CN219095116U

CN219095116U - Coke oven top inspection robot

Info

Publication number: CN219095116U
Application number: CN202220617122.5U
Authority: CN
Inventors: 武良辰; 武兆乾
Original assignee: Nanjing Zhibao Energy Conservation And Environmental Protection Technology Co ltd
Current assignee: Nanjing Zhibao Energy Conservation And Environmental Protection Technology Co ltd
Priority date: 2022-03-21
Filing date: 2022-03-21
Publication date: 2023-05-30
Anticipated expiration: 2032-03-21

Abstract

The utility model provides a coke oven top inspection robot which comprises a steel wheel, a servo motor, a limit switch, a sensor, a carrying detection unit and a data transmission unit, wherein the steel wheel is arranged on the upper surface of the steel wheel; the steel wheel is fixedly arranged at the end part of the robot and movably slides on a rail above a guardrail of a coke oven machine side gas collecting pipe passage in the machine side direction; the servo motor is connected with the steel wheel and is used for providing power for sliding of the steel wheel; the limit switch is electrically connected with the servo motor; the sensor is arranged on the robot and is used for transmitting measured data to the remote monitoring platform through the data transmission unit; the carrying detection unit is arranged on the robot and is used for collecting images, CO concentration, sound decibels and ultrasonic ranging parameters. The robot replaces manual inspection, improves inspection efficiency, and timely discovers, alarms and guides to treat abnormal conditions and emergency conditions.

Description

Coke oven top inspection robot

Technical Field

The utility model belongs to the technical field of coke oven equipment, and particularly relates to a coke oven top inspection robot.

Background

The coke oven top equipment is numerous, and the common coke oven side is arranged with riser, bridge pipe, water seal valve, gas collecting pipe, air suction elbow pipe, air suction pipe, ammonia water spraying system, etc. in addition, the coke oven top equipment also comprises coal charging car, one thousand or more fire observation holes, hundreds of coal charging holes, etc. The rising pipe is welded by steel plates, the clay lining bricks are built in, the lower part is connected with the carbonization chamber, and the upper part is connected with the bridge pipe. The bridge pipe is an iron casting internally-built clay lining brick. The bridge pipe is provided with a cleaning hole and is provided with a high-low pressure ammonia water spray head. The upper part of the bridge pipe is connected with the water seal cover. The raw gas discharged from the carbonization chamber is cooled to 80-100 ℃ by spraying ammonia water under low pressure. The suction force generated by the high-pressure ammonia water injection force causes negative pressure in the carbonization chamber to prevent smoke dust and gas from escaping.

The safe direct-going direct relation raw gas of the ascending pipe system is smoothly led out, is the key inspection work of operators every class, and comprises the following contents: water shortage and overflow of the water seal tank of the ascending pipe; whether the bridge pipe temperature is abnormal; whether the bridge pipe cleaning port, the root of the ascending pipe and the bell and spigot smoke and fire; whether the ammonia water is sprayed smoothly or not; whether the ascending pipe cover smokes or not, etc.

The furnace top area of the coke oven is a high-temperature environment, and meanwhile, smoke dust and flame exist, so that the manual inspection work has a certain safety risk.

Disclosure of Invention

The technical scheme is as follows: in order to solve the technical problems, the utility model provides a coke oven top inspection robot which replaces manual inspection, improves inspection efficiency, timely discovers and alarms to guide the handling of abnormal and sudden conditions, and specifically comprises the following steps: the device comprises a steel wheel, a servo motor, a limit switch, a sensor, a carrying detection unit and a data transmission unit; the steel wheel is fixedly arranged at the end part of the robot and movably slides on a rail above a guardrail of a coke oven machine side gas collecting pipe passage in the machine side direction; the servo motor is connected with the steel wheel and is used for providing power for sliding of the steel wheel; the limit switch is electrically connected with the servo motor; the sensor is arranged on the robot and is used for transmitting measured data to the remote monitoring platform through the data transmission unit; the carrying detection unit is arranged on the robot and is used for collecting images, CO concentration, sound decibels and ultrasonic ranging parameters.

As an improvement, the remote monitoring platform is arranged at one side or a remote position of the robot and is used for receiving data collected by the robot and storing, inquiring and sending out alarm signals.

The battery charger is characterized by further comprising a charging unit receiving end which is arranged on one side face of the robot and used for charging, and the rechargeable battery is of a lithium battery structure.

As an improvement, the carrying detection unit comprises a camera host, a thermal imaging camera and a visible light camera; wherein the camera host computer is installed in the inside of robot structure, and thermal imaging camera and visible light camera are independently installed at the relative other terminal surface of robot steel wheel.

As an improvement, the robot also comprises a CO concentration detector, a decibel meter and an ultrasonic distance meter which are independently and fixedly arranged on one side of the robot; the CO concentration detector is used for collecting the concentration of carbon monoxide, the decibel meter is used for collecting noise volume parameters in the inspection process, and the ultrasonic distance meter is used for collecting and measuring specific position value parameters of the walking direction.

As an improvement, the thermal imaging camera and the visible light camera are of 360-degree rotary structures, and the focal length can be adjusted.

The device is characterized by further comprising an ultrasonic obstacle stopping unit which is used for detecting obstacles, stopping when the obstacles are encountered and sending out alarm signals.

The sensor is connected with the data transmission unit in a communication way through the wireless network bridge, and then the sensor is transmitted to the remote monitoring platform for data interaction.

As an improvement, the charging device also comprises an interaction machine which is fixedly arranged on the side of the receiving end of the charging unit.

The beneficial effects are that: the coke oven top inspection robot provided by the utility model can replace manual inspection of a furnace top area and has the following effects: (1) The blocking of the ammonia water spray head can be accurately found, the abnormal temperature of the bridge pipe can be timely found, and the bridge pipe is prevented from being burnt; (2) The ascending pipe cover can be opened in advance by monitoring data, and the smoking condition of the ascending pipe cover can be checked; monitoring smoke and fire conditions of the bridge pipe cleaning holes and the bell and spigot sockets; abnormal sounds of the furnace top prompt operators to check equipment on site; the CO concentration at the furnace top prompts the possible phenomena of smoking, ignition and gas leakage; (3) The labor intensity of operators can be reduced, the working environment is improved, and the safety risk in the inspection process is eliminated; (4) The intelligent inspection precision and efficiency are improved, and the maintenance and overhaul cost of equipment such as bridge pipes, ascending pipe covers and the like is reduced.

Drawings

Fig. 1 is a schematic structural view of a coke oven roof inspection robot of the present utility model.

Fig. 2 is a track layout diagram of the inspection robot for the coke oven roof of the present utility model.

In the figure: the intelligent charging system comprises a steel wheel 1, a servo motor 2, a limit switch 3, an interaction machine 4, a charging unit receiving end 5, a camera host 6, a thermal imaging camera 7, a visible light camera 8, a wireless network bridge 9, a lithium battery 10, a CO concentration detector 11, a decibel meter 12, an ultrasonic distance meter 13 and a PLC unit 14.

Detailed Description

The following describes the embodiments of the present utility model in further detail with reference to examples. The following examples are illustrative of the utility model and are not intended to limit the scope of the utility model.

The coke oven top inspection robot comprises a steel wheel 1, a servo motor 2, a limit switch 3, a sensor, a carrying detection unit and a data transmission unit; the steel wheel 1 is fixedly arranged at the end part of the robot and movably slides on a rail above a guardrail of a coke oven machine side gas collecting pipe passage in the machine side direction; the servo motor 2 is connected with the steel wheel 1 and is used for providing power for sliding of the steel wheel; the limit switch 3 is electrically connected with the servo motor 2; the sensor is arranged on the robot and is used for transmitting measured data to the remote monitoring platform through the data transmission unit; the carrying detection unit is arranged on the robot and is used for collecting images, CO concentration, sound decibels and ultrasonic ranging parameters.

The remote monitoring platform is arranged at one side or a remote position of the robot and used for receiving data acquired by the robot and storing, inquiring and sending out alarm signals.

As a specific implementation mode of the utility model, a remote monitoring platform and a charging unit of the inspection robot are arranged at a service station, in the process of inspecting the robot, as shown in fig. 2, a servo motor drives the robot to start running from the service station at a low speed to pass through a slope section to a horizontal inspection section to start inspecting, when the inspection track end is reached, a limit switch acts, the inspection is finished, and the robot returns to the service station at a high speed.

As a specific embodiment of the present utility model, the present utility model further includes a PLC unit 14 fixedly mounted on the robot body.

The battery charger also comprises a charging unit receiving end 5 which is arranged on one side surface of the robot and is used for charging, and the rechargeable battery is in a lithium battery 10 structure. And when the robot runs to the service station and the electric quantity of the lithium battery is lower than the set lower limit, the robot is automatically charged through the wireless charging device. In the charging process, the robot cannot carry out inspection work.

The carrying detection unit comprises a camera host 6, a thermal imaging camera 7 and a visible light camera 8; wherein the camera host 6 is installed inside the robot structure, and the thermal imaging camera 7 and the visible light camera 8 are independently installed at the opposite other end face of the robot steel wheel 1.

The device also comprises a CO concentration detector 11, a decibel meter 12 and an ultrasonic distance meter 13 which are independently and fixedly arranged on one side of the robot; the CO concentration detector 11 is used for collecting the concentration of carbon monoxide, and adopts a sensor to perform full-automatic collection and out-of-range alarm. The decibel meter 12 is used for collecting noise volume parameters in the inspection process, monitoring the on-site sound intensity in real time, and giving an alarm to prompt an operator to find out reasons on site and remove faults if the on-site sound intensity exceeds a set value; the ultrasonic distance meter 13 is used for collecting and measuring the position value parameters specific to the walking direction.

The thermal imaging camera 7 and the visible light camera 8 are of 360-degree rotary structures, and the focal length can be adjusted.

The device also comprises an ultrasonic obstacle stopping unit which is used for detecting obstacles, stopping when encountering the obstacles and sending out alarm signals. Meanwhile, the protection is added on the structure, personnel or equipment damage caused by collision is prevented, double safety guarantee is constructed with the ultrasonic obstacle stopping system, violent collision with obstacles is prevented under the condition that the ultrasonic obstacle stopping system fails, and a flickering warning lamp is arranged at an obvious position to remind on-site personnel of paying attention.

The system also comprises a wireless bridge 9, wherein the sensor is in communication connection with the data transmission unit through the wireless bridge 9, has the bandwidth of 1000M, and transmits the data to the remote monitoring platform for data interaction, so that the real-time transmission of parameters such as images, measured values, position values and the like can be realized. The charging device also comprises an interaction machine 4 which is fixedly arranged on one side of the receiving end 5 of the charging unit.

Working principle: the sampling points of the inspection robot are distributed through software, one sampling point is generally arranged at the center line position of each carbonization chamber, the coding value corresponding to each sampling point is stored in the controller, the inspection robot takes the set target sampling point as a set value, the actual position measured by the encoder as an actual value for positioning, the real-time code value of the encoder is matched with the sampling point, and the inspection work such as data acquisition is performed on the positioning point.

The inspection robot stores parameters such as an infrared thermal imaging image, a visible light camera image, carbon monoxide content, noise volume and the like of each sampling point into a database in real time, and can perform history inspection record inquiry.

And (3) giving an instruction at preset inspection time or through a remote inspection control terminal, automatically walking the inspection robot to the upper part of a gas collecting pipe walking table from a coke oven end table service station along a track, walking in the direction of a coal tower inter-table, automatically recording the walking address position by the robot in the walking process, simultaneously wirelessly transmitting images acquired by a visible light camera 8 and an infrared thermal imaging camera 7 to the remote inspection control terminal, automatically capturing visible light high-definition pictures and infrared thermal release pictures when reaching the positions of each ascending pipe and each bridge pipe, and transmitting high-definition picture data to the remote inspection control terminal for intelligent image identification operation, and automatically generating an 'XX number inspection report' corresponding to the address.

If the on-site temperature is abnormal, the temperature and visible light images are corresponding to the abnormal positions through software operation, the temperature abnormality of the bridge pipe is intelligently identified, the conditions of blocking an ammonia water spray head, smoking the ascending pipe cover in advance, cleaning the bridge pipe Kong Maoyan, smoking and igniting the bell and spigot of the bridge pipe and the like are automatically generated into inspection abnormality reports, and the inspection abnormality reports are immediately reported and prompted, and abnormal carbonization chamber numbers, abnormal temperature heat release pictures, visible light pictures and other data are stored. .

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims

1. The utility model provides a coke oven furnace roof inspection robot which characterized in that: the device comprises a steel wheel (1), a servo motor (2), a limit switch (3), a sensor, a carrying detection unit and a data transmission unit; the steel wheel (1) is fixedly arranged at the end part of the robot and movably slides on a rail above a guardrail of a coke oven machine side gas collecting pipe walking path in the machine side direction; the servo motor (2) is connected with the steel wheel (1) and is used for providing power for sliding of the steel wheel; the limit switch (3) is electrically connected with the servo motor (2); the sensor is arranged on the robot and is used for transmitting measured data to the remote monitoring platform through the data transmission unit; the carrying detection unit is arranged on the robot and is used for collecting images, CO concentration, sound decibels and ultrasonic ranging parameters.

2. The coke oven roof inspection robot of claim 1, wherein: the remote monitoring platform is arranged at one side or a remote position of the robot and used for receiving data acquired by the robot and storing, inquiring and sending out alarm signals.

3. The coke oven roof inspection robot of claim 1, wherein: the battery charger further comprises a charging unit receiving end (5) which is arranged on one side face of the robot and used for charging, and the rechargeable battery is of a lithium battery structure.

4. The coke oven roof inspection robot of claim 1, wherein: the carrying detection unit comprises a camera host (6), a thermal imaging camera (7) and a visible light camera (8); wherein camera host computer (6) is installed in the inside of robot structure, and thermal imaging camera (7) and visible light camera (8) are installed at the opposite another terminal surface of robot steel wheel (1) independently.

5. The coke oven roof inspection robot of claim 1, wherein: the robot also comprises a CO concentration detector (11), a decibel meter (12) and an ultrasonic distance meter (13), which are independently and fixedly arranged on one side of the robot; the CO concentration detector (11) is used for collecting the concentration of carbon monoxide, the decibel meter (12) is used for collecting noise volume parameters in the inspection process, and the ultrasonic distance meter (13) is used for collecting and measuring specific position value parameters of the walking direction.

6. The coke oven roof inspection robot of claim 4, wherein: the thermal imaging camera (7) and the visible light camera (8) are of 360-degree rotary structures, and the focal length can be adjusted.

7. The coke oven roof inspection robot of claim 1, wherein: the device also comprises an ultrasonic obstacle stopping unit which is used for detecting obstacles, stopping when encountering the obstacles and sending out alarm signals.

8. The coke oven roof inspection robot of claim 1, wherein: the system also comprises a wireless bridge (9), wherein the sensor is in communication connection with the data transmission unit through the wireless bridge (9) and then transmits the data to the remote monitoring platform for data interaction.

9. The coke oven roof inspection robot of claim 1, wherein: the charging device also comprises an interaction machine (4) which is fixedly arranged at one side of the receiving end (5) of the charging unit.