform; 82. a first connection base; 83. a discharge pipe; 84. a hopper; 85. a second connecting seat; 86. a motor; 87. a screw rod; 88. a clamping table; 89. an ash shovel;

9. and controlling the cabinet.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

Referring to fig. 1, fig. 1 shows a perspective view of the present invention; referring to fig. 2, fig. 2 shows a partial right side view of the present invention; referring to fig. 3, fig. 3 shows a partial perspective view of the present invention; referring to fig. 4, fig. 4 is a perspective view showing a refractory mortar applying part of the present invention; referring to fig. 5, fig. 5 shows a right side view of the refractory mortar applying portion of the invention; referring to fig. 6, fig. 6 is a perspective view showing a masonry control support portion of the present invention; referring to fig. 7, fig. 7 shows a top view of the masonry control support portion of the present invention; referring to fig. 8, fig. 8 shows an enlarged view of fig. 6 at a in accordance with the present invention; referring to fig. 9, fig. 9 is a schematic flow chart of a construction method of a coke oven body masonry workstation based on an articulated robot according to an embodiment of the present invention, as shown in fig. 1 to 9, the coke oven body masonry workstation based on the articulated robot includes: the device comprises V-shaped rails 1 which are arranged in parallel, a working platform 3 which is arranged above the V-shaped rails 1, is connected with the V-shaped rails 1 through a plurality of rollers 2 and is used for bearing, a joint robot 4 which is arranged on the working platform 3 and is used for grabbing and conveying masonry, masonry 5 which is arranged at one side of the working platform 3, masonry control supporting parts 6 which are arranged at two sides of the masonry 5 and are used for abutting the masonry 5 to control the position of the masonry, a fine and stable conveying part 7 which is arranged on the working platform 3 and is used for positioning and conveying, a refractory mortar laying part 8 which is arranged on the working platform 3, a control cabinet 9 which is arranged on the working platform 3 and is used for general control, wherein the joint robot 4 is one of the forms of industrial robots, also called joint mechanical arms or multi-joint collocation robots, and the motions of all joints of the joint robots are rotated, and different end effectors can carry out different works; all driving elements in the workstation are electrically connected to the control cabinet 9, and the coordinated operation of each operation unit can be controlled by assisting a control system and a program, so that the masonry work can be orderly performed, the automation degree is ensured, and the masonry efficiency is improved, wherein

The precise and stable conveying part 7 can be attached to the top pad masonry brick to correct the space posture of the brick, promote the brick to travel in a straight way, the coke oven body masonry workstation based on the joint robot can complete the masonry flow of the coke oven body such as brick grabbing, conveying, stacking and the like by arranging the joint robot 4, the masonry control supporting part 6, the precise and stable conveying part 7 and the refractory mortar laying part 8, has high automation degree, effectively improves the masonry efficiency and reduces the labor intensity of manual masonry, the work station can be fixedly arranged on construction foundations such as scaffolds and the like and can move left and right by arranging the V-shaped track 1 and the roller 2, so that the flexibility is improved, the deployment and the use of the workstation are greatly facilitated, the two bricks on the outer side can be abutted against in the masonry process through the masonry control support part 6, the height can be continuously increased along with the masonry, thereby preventing the left brick and the right brick positioned at the outer side from being extruded and then moved, preventing the position accuracy of the bricks built at the back from being influenced by the bricks built at the front, further guaranteeing the masonry precision of the furnace body, guaranteeing the masonry quality, respectively jacking up the convex tenon and the concave mortise-shaped brick by the precise and stable conveying part 7, thereby correcting the space posture of the brick, preventing the brick from being inclined, ensuring the brick to be placed on the precise and stable conveying part 7 in a straight way, thereby ensuring that the joint robot 4 can successfully grasp the brick, avoiding the obstruction to the joint robot 4 to grasp the brick, ensuring the masonry efficiency and the masonry precision, can snatch the fragment of brick and remove the back in place at joint robot 4 through refractory clay laying portion 8 in time extrude the refractory clay to the fragment of brick on, ensure the stable automatic supply of refractory clay to improve and build efficiency, reduce the manual work volume.

Optionally, the end of the joint robot 4 is provided with a sponge vacuum chuck 41, the sponge vacuum chuck 41 belongs to one type of vacuum chuck, vacuum grabbing is realized by utilizing the principle of vacuum negative pressure object carrying, due to the softness and plasticity of the sponge, the sponge vacuum chuck 41 can well fully contact with the surface of the uneven object, meanwhile, the sponge vacuum chuck 41 can well maintain sealing vacuum performance, the suction force is strong, the bricks can be firmly adsorbed and carried and piled up, the bricks are prevented from falling, the safety and the reliability are ensured, the top of the sponge vacuum chuck 41 is provided with a clamp 42 for clamping, a pneumatic clamp and the like can be adopted, and the ash shovel 89 can be clamped;

the joint robot 4 is further provided with a 3D camera 43,3D camera 43 for identifying punctuation, which is totally called an industrial 3D camera, based on MEMS structure light principle, combined with an infrared laser light source to realize high-precision data acquisition, so that under the assistance of the 3D camera 43, the joint robot 4 can quickly and accurately identify the masonry environment, calibrate the origin, ensure the accurate position and posture adjustment of the joint robot 4 in space, further accurately finish the grabbing, feeding, smearing and masonry of bricks, and improve the masonry precision and efficiency, wherein the method comprises the following steps of

The sponge vacuum sucker 41 is driven to rapidly compress air and generate strong negative pressure so as to adsorb bricks for masonry, so that the joint robot 4 can drive the sponge vacuum sucker 41 to firmly grasp bricks for masonry on the precise and stable conveying part 7, and the bricks are grasped and conveyed in the masonry process.

Optionally, the masonry control supporting portion 6 includes bases 61 disposed at two sides of the masonry 5 and used for supporting the ground, upright posts 62 respectively mounted on the two bases 61, linear sliding tables 63 respectively mounted on the two upright posts 62 and used for realizing linear reciprocating motion, L-shaped limit brackets 64 respectively mounted on the two linear sliding tables 63, a plurality of supporting seats 65 mounted on the two limit brackets 64 and used for distance adjustment fastening, and supporting pieces 66 respectively mounted on the plurality of supporting seats 65 and abutted against the masonry 5 and used for controlling positions;

the supporting pieces 66 are T-shaped, so that the supporting pieces 66 can be tightly abutted against the side surfaces and the front surfaces of two bricks after the left and right bricks are placed on the outer sides in the laying process, the two bricks are prevented from moving backwards, the bricks are prevented from being extruded to move backwards when being put into middle bricks, the bricks laid later in the laying process are prevented from affecting the position precision of the bricks laid earlier, the laying precision is guaranteed, the laying quality is guaranteed, the linear sliding table 63 is a unit mechanical assembly, the linear module is generally referred to as a linear module, the working principle is that the sliding blocks are enabled to move linearly through driving belts, the continuous increase of the masonry 5 is guaranteed along with the laying, the two limit brackets 64 can be driven to climb synchronously under the control of the control cabinet 9, the supporting pieces 66 can be abutted against each layer of bricks, the integrity of functions of the workstation is guaranteed, in addition, the stand column 62, the base 61, the limit brackets 64, the supporting pieces 66 and other parts are made of light materials, the support 6 tend to be light in weight, the support 6 is convenient to carry the support 6, the support is convenient to mount and mount the support 6, the support is convenient to mount and dismount, and mount the support 6 are easy to mount and dismount.

Optionally, it should be specifically described that the bottoms of the two bases 61 are respectively provided with a clamping cylinder, so that the two bases 61 can be directly clamped on the furnace end of the coke oven at the construction site, thereby realizing the direct connection between the masonry control support portion 6 and the furnace end and further improving the stability and reliability of the masonry control support portion 6 during masonry.

Optionally, the precise and stable conveying part 7 includes a frame 71 mounted on the working platform 3, a driving roller 72 mounted on the frame 71, a driving device 73 disposed on one side of the driving roller 72 and used for driving the driving roller 72, a plurality of driven rollers 74 mounted on the frame 71 and used for supporting and guiding at equal intervals, a belt body 75 mounted on the driving roller 72 and the driven rollers 74 and used for conveying and advancing, a plurality of brick-shaped limiting blocks 76 mounted on the belt body 75 in double rows and used for correcting positions, and the brick-shaped limiting blocks 76 can be completely matched with irregular parts of bricks after the brick-shaped tenon and concave-shaped bricks are respectively put into the corresponding brick-shaped limiting blocks 76, so that the surfaces of the bricks and the belt body 75 are in parallel state, the spatial postures of the bricks are ensured to be corrected, ensure that the fragment of brick is flat and is on the area body 75 rather than crooked, and then the degree of difficulty that joint robot 4 snatched the fragment of brick is greatly reduced, avoid bringing the hindrance for joint robot 4 snatchs the fragment of brick, prevent that the whole operation of workstation from breaking down and breaking up, ensure masonry efficiency and masonry accuracy, drive arrangement 73 is the power supply that the fragment of brick was carried to area body 75, by the motor, reduction gear and transmission constitute, the motor is through the mechanical energy with electric energy conversion, then pass through transmission with power transmission for initiative cylinder 72, thereby drive area body 75 motion, after joint robot 4 snatches away a set of fragment of brick totally, start drive arrangement 73 under the control of control cabinet 9, thereby carry the fragment of brick of next group forward to waiting to snatch the position, ensure joint robot 4 snatch the convenience of fragment of brick, improve masonry efficiency.

Optionally, the refractory mortar laying section 8 includes a laying table 81 mounted on the working platform 3, a plurality of first connection seats 82 mounted on the laying table 81 in an array for providing a mounting standard, two discharging pipes 83 mounted on the plurality of first connection seats 82 for transporting materials, a hopper 84 mounted on the two discharging pipes 83 for storing refractory mortar, a screw rod 87 rotatably provided in the hopper 84, a second connection seat 85 mounted on the laying table 81 and located behind the hopper 84, a motor 86 mounted on the second connection seat 85 for driving the screw rod 87, and the refractory mortar is clay with a refractory degree of more than 1580 ℃ and ore used as refractory material, and is an indispensable material for building a furnace body;

the two discharging pipes 83 are led into the hopper 84, after the joint robot 4 grabs the bricks and moves the bricks under the discharging pipes 83, the motor 86 is started under the control of the control cabinet 9 and the joint robot 4 control system, so that the spiral rod 87 is driven to rotate in the hopper 84, fire clay in the hopper 84 is stirred and extruded, the fire clay is enabled to be discharged through the discharging pipes 83, the fire clay is laid on the bottom surface and the side surface of the bricks under the torsion of the joint robot 4, the joint robot 4 moves the bricks for building after the building is completed, the synchronous operation of the brick movement and the fire clay laying is ensured, the completeness of the building process is ensured, and the outlet of the discharging pipe 83 can be a detachable flat joint, so that the outflow of the fire clay is conveniently controlled.

Optionally, the supporting seat 65 includes a base plate 651 mounted on the bottom surface of the limiting bracket 64, and is hinged on the base plate 651 and used for clamping a left half plate 652 and a right half plate 653 of the supporting member 66, and the left half plate 652 and the right half plate 653 are spirally mounted and used for screwing the hexagon socket head cap screw 654 back and forth, so that the supporting member 66 can be pushed back after the hexagon socket head cap screw 654 is loosened, the vertical section of the supporting member 66 is used for supporting and abutting the masonry 5, and the horizontal section can be adjusted and fixed on the supporting seat 65, so that the masonry control supporting portion 6 can adapt to the masonry 5 with different sizes.

Optionally, the refractory mortar laying portion 8 further includes a plurality of clamping tables 88 installed on the side surfaces of the laying table 81, and mortar shovels 89 respectively placed on the plurality of clamping tables 88 and used for applying, so that the mortar shovels 89 in different forms can be replaced on the clamps 42 under the space movement of the joint robot 4 and the loose clamping action of the clamps 42 to apply mortar on the masonry 5, and the mortar applying tools can be flexibly replaced according to specific masonry processes.

Optionally, the masonry control support portion 6 further includes a connecting rod 67 that is connected to the two upright posts 62 in a staggered manner and is used for reinforcement, so that the two upright posts 62 are connected into a whole, thereby enhancing stability and preventing collapse.

Optionally, it should be specifically described that two sets of linear sliding tables may be installed on the working platform 3, where the two sets of linear sliding tables are perpendicular to the upright posts 62 and connect the back surfaces of the two upright posts 62 to the two sets of linear sliding tables respectively, so that the masonry control supporting portion 6 is connected with the working platform 3 into a whole, and meanwhile, the masonry control supporting portion 6 can be freely moved back and forth under the action of the two sets of linear sliding tables, so that the masonry control supporting portion 6 can be driven to move together when the working platform 3 moves, and thus the next construction point and the furnace end can be quickly and integrally moved to install; before moving, the clamping cylinders on the two bases 61 are released, so that the connection state between the masonry control support part 6 and the furnace end is disconnected, and then the masonry control support part 6 is retracted and moved under the combined action of the two groups of linear sliding tables, so that collision with the furnace end and even clamping on the furnace end are prevented.

Optionally, the masonry control support portion 6 further includes a blower 68 installed on the limiting support 64 and used for producing wind, the wind storage tank 69 installed at the corner of the limiting support 64 is used for enabling an air outlet of the blower 68 to be communicated with a wind conveying pipeline 691 communicated with the wind storage tank 69, the wind conveying pipeline 691 is obliquely communicated with the wind storage tank 69 and faces the masonry 5, the blower 68 is driven, the wind generated by the wind conveying pipeline 691 is conveyed into the wind storage tank 69, then the wind is blown out by the wind conveying pipeline 692, the two wind conveying pipelines 692 ensure that the wind is blown out towards the obliquely downward in a crossing manner, so that the masonry 5 just built below the limiting support 64 is blown along with the rising of the limiting support 64 in the building process, the flowing speed of surrounding air is greatly improved, the drying of fire clay is further improved, the drying of the fire clay is accelerated, the building forming efficiency is further improved, the probability of shifting caused by accidental collision of bricks is reduced, and the building precision is guaranteed.

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

s1: installing and debugging equipment; the V-shaped track 1 is arranged on a construction foundation such as a pre-built scaffold, the installation working platform 3, the joint robot 4, the masonry control supporting part 6, the precise and stable conveying part 7 and the like are arranged according to preset positions, then driving elements such as the joint robot 4, the sponge vacuum chuck 41, the clamp 42, the linear sliding table 63 and the driving device 73 are electrically connected to the control cabinet 9, and a control system and a program are assisted to debug each operation unit to be capable of sequentially and coordinately running according to a correct sequence;

s2: stacking bricks; the convex tenon and the concave mortise-shaped brick are respectively and stably placed on the corresponding brick limiting block 76, the surface of the brick and the belt body 75 are caused to be in a parallel state, and then the belt body 75 is driven to operate by the driving device 73 to convey the brick to a designated position;

s3: sucking and transporting bricks and laying mud for masonry; firstly, a joint robot 4 drives a sponge vacuum chuck 41 to move to the upper parts of corresponding left and right bricks, the bricks are firmly adsorbed by the sponge vacuum chuck 41, then the bricks are conveyed to the lower part of a discharging pipe 83, a preset brickwork 5 is built after the laying of refractory mortar is completed, when middle bricks are built, the side faces and the front faces of the left and right bricks positioned at the outer sides are abutted through a plurality of supporting pieces 66 of a brickwork control supporting part 6, and the rear movement of the bricks is prevented;

s4: surface coating; the moving clamp 42 clamps the corresponding ash shovel 89 and utilizes the ash shovel 89 to connect the fire clay below the discharging pipe 83, and then the fire clay is added and applied on the surface of the masonry 5 just built;

s5: and (5) circularly repeating the steps S2-S4 until the masonry 5 is built.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. Coke oven furnace body masonry workstation based on joint robot, characterized by comprising: parallel arrangement's V-arrangement track (1), set up V-arrangement track (1) top, through a plurality of gyro wheels (2) with V-arrangement track (1) is connected and is used for bearing work platform (3), installs on work platform (3) and be used for grabbing joint robot (4) of sending the brickwork (5) of laying bricks or stones, be located work platform (3) one side, set up brickwork (5) both sides and be used for the butt brickwork (5) control supporting part (6) in order to control its position, set up fine and stable conveying part (7) on work platform (3), set up on work platform (3) and be used for the ejection of compact to supply fire clay laying part (8), set up on work platform (3) and be used for total control rack (9), wherein

The precise and stable conveying part (7) can be attached to the top pad for building bricks so as to correct the space posture of the bricks and promote the bricks to travel smoothly.

2. The coke oven body masonry workstation according to claim 1, wherein,

the tail end of the joint robot (4) is provided with a sponge vacuum chuck (41), and the top of the sponge vacuum chuck (41) is provided with a clamp (42) for clamping;

the joint robot (4) is also provided with a 3D camera (43) for identifying punctuation, wherein

The sponge vacuum sucker (41) is driven to rapidly compress air and generate strong negative pressure so as to adsorb the masonry brick.

3. The coke oven body masonry workstation according to claim 2, wherein,

the masonry control support part (6) comprises bases (61) arranged at two sides of the masonry (5) and used for supporting the ground, upright posts (62) respectively arranged on the two bases (61), linear sliding tables (63) respectively arranged on the two upright posts (62) and used for realizing linear reciprocating motion, limiting brackets (64) respectively arranged on the two linear sliding tables (63) and shaped like L, a plurality of support seats (65) arranged on the two limiting brackets (64) and used for distance adjustment fastening, and support pieces (66) respectively arranged on the plurality of support seats (65) and abutted on the masonry (5) and used for position control;

a number of the support members (66) are T-shaped.

4. The coke oven body masonry workstation according to claim 3, wherein,

the precise and stable conveying part (7) comprises a frame body (71) arranged on the working platform (3), a driving roller (72) arranged on the frame body (71), a driving device (73) arranged on one side of the driving roller (72) and used for driving the driving roller (72), a plurality of driven rollers (74) which are arranged on the frame body (71) in a rotating mode at equal intervals and used for supporting and guiding, a plurality of belt bodies (75) which are arranged on the driving roller (72) and the driven rollers (74) in a closing mode and used for conveying travelling, and a plurality of brick-type limiting blocks (76) which are arranged on the belt bodies (75) in a double-row mode and used for correcting positions.

5. The coke oven body masonry workstation according to claim 4, wherein,

the refractory mortar laying part (8) comprises a laying table (81) mounted on the working platform (3), a plurality of first connecting seats (82) which are mounted on the laying table (81) in an array and are used for providing mounting references, two discharging pipes (83) which are mounted on the first connecting seats (82) and are used for conveying materials, a hopper (84) which is mounted on the two discharging pipes (83) and is used for storing the refractory mortar, a screw rod (87) which is rotatably arranged in the hopper (84), a second connecting seat (85) which is mounted on the laying table (81) and is positioned behind the hopper (84), and a motor (86) which is mounted on the second connecting seat (85) and is used for driving the screw rod (87);

two discharge pipes (83) open into the hopper (84).

6. The coke oven body masonry workstation according to claim 5, wherein,

the supporting seat (65) comprises a base plate (651) arranged on the bottom surface of the limiting support (64), a left half plate (652) and a right half plate (653) hinged on the base plate (651) and used for clamping the supporting piece (66), and an inner hexagon bolt (654) which is spirally arranged on the left half plate (652) and the right half plate (653) and used for screwing back and forth.

7. The coke oven body masonry workstation according to claim 6, wherein,

the refractory mortar laying part (8) further comprises a plurality of clamping tables (88) arranged on the side surfaces of the laying table (81), and ash shovels (89) which are respectively arranged on the clamping tables (88) and used for application.

8. The coke oven body masonry workstation according to claim 7, wherein,

the masonry control support portion (6) further comprises connecting rods (67) which are connected to the two upright posts (62) in a staggered mode and used for reinforcement.

9. The coke oven body masonry workstation according to claim 8, wherein,

the masonry control support portion (6) further comprises a blower (68) which is arranged on the limiting support (64) and used for producing wind, a wind storage tank (69) which is arranged at the corner of the limiting support (64) and used for enabling an air outlet of the blower (68) to be communicated with a wind conveying pipeline (691) which is communicated with the wind storage tank (69) and is communicated with the wind storage tank (69) in an inclined downward posture, and a blowing channel (692) which is arranged towards the masonry (5).

10. The construction method of a coke oven body masonry workstation based on joint robot according to any one of claims 1-9, comprising the steps of:

s1: installing and debugging equipment; installing the V-shaped track (1) on a construction foundation such as a pre-built scaffold and arranging an installation working platform (3), a joint robot (4), a masonry control supporting part (6), a precise and stable conveying part (7) and the like according to preset positions, and then electrically connecting driving elements such as the joint robot (4), a sponge vacuum chuck (41), a clamp (42), a linear sliding table (63), a driving device (73) and the like on a control cabinet (9), and debugging each operation unit to be capable of sequentially and coordinately running according to a correct sequence by assisting a control system and a program;

s2: stacking bricks; the convex tenon and the concave mortise-shaped brick are respectively and stably placed on the corresponding brick limiting block (76), the surface of the brick and the belt body (75) are enabled to be in a parallel state, and then the belt body (75) is driven to operate through the driving device (73) to convey the brick to a designated position;

s3: sucking and transporting bricks and laying mud for masonry; firstly, a joint robot (4) drives a sponge vacuum chuck (41) to move to the upper parts of corresponding left and right bricks, the bricks are firmly adsorbed by the sponge vacuum chuck (41), then the bricks are conveyed to the lower part of a discharging pipe (83), a preset brickwork (5) is built after the laying of fire clay is completed, and when middle bricks are built, the side surfaces and the front surfaces of the left and right bricks positioned at the outer sides are abutted through a plurality of supporting pieces (66) of a brickwork control supporting part (6) to prevent the bricks from moving backwards;

s4: surface coating; the moving clamp (42) clamps a corresponding ash shovel (89) and utilizes the ash shovel (89) to connect fire clay below the discharging pipe (83), and then the fire clay is added and applied on the surface of the brickwork (5) which is just built;

s5: and (5) circularly repeating the steps S2-S4 until the masonry (5) is completed.