CN217597085U

CN217597085U - Basement coke oven gas track robot

Info

Publication number: CN217597085U
Application number: CN202220797574.6U
Authority: CN
Inventors: 杨勇; 罗恪
Original assignee: Wuhan Dingye Environmental Protection Engineering Technology Co ltd
Current assignee: Wuhan Dingye Environmental Protection Engineering Technology Co ltd
Priority date: 2022-04-07
Filing date: 2022-04-07
Publication date: 2022-10-18
Anticipated expiration: 2032-04-07

Abstract

The utility model is suitable for a patrol and examine robot technical field, provide a basement coke oven gas track robot, including robot, main control unit, energy module, determine module and wireless communication module. The robot body comprises a vehicle body unit, and the vehicle body unit comprises a motion driving module, a pulley block and a charging bin; the motion driving module drives the pulley block to roll on the track; the elastic element of the pulley block is arranged to ensure that the vehicle body stably runs; the charging bin has the functions of cleaning and charging. The robot can real-time detection track equipment and environment nearby to with information transmission to remote control center, the staff can know the information that detects in real time, and can send control command to the robot. The robot has stable detection result, does not need personnel to carry out on-site detection, and saves labor; the robot can rapidly arrive at the scene when a fire disaster, dangerous gas leakage and the like happen, and field data and information are obtained.

Description

Basement coke oven gas track robot

Technical Field

The utility model relates to a technical field who patrols and examines the robot especially relates to a basement coke oven gas track robot.

Background

The coke oven gas basement is divided into an overground layer and an underground layer, the overground layer is air and waste gas exchange equipment, the underground layer is a gas pipeline and a gas reversing system (comprising blast furnace gas and coke oven gas), the underground layer is linked with the overground layer, the swing arms are driven to rotate by ninety degrees through oil cylinder pull rods to reach the position of an exchange line every half hour on site according to an exchange program, one coke oven has 140+138 swing arms, whether each swing arm swings in place needs to be detected, a compression screw is not fallen, and the falling of the screw can cause the falling of a gland. In addition, a plurality of gas accessories need to be inspected, and if the gas exchange swing arm needs to be inspected simultaneously, whether the gas exchange swing arm falls off or not is inspected; two gas water seal overflow water pipes are arranged at the tail end of the underground layer, and the long-term water flowing under the normal state needs real-time monitoring.

At present, facilities in most fields are monitored through manual inspection.

However, the manual inspection method has the following disadvantages: 1. the manual inspection detection quality depends on the experience of workers and the degree of responsibility and care; 2. with the increase of labor cost, the repetitive boring work is difficult to attract people; 3. the potential safety hazards such as exceeding of dangerous gas, local overheating of equipment and the like are difficult to detect by people; 4. once an accident occurs, people can hardly arrive at the scene in the first time, and even if the people arrive at the scene of the accident in the first time, the people also have great life risks. Therefore, the problems of unstable result, high labor cost and incapability of guaranteeing the personal safety of workers exist in manual inspection and manual detection by adopting manual inspection.

The robot is used for replacing a human to carry out inspection, so that the difficult problem in the manual inspection process can be avoided, the robot can be deployed at any time to reach a specified position, and the detection and inspection can be carried out under the condition of unknown danger or not. At present, wheel-type and crawler-type inspection robots walking on the ground are limited in application when ground obstacles are more or the terrain is complex. And for the utility tunnel, under the environment such as large-scale pipeline, tunnel, erect the track at top or aerial, it has more reliability to patrol and examine with the mobile robot who moves on the track. Compared with the ground mobile inspection robot, the track inspection robot has the advantages of high speed and high efficiency, is not limited by ground characteristics, and does not occupy ground space.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a solve and adopt the manual work to patrol and examine among the prior art that the cost of labor that exists is high, workman's personal safety can not obtain the guarantee and adopt ground mobile robot to patrol and examine the basement coke oven gas track robot who receives the problem of ground characteristic restriction.

The utility model discloses a solve above-mentioned problem and the technical scheme who takes is: a basement coke oven gas track robot comprises a robot body, a main control unit, an energy module, a detection assembly for detecting equipment and the surrounding environment, and a wireless communication module for exchanging data with a remote control center, wherein the robot body is connected with the main control unit through the wireless communication module; the main control unit, the energy module, the detection assembly and the wireless communication module are all arranged on the robot body; the main control unit receives a command from a remote control center, controls the robot body to move on the track and executes related commands and actions; the robot body comprises a vehicle body unit, and the vehicle body unit comprises a motion driving module, a pulley block and a charging bin; the motion driving module drives the pulley block to roll on the track; the elastic element of the pulley block is arranged to ensure that the vehicle body runs stably; the charging bin has the functions of cleaning and charging.

Furthermore, the pulley block comprises a first driving wheel and a second stable pulley block. The first driving wheel is mounted on a housing of the vehicle body unit, and the driving module is controlled by the control center to drive the first driving wheel. The shell comprises circular groove rails arranged on the peripheral sides of the shell, and the shell is in a shape of' 20866so as to avoid interference of the shell with a running track supporting structure in the running process. The body unit may run on a track wrapped therein. The second stabilizing pulley block comprises two opposite second stabilizing pulleys. The second stabilizing pulley is fixedly connected with one end of the spring, and the other end of the spring is fixedly connected to the inner side of the shell; the second stabilizing pulley block is in rolling friction with two sides of the track, and the spring presses the second stabilizing pulley block and keeps close contact with the side face of the track.

Furthermore, the detection component comprises a detection module and a sliding block, the detection module is in sliding connection with the sliding block, the sliding block slides in the circular groove rail, and the sliding of the sliding block and the sliding of the relative sliding block of the detection module are increased within the detection range of the detection module. The inner side of the sliding block is meshed with a driving gear, the driving gears are arranged in the shell at intervals, the driving module drives the driving gear set, and the driving gear set drives the sliding block to slide on the groove rail in a force driving mode.

Further, the track is I-shaped 4# angle steel, and pipe tape machine overall structure is complicated, for more comprehensive of detecting, need all arrange the track in pipe tape machine both sides, and the track annularity promptly patrols and examines around pipe tape machine a week in the robot single of patrolling and examining. The total length of the pipe belt conveyor is 850 meters, and a 1700-meter track is required.

Furthermore, a group of track robots are arranged on the circular track, run oppositely, and monitor the two sides of the same section of pipeline simultaneously.

Furthermore, the two ends of the track are provided with detection shifting sheets, and when the track robot passes through, the detection shifting sheets send real-time signals to the main control unit for judging the synchronism of the track robot.

Further, the track end possesses fills electric pile, and track robot real-time supervision electric quantity condition and current position and fill electric pile distance are according to independently returning the strategy of filling, independently navigate to filling electric pile to automatically with fill electric pile communication start-up and charge.

The robot energy module is a wireless charging and discharging device, the energy module is arranged at the upper part of the shell and forms a charging bin with the upper surface of the shape like the Chinese character' 20866, and the charging bin can be used for charging and supplying energy to the detection module sliding on the charging bin.

The battery capacity is 7AH, and wireless charging module adopts 100W magnetic resonance principle module, and the duration of charging is 3H. The functions of charging distance sensing detection, load change self-adjustment and the like can be realized. When the robot patrols and examines and finishes and need charge, can trigger the switch that targets in place when getting back to and fill electric pile, can send the signal of opening charging to filling electric pile after confirming the position, fill electric pile and open this moment and charge, after patrolling and examining the robot and being full of the electricity, can send the signal that stops charging to filling electric pile.

Further, the detection module comprises at least one of a camera, a temperature sensor, a humidity sensor, smoke, a dust sensor, an AI camera and an oxygen content sensor.

Further, the internal surface of storehouse upper end that charges sets up automatic cleaning device, works as when detection module includes the camera, the sliding block is in slide under drive gear set's the drive extremely the casing upper end, automatic cleaning device carries out cleaning work to the camera.

Further, the track robot also comprises a fire extinguisher, and the fire extinguisher is fixed on the mechanical body.

Furthermore, each car body unit is provided with at least one pulley block, each pulley block comprises two second stable pulleys distributed on two sides of the track, at least one of the pulley blocks is a first driving wheel, the pulley block is hung on the upper surface of the running track of the robot, and the interval between the three pulleys in each pulley block is smaller than the width of the track.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a track robot shuttles back and forth on the track, can carry out real-time detection to near track's equipment and environment to the information that will detect transmits long-range control center through wireless communication module. The staff can know the specific situation of the equipment and the surrounding environment in real time at the control center, and can send instructions to the track robot to control the specific operation action of the track robot. Compared with the ground mobile inspection robot, the track inspection robot has the advantages of high speed and high efficiency, and is not limited by ground characteristics. Compared with manual inspection, the rail robot has the advantages that the detection result is stable, an operator only needs to control the rail robot at a remote control center, the field detection is not needed, and the labor is saved; meanwhile, the inspection robot can go deep into the scene for detection when a fire disaster or dangerous gas leakage occurs. And, set up on the automobile body unit of robot body and charge and discharge, self-cleaning device, set up the grooved rail structure that supplies detection module to remove, very big improvement detection device's detection range and detection efficiency to, robot can use in more complicated place, application range is wide.

Drawings

FIG. 1 is a schematic view of the basement coke oven gas track robot provided by the embodiment of the utility model.

Fig. 2 is a front view of the basement coke oven gas track robot of fig. 1 operating on rails.

In the drawings, the reference numbers: 1. a track robot; 3. a working assembly; 5. a coke oven gas pipeline; 6. a slider; 7. a circular groove track; 8. the driving module drives the driving gear set; 9. a spring; 10. a second stabilizing sheave; 11. an annular track; 12. a first drive wheel.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

As shown in fig. 1, a preferred embodiment of the present invention is a working method of a basement coke oven gas track robot, which comprises a pair of symmetrically arranged track robots 1, wherein the basement coke oven gas track robot comprises a main control unit, an energy module, a detection component for detecting equipment and surrounding environment, and a wireless communication module (not shown in the figure) for exchanging data with a remote control center; a coke oven gas pipeline 5 and working components 3 at two sides of the coke oven gas pipeline 5.

The detection components arranged on the track robot 1 monitor the coke oven gas pipeline 5 below and the working components 3 on two sides of the coke oven gas pipeline 5, and have monitoring visual angles alpha 1 and alpha 2 respectively.

The main control unit receives commands from the remote control center, controls the orbital robot 1 to move on the orbit 11, and executes the relevant commands and actions. The energy module provides power for a main control unit, a wireless communication module and the like on the track robot 1. The wireless communication module is connected with the main control unit and is used for sending the information detected by the detection component and the self state information of the robot to the remote control center and receiving the action command from the remote control center so as to control the specific operation of the whole track robot 1.

The track robot 1 of this embodiment shuttles back and forth on track 11, can carry out real-time detection to equipment and environment near track 11 to transmit the information that detects to remote control center through wireless communication module, the staff can know the specific conditions of equipment and its surrounding environment in real time at control center, and can send the instruction to track robot 1, control its concrete operation action.

Compared with manual inspection, the rail robot has stable detection result, and the operator only needs to control the rail robot at the remote control center 200 without on-site detection, thereby saving labor; meanwhile, the track robot can go deep into the scene to detect when a fire disaster or dangerous gas leakage occurs. Compare with ground removal inspection robot, the utility model discloses a track robot has high efficiency's advantage, and does not receive the restriction of ground characteristic.

The robot body comprises a vehicle body unit, and the vehicle body unit comprises a motion driving module, a pulley block and a charging bin; the motion driving module drives the pulley block to roll on the track 11; the elastic element of the pulley block is arranged to ensure that the vehicle body stably runs; the charging bin has the functions of cleaning and charging.

Further, the pulley block comprises a first driving wheel 12 and a second stabilizing pulley 10. The first drive wheel 12 is mounted on a housing of the vehicle body unit, and the driving module is controlled by the control center to drive the first drive wheel 12. The shell comprises circular groove rails 7 arranged on the peripheral sides of the shell, and the shell is in a shape of '20866', so that the shell is prevented from interfering with a supporting structure of a running track 11 in the running process. The body unit can run on rails 11 wrapped therein. The second set of stabilizing sheaves 10 comprises two opposing second stabilizing sheaves 10. The second stable pulley 10 is fixedly connected with one end of a spring 9, and the other end of the spring 9 is fixedly connected to the inner side of the shell; the second stable pulley 10 group is in rolling friction with two sides of the track 11, and the spring 9 compresses the second stable pulley 10 group and keeps close contact with the side face of the track 11.

Furthermore, the detection assembly comprises a detection module and a sliding block 6, the detection module is connected with the sliding block 6 in a sliding manner, the sliding block 6 slides in the circular groove rail 7, and the sliding of the sliding block and the sliding of the detection module relative to the sliding block are increased to the detection range of the detection module. The inner side of the sliding block 6 is meshed with a driving gear, the driving gears are arranged inside the shell at intervals, the driving gear set 8 is driven by the driving module, and the sliding block 6 slides on the groove rail 7 under the relay driving of the driving gear set 8. The 8 intervals of drive gear group are less than 6 arc angles of sliding block can. Preferably, the driving gear set 8 has an interval of 1/5 of an arc, and the sliding block 6 has an arc angle of 120 °.

Further, track 11 is I-shaped 4# angle steel, and pipe tape machine overall structure is complicated, in order to detect more comprehensively, need arrange track 11 in pipe tape machine both sides equipartition, and track 11 annulars promptly, and the robot single of patrolling and examining is patrolled and examined around pipe tape machine a week. The total length of the pipe belt conveyor is 850 meters, and a 1700-meter track is required.

Further, a group of track robots are arranged on the annular track 11, and the track robots are oppositely arranged to run, so that two sides of the same section of pipeline are monitored simultaneously.

Further, two ends of the track 11 are provided with detection shifting sheets, and when the track robot passes through, the detection shifting sheets send real-time signals to the main control unit to judge the synchronism of the pair of track robots.

Further, 11 ends of the track are provided with charging piles, track robots monitor the electric quantity condition and the current position in real time and the distance between the charging piles, and automatically navigate to the charging piles according to an automatic recharging strategy, and automatically start charging with the charging piles.

The battery capacity is 7AH, and the wireless module that charges adopts 100W magnetic resonance principle module, and the time of charging is 3H. The functions of charging distance sensing detection, load change self-adjustment and the like can be realized. When the robot patrols and examines and finishes and need charge, can trigger the switch that targets in place when getting back to and fill electric pile, can send the signal of opening charging to filling electric pile after confirming the position, fill electric pile and open this moment and charge, after patrolling and examining the robot and being full of the electricity, can send the signal that stops charging to filling electric pile.

Furthermore, the internal surface of the upper end of the charging bin is provided with an automatic cleaning device, when the detection module comprises a camera, the sliding block 6 slides to the upper end of the shell under the driving of the driving gear set 8, and the automatic cleaning device cleans the camera. Preferably, cleaning device is including the superfine fiber lens cloth of parcel elasticity filler, works as the camera is in sliding block 6 drives, slides extremely during the automatic cleaning device below, because the thickness of filler, lens cloth height is less than the camera, elasticity drives down lens cloth and cleans the camera of process, realizes simple self-cleaning effect.

Furthermore, each car body unit is provided with at least one pulley block, each pulley block comprises two second stable pulleys 10 distributed on two sides of the track 11, at least one of the pulley blocks is a first driving wheel 12, the pulley block is hung on the upper surface of the robot running track 11, and the interval of the three pulleys in each pulley block is smaller than the width of the track 11.

Preferably, before the real-time signal that the track robot 1 gathered is transmitted to the remote control center through the wireless communication module, the main control unit carries out comparative analysis to the information that gathers. Optionally, the information obtained by the two track robots is compared, and when the monitored symmetrically arranged information collected by the working assembly 3 and the deviation of the monitored environment monitoring information on the two sides are greater than a preset threshold value and/or when the monitored symmetrically arranged information collected by the working assembly 3 and the deviation of the monitored environment monitoring information on the two sides and a preset standard value are greater than a preset threshold value, the working condition of the current monitoring section is judged to be abnormal.

As shown in fig. 1 to 2, the main functions of the present invention are: the utility model discloses a track robot shuttles back and forth on track 11, can carry out real-time detection to equipment and environment near track 11 to the information that will detect transmits the long-range center of controlling through wireless communication module. The operator can know the specific conditions of the equipment and the surrounding environment in real time at the control center, and can send instructions to the track robot to control the specific operation actions of the track robot, such as adjusting the position of the sliding block 6 according to the monitoring visual field, charging and cleaning requirements, adjusting the position of the detection module on the sliding block 6, and driving the vehicle body unit to run on the track according to the monitoring section requirements. Compared with the ground mobile inspection robot, the rail 11 inspection robot has the advantages of being fast and efficient, and is not limited by ground characteristics. Compared with manual inspection, the rail robot has the advantages that the detection result is stable, an operator only needs to control the rail robot at a remote control center, the field detection is not needed, and the labor is saved; meanwhile, the inspection robot can go deep into the site to detect when fire and dangerous gas leak happen. And, set up on the automobile body unit of robot body and charge and discharge, self-cleaning device, set up the grooved rail 7 structure that supplies detection module to remove, very big improvement detection device's detection range and detection efficiency to, the robot can be used in more complicated place, and application range is wide.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. A basement coke oven gas track robot is characterized in that,

the robot comprises a robot body, a main control unit, an energy module, a detection assembly for detecting equipment and the surrounding environment and a wireless communication module for exchanging data with a remote control center; the main control unit, the energy module, the detection assembly and the wireless communication module are all arranged on the robot body; the main control unit receives a command from a remote control center, controls the robot body to move on the track and executes related commands and actions; the robot body comprises a vehicle body unit, and the vehicle body unit comprises a motion driving module, a pulley block and a charging bin; the motion driving module drives the pulley block to roll on the track, and the vehicle body stably runs through the arrangement of an elastic element of the pulley block; the charging bin has the functions of cleaning and charging; the detection component is connected to the vehicle body in a sliding mode.

2. The basement coke oven gas track robot of claim 1, wherein the pulley block comprises a first drive wheel, a second stabilizing pulley block; the first driving wheel is arranged on a shell of the vehicle body unit, the shell comprises circular groove rails arranged on the peripheral side of the shell, and the shell is in a shape of '20866'; the second stabilizing pulley block comprises two opposite second stabilizing pulleys; the second stabilizing pulley is fixedly connected with one end of the spring, and the other end of the spring is fixedly connected to the inner side of the shell.

3. The basement coke oven gas rail robot of claim 1, wherein the detection assembly comprises a detection module, a driving module, a circular groove rail and a sliding block, the detection module is connected with the sliding block in a sliding manner, and the sliding block slides in the circular groove rail; the inboard drive by drive gear meshing transmission that is used for the sliding block, drive gear interval arrangement forms drive gear group at the casing internal portion, by drive module drive gear group, drive gear group power drive the sliding block.

4. The basement coke oven gas track robot of any one of claims 1 to 3,

the detection assembly comprises at least one of a camera, a temperature sensor, a humidity sensor, smoke, a dust sensor, an AI camera and an oxygen content sensor.

5. The basement coke oven gas rail robot of any one of claims 1 to 3,

the track is I-shaped 4# angle steel and is arranged on two sides of the pipe belt machine; a group of track robots are arranged on the track and are oppositely driven and monitored; the two ends of the track are provided with detection shifting pieces, and the detection shifting pieces send signals to the main control unit and are used for judging the synchronism of the pair of track robots; the track end is equipped with fills electric pile.

6. The basement coke oven gas track robot of claim 5, wherein the track robot can monitor the power condition and the distance between the current position and the charging pile in real time, autonomously navigate to the charging pile according to an autonomous recharging strategy, and automatically communicate with the charging pile to start charging.

7. The basement coke oven gas track robot of claim 3, wherein the energy module is a wireless charging and discharging device, the energy module is arranged on the upper part of the shell and forms a charging bin with the upper surface of the shape like the Chinese character' 20866.

8. The basement coke oven gas track robot of claim 7, wherein the inner surface of the upper end of the charging bin is provided with an automatic cleaning device, the sliding block slides to the upper end of the shell under the driving of the driving gear set, and the automatic cleaning device cleans the camera.

9. The basement coke oven gas rail robot of claim 5, wherein the main control unit compares the received monitoring information collected by the two rail robots and/or compares the collected monitoring information with a preset standard value to judge whether the working condition is normal.