WO2024027605A1 - 焦炉炉体砌筑系统 - Google Patents

焦炉炉体砌筑系统 Download PDF

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Publication number
WO2024027605A1
WO2024027605A1 PCT/CN2023/109957 CN2023109957W WO2024027605A1 WO 2024027605 A1 WO2024027605 A1 WO 2024027605A1 CN 2023109957 W CN2023109957 W CN 2023109957W WO 2024027605 A1 WO2024027605 A1 WO 2024027605A1
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WO
WIPO (PCT)
Prior art keywords
shaped base
vacuum suction
masonry
vibration device
coke oven
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Application number
PCT/CN2023/109957
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English (en)
French (fr)
Inventor
夏春
黎耀南
郑运洪
剪元香
吴春桥
Original Assignee
中国一冶集团有限公司
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Application filed by 中国一冶集团有限公司 filed Critical 中国一冶集团有限公司
Publication of WO2024027605A1 publication Critical patent/WO2024027605A1/zh

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Classifications

    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
    • C10B29/00—Other details of coke ovens
    • C10B29/02—Brickwork, e.g. casings, linings, walls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P20/00—Technologies relating to chemical industry
    • Y02P20/10—Process efficiency
    • Y02P20/129—Energy recovery, e.g. by cogeneration, H2recovery or pressure recovery turbines

Definitions

  • This application relates to the technical field of coke ovens, and in particular to coke oven body masonry systems.
  • Coke oven is a kiln that uses coal to make coke. It is the main thermal equipment for coking. It has a complex masonry structure and various types of bricks. Taking the coke oven combustion chamber as an example, there are dozens of carbonization chambers and combustion chambers arranged alternately. Each combustion chamber has 32 to 40 combustion channels. The width of the combustion chamber wall gradually decreases from the coke pushing side to the coke exiting side. When masonry, the burners on both sides of the coke pushing side and the coke exiting side of the coke oven must be built first to control the verticality and elevation of the entire wall.
  • the coke oven masonry After the coke oven masonry is put into production, such as the combustion chamber and the carbonization chamber, it has been in a high temperature environment of more than 1,000 degrees for a long time, and the walls directly rub against the coal.
  • the wall must be vertical and flat, and the slurry between the bricks must also meet the design specifications.
  • the brick mold has a certain draft angle. Different molds are used for the same brick type, and the subtle differences in the bricks are difficult to identify.
  • Even if the entire wall is guaranteed to be Verticality, but it is also very likely that there will be misalignment between the upper and lower brick layers and between the front and rear bricks.
  • this application provides a coke oven body masonry system that can meet the precise positioning of coke oven body bricks, the saturation of the mud between the masonry and bricks, and the control of the verticality and elevation of the oven body masonry.
  • This application provides a coke oven body masonry system, including an articulated robot, a masonry execution end, a refractory mud conveyor, a ground rail and a vertical lifting platform;
  • the articulated robot and the refractory mud conveyor are installed on the vertical lifting platform through the ground rail, and the masonry execution end is installed at the end of the articulated robot;
  • the masonry execution end includes a vacuum suction device, a vibration device and a ruler.
  • the vacuum suction tool is used to absorb bricks.
  • the refractory mud conveyor is used to apply mud slurry on the bricks.
  • the ruler is used to After the bricks are placed close to the vertical surface of the wall, the vibration device is used to vibrate on the surface of the bricks;
  • the vacuum suction tool is a sponge vacuum suction cup and has a plurality of honeycomb suction holes, and each of the honeycomb suction holes is configured to be independently controlled.
  • the standard section, lifting rack, lifting drive motor, gear 2, guide frame and load-bearing platform, the guide frame is provided with guide wheels to allow the guide frame to slide along the standard section as the path, the standard section There is a lifting rack on the guide frame, a lifting drive motor on the guide frame, a second gear on the output shaft of the lift drive motor, the second gear meshes with the lifting rack, and the guide frame is used to support the connection.
  • the load-bearing platform is used to support the connection.
  • the ground rail includes a track frame, a translation rack, a moving base plate, a translation drive motor, and a gear.
  • the translation rack is fixedly installed on the track frame, and the upper surface of the track frame is movably mounted.
  • Mobile base plate, so The translation drive motor is fixedly mounted on the upper surface of the moving base plate.
  • the output end of the translation drive motor is provided with gear one, and the gear one meshes with the translation rack.
  • the masonry execution end also includes a base, the main body of which is formed by an L-shaped base body, a T-shaped base body and a V-shaped base body;
  • the short end of the L-shaped base is connected to the end of the articulated robot, and the long end of the L-shaped base is vertically connected to the short end of the T-shaped base.
  • the short end of the T-shaped base is equipped with a motor that is connected to the vacuum
  • the suction tool is rotatably connected.
  • the long end of the T-shaped base body is provided with a motor and is rotatably connected to the apex of the V-shaped base body.
  • the ends of the two sides of the V-shaped base body are respectively provided with a vibration device and a vibration device. Rely on the ruler.
  • a cylinder is provided between the V-shaped base body, the vibration device and the ruler.
  • the cylinders of the two cylinders are fixedly connected to both ends of the V-shaped base body, and the piston rods of the two cylinders are respectively connected to the vibration device.
  • the device is connected to the ruler, and the cylinder is driven by pneumatic equipment.
  • the vacuum suction tool is a sponge vacuum suction cup and has a plurality of honeycomb suction holes, and each honeycomb suction hole is configured to be independently controlled.
  • the vibration device includes a housing, a vibration motor, a drive shaft and an eccentric block; the vibration motor is installed in the housing, and drive shafts are provided on both sides of the vibration motor, and the drive shaft moves along the axial direction Install multiple eccentric blocks.
  • the refractory mud conveyor includes a material box, a motor, a steering gear, an output shaft, an agitator, a spiral blade and a conveying pipe.
  • the material box is used to place a container of refractory mud.
  • the space of the material box There is a stirrer inside, and the conveying pipe is connected with the material box.
  • the motor 4 is drivingly connected to the steering gear.
  • the steering gear is provided with an input shaft and an output shaft.
  • the output shaft of the diverter is drivingly connected to the agitator.
  • the coke oven body masonry system of this application includes an articulated robot, a masonry execution end, a refractory mud conveyor, a ground rail and a vertical lifting platform.
  • the articulated robot and the refractory mud conveyor are installed on the vertical lifting platform through the ground rail.
  • the masonry execution end is installed at the end of the joint robot.
  • the masonry execution end includes a sponge vacuum suction cup, a vibration device and a ruler.
  • the bricks are absorbed by the sponge vacuum suction cup.
  • the refractory mud conveyor spreads mud material on the bricks. After the block is in place, the ruler is close to the vertical surface of the wall.
  • the vibration device vibrates on the upper surface of the bricks.
  • the sides of the bricks are in close contact with the ruler, eliminating the slight slope of the brick drafting and making the furnace head vertical.
  • the vibration of the vibration device discharges the air in the mud material, thereby improving the fullness of the masonry mud.
  • the vacuum suction tool at the execution end of the masonry uses a sponge vacuum suction cup.
  • honeycomb suction holes By using honeycomb suction holes, each hole is independently controlled. When sucking bricks, the vacuum will be automatically turned on. Once it touches a hole or groove, these The suction hole will automatically close, which can maintain the entire vacuum system from leaking, achieve the effect of successfully absorbing irregular bricks, and adapt to the absorption of different types of bricks.
  • Figure 1 is a schematic structural diagram of the coke oven body masonry system provided by the embodiment of the present application.
  • Figure 2 is a schematic side view of Figure 1;
  • Figure 3 is a schematic diagram of one side of the refractory slurry conveyor in Figure 1;
  • Figure 4 is a schematic diagram of one side of the air compressor equipment in Figure 1;
  • Figure 5 is a schematic diagram of the application scenario of the coke oven body masonry system of this application.
  • Figure 6 is a schematic diagram of the assembly of the masonry execution end and the joint robot end of this application.
  • Figure 7 is a schematic diagram of the vibration device and the support ruler at the execution end of masonry in this application being adjusted to a horizontal state;
  • Figure 8 is a schematic diagram of the vacuum suction device adsorbing bricks according to the present application.
  • Figure 9 is a schematic side view of the vacuum suction device adsorbing bricks according to the present application.
  • Figure 10 is a schematic diagram of the vibration device and the ruler jointly laying bricks in this application;
  • Figure 11 is a schematic side view of bricks laid jointly by the vibration device and the ruler according to the present application.
  • Figure 12 is a schematic diagram of the refractory slurry conveyor of this application.
  • Figure 13 is a schematic diagram of the interior of the material box and conveying pipe of the refractory slurry conveyor of this application;
  • Figure 14 is a schematic structural diagram of the coke oven bricks before they are laid
  • Figure 15 is a schematic structural diagram of the coke oven bricks behind the masonry.
  • the components in the figure are identified as follows: 10-vertical lifting platform; 11-standard section; 12-lifting rack; 13-lifting drive motor; 14-gear two; 15-guide frame; 16-load platform; 17-guide wheel; 20-ground rail; 21-track frame; 22-translation rack; 23-moving base plate; 24-translation drive motor; 25-gear one; 60-joint robot; 60a-end; 70-masonry execution end; 71-vacuum gripper; 72-vibration device; 721-casing; 722-vibration motor; 723-driving shaft; 724-eccentric block; 73-foot ruler; 741-L-shaped base; 742-T-type base; 743-V-type base; 75-motor one; 76-motor two; 77-cylinder; 771-cylinder block; 772-piston rod; 78-motor three; 79-air pressure equipment; 80-Refractory mud conveyor; 81-Material box; 82-Motor four;
  • first and second are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, features defined as “first” and “second” may explicitly or implicitly include one or more of the described features. In the description of this application, “plurality” means two or more than two, unless otherwise explicitly and specifically limited.
  • connection should be understood in a broad sense.
  • connection or integral connection; it can be mechanical connection, electrical connection or mutual communication; it can be direct connection, or indirect connection through an intermediary, it can be internal connection of two elements or interaction of two elements relation.
  • the coke oven body masonry system of this application mainly includes a vertical lifting platform 10, a ground rail 20, an articulated robot 60, a masonry execution end 70 and a refractory mud conveyor 80.
  • the vertical lifting platform The platform 10 is located at the coke pushing side and the coke exiting side of the coke oven.
  • the articulated robot 60 and the refractory mud conveyor 80 are installed on the vertical lifting platform 10.
  • the masonry execution end 70 is installed at the end of the joint robot 60.
  • the masonry execution end 70 includes a vacuum
  • the suction tool 71, the vibration device 72 and the support ruler 73 absorb the bricks 300 through the vacuum suction tool 71, and the refractory mud conveyor 80 spreads mud slurry on the bricks 300.
  • the support ruler 73 is close to the wall.
  • the vibration device 72 vibrates on the upper surface of the brick 300, and the side of the brick 300 is in close contact with the support ruler 73, eliminating the slight slope of the draft of the brick 300, making the wall masonry of the furnace body 200 vertical, and at the same time, the mud material is in the The air is discharged, which improves the fullness of the masonry mud.
  • the vertical lifting platform 10 includes a standard section 11, a lifting rack 12, a lifting drive motor 13, a second gear 14, a guide frame 15 and a load-bearing platform 16.
  • the standard section 11 is a combination of four round tubes. With a square frame structure, the outer surfaces of the four round tubes of the standard section 11 serve as rails for lifting and adjusting the guide frame 15.
  • the guide frame 15 is provided with a frame, and guide wheels 17 are provided in both directions at the four corners of the frame, so that the guide frame 15 moves with the standard section.
  • the lifting drive motor 13 is synchronously controlled by the joint robot 60 control system to move vertically.
  • the lower part of the frame structure of the guide frame 15 is provided with a load platform 16 and another set of guide frames 15 to connect and support the load platform 16. supporting structure.
  • the ground rail 20 includes a track frame 21, a translation rack 22, a moving base plate 23, a translation drive motor 24, and a gear 25.
  • the translation rack 22 is fixedly installed on the inside or outside of the track frame 21, and the track A movable base plate 23 is movably installed on the upper surface of the frame 21, and a translation drive motor 24 is fixedly installed on the upper surface of the movable base plate 23.
  • the output end of the translation drive motor 24 is provided with a gear 25, and the gear 25 meshes with the translation rack 22, and the translation drive
  • the motor 24 is synchronously controlled by the control system of the joint robot 60 to move horizontally.
  • the articulated robot 60 is also called an articulated mechanical arm or a multi-jointed robot 60.
  • the six-axis articulated robot 60 used in this example has a mechanical body that mainly consists of a base part, a swivel part, a big arm part, a small arm part, a wrist body part, a wrist, etc. Partially composed.
  • the joints of the mechanical body are driven by servo motors, and each joint cooperates with each other to adjust the position and attitude of the end 60a of the articulated robot 60 in space.
  • the working range of the horizontal movement and vertical movement of the articulated robot 60 is expanded. Under the precise identification and positioning control of the articulated robot 60 control system and high-precision three-dimensional vision technology, the coke oven oven is completed.
  • the masonry execution end 70 also includes a base.
  • the main body of the base is composed of an L-shaped base body 741, a T-shaped base body 742 and a V-shaped base body 743.
  • the L-shaped base body 741 The short end of the joint robot 60 is connected to the end 60a of the articulated robot 60.
  • the long end of the L-shaped base 741 is vertically connected to the short end of the T-shaped base 742.
  • the other end of the short end of the T-shaped base 742 is provided with a motor 75, which is connected to the vacuum.
  • the suction tool 71 is rotatably connected.
  • the long end of the T-shaped base body 742 is provided with a motor 76, which is rotatably connected to the vertex of the V-shaped base body 743.
  • the two sides of the V-shaped base body 743 are perpendicular to each other.
  • the ends are respectively provided with a vibration device 72 and a support ruler 73.
  • the angle of the V-shaped base 743 is adjusted by the motor 276 to adjust the vertical state of the vibration device 72 and the ruler 73 to a horizontal state.
  • a cylinder 77 is provided between the V-shaped base body 743 and the vibration device 72 and the ruler 73.
  • the cylinders 771 of the two cylinders 77 are respectively connected with the V-shaped base body 743. Both ends are fixedly connected, and the piston rods 772 of the two cylinders 77 are respectively connected with the vibration device 72 and the ruler 73.
  • the end of the piston rod 772 connected with the ruler 73 is provided with a motor 378 to adjust the angle of the ruler 73.
  • the cylinder 77 is driven by compressed air, and the air compressor 79 is synchronously controlled by the control system of the joint robot 60 to adjust the expansion and contraction of the cylinder 77 .
  • the first motor 75 , the second motor 76 and the third motor 78 are synchronously controlled by the joint robot 60 control system.
  • the vacuum suction tool 71 in this example is a sponge vacuum suction cup.
  • each hole is independently controlled. When sucking the product, the vacuum will be automatically turned on. Once it touches a hole or uneven place, these suction holes will Automatically shuts down, which can maintain the entire vacuum system from leaking and achieve successful handling.
  • Each hole of the sponge vacuum suction cup has a built-in independent one-way valve to prevent the vacuum from leaking when the object is smaller than the sponge suction cup or the object is not completely covered in the suction cup. The one-way valve will automatically close when there is no contact with the object, without affecting the the conduct of its work.
  • the sponge vacuum suction cup has a built-in vacuum generator and is driven by compressed air.
  • the air pressure equipment 79 is synchronously controlled by the control system of the joint robot 60 to adjust the expansion and contraction of the cylinder 77 .
  • the vibration device 72 includes a housing 721, a vibration motor 722, a drive shaft 723 and an eccentric block 724.
  • the housing 721 is provided with a support in the middle to install the vibration motor 722.
  • the vibration motor 722 is provided with drive shafts 723 on both sides.
  • the drive shaft 723 A plurality of eccentric blocks 724 are installed along the axial direction. When the driving shaft 723 rotates, the eccentric blocks 724 are continuously vibrated, so that the housing 721 generates a uniform vibration force.
  • the fire resistance between the bricks 300 is reduced.
  • the mud is vibrated, and the vibration motor 722 is synchronously controlled by the joint robot 60 control system to vibrate.
  • the refractory slurry conveyor 80 mainly includes a material box 81, a motor 82, a steering gear 83, an output shaft, a stirrer 84, a spiral blade 86, a conveying pipe 87 and a control box 88.
  • the material box 81 In order to place the container of refractory mud, a stirrer 84 is provided in the space, and a conveying pipe 87 is provided on one side of the material box 81.
  • the conveying pipe 87 is connected with the material box 81, and a spiral blade 86 is provided in the conveying pipe 87.
  • the material box 81 The lower part is provided with a steering gear 83.
  • the motor 82 is located on one side of the steering gear 83 and is drivingly connected to the steering gear 83.
  • the steering gear 83 is provided with an input shaft 831 and two output shafts 832.
  • the output shaft of the steering gear 83 is connected to the agitator. 84 drive connection, the agitator 84 stirs the refractory mud in the material box 81, the spiral blade 86 is set in the conveying pipe 87, and the refractory mud can be conveyed to the pipe mouth when rotating, and the upper end of the conveying pipe 87 is set as a flat mouth to facilitate control
  • the control box 88 is synchronously controlled by the control system of the joint robot 60 to output the refractory mud.
  • the material box 81 is provided with a box cover 881 and a box buckle 882 to facilitate loading and cleaning of the box body.
  • a vertical lifting platform 10 is installed on the coke pushing side and coke exiting side of the coke oven.
  • the vertical lifting platform 10 is established according to the bearing capacity, and the standard section 11 is connected and supported with the steel structure factory building where the coke oven is built.
  • the control system of the lifting drive motor 13 of the vertical lifting platform 10 will be interactively unified debugged and controlled when the control system of the joint robot 60 is established.
  • a track frame 21 is installed on the vertical lifting platform 10.
  • a translation rack 22 is fixedly installed on the inside or outside of the track frame 21.
  • a movable base plate 23 is movably installed on the upper surface of the track frame 21.
  • a translation drive motor 24 is fixedly installed on the upper surface of the movable base plate 23. The output end of the drive motor 24 is installed with a gear 25, which meshes with the translation rack 22, and tests the operation of the ground rail 20.
  • the control system of the translation drive motor 24 will be interactively unified debugged and controlled when the control system of the joint robot 60 is established.
  • the joint robot 60, the control cabinet and the refractory mud conveyor 80 are installed on the moving base plate 23 of the ground rail 20, and the lifting drive motor 13 of the vertical lifting platform 10 is controlled, and the translation drive motor 24 located on the ground rail is controlled and the refractory mud conveyor is controlled.
  • the machine 80 establishes contact with the control system of the joint robot 60 for interactive unified debugging and control.
  • the masonry execution end 70 and the three-dimensional vision system at the end 60a of the joint robot 60 connect the cylinder 77 with the air compressor equipment 79, the motor one 75, the second motor 76, the three motors and the four motors 82, the air compressor equipment 79 and the three-dimensional vision system
  • the vision system establishes contact with the control system of the joint robot 60 for interactive unified debugging and control, and further uses the teaching pendant to complete all functions of controlling the joint robot 60 .
  • the coke oven body masonry system is started, and the three-dimensional vision system 300 is identified, and the control system of the joint robot 60 drives the sponge vacuum suction cup to absorb the brick 300, and then turns to the refractory mud conveyor 80 to plaster the bottom and sides of the brick 300, and then lays the brick 300 on the position of the furnace body 200.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Oil, Petroleum & Natural Gas (AREA)
  • Organic Chemistry (AREA)
  • Furnace Housings, Linings, Walls, And Ceilings (AREA)

Abstract

本申请公开了焦炉炉体砌筑系统。焦炉炉体砌筑系统包括：垂直升降平台，位于垂直升降平台上的地轨，位于地轨上的关节机器人、耐火泥浆输送机，安装在关节机器人端部的砌筑执行端。砌筑执行端包括真空吸具、振动装置和靠尺。本方案中，真空吸具吸附砖块，耐火泥浆输送机在砖块上抹泥浆料，当砖块落位后，靠尺紧贴墙体垂直面，振动装置在砖块表面振动，消除砖块拔模的细微斜度，使炉头砌筑垂直，同时振动装置的振捣，使泥浆料中空气排出，从而提高砌筑的浆饱满度。真空吸具为海绵真空吸盘，当吸取砖块时会自动开启真空，一旦碰到孔或者凹槽的地方，吸孔会自动关闭，可以维持真空吸具不泄露，而成功吸取不规则砖块，可应用于不同类型砖块的吸取。

Description

焦炉炉体砌筑系统 技术领域
本申请涉及焦炉的技术领域，尤其涉及焦炉炉体砌筑系统。
背景技术
焦炉是用煤炼制焦炭的窑炉，是炼焦的主要热工设备，其砌体结构复杂，砖型种类多样。以焦炉燃烧室部位为例，由几十个炭化室和燃烧室相间配置，每个燃烧室有32～40个燃烧火道，燃烧室墙宽从推焦侧往出焦侧逐渐变小。砌筑时需率先砌筑焦炉推焦侧和出焦侧的两侧炉头，以便控制整个墙体的垂直度和标高。
由于传统的砌筑工艺都是采用人工作业方式完成，劳动密集程度高，人工逐渐稀缺，随着工业关节机器人技术的发展，多关节机械手或多自由度的机器砌筑装置日渐在建筑行业得到应用，实现建筑墙体的砌筑。建筑墙体的砖块或砌块型号单一，墙面砌筑后，其表面用砂浆找平，因此对砌筑过程中墙面垂直度、平整度、泥浆饱满度等指标的瑕疵有一定的宽容度。而焦炉的单块砖块重量从几公斤到几十公斤，焦炉砌体投产后，如燃烧室、炭化室，长期处在一千多度的高温环境，墙面直接与煤料摩擦，砌筑时必须保证墙面的垂直和平整，砖块之间的泥浆饱满度也必须满足设计指标。另外，异形砖块在生产时，为了便于脱模，砖模存在一定的拔模斜度，同一种砖型使用的模具不同，砖块的细微差别不易识别，砌筑时，即便保证整墙的垂直度，但也极有可能出现上下砖层之间、前后砖块之间的错台。
发明内容
有鉴于此，本申请提供焦炉炉体砌筑系统，能够满足焦炉炉体砖块的精准定位、砌筑和砖块之间的泥浆饱满度和炉体砌筑垂直度和标高的控制。
本申请提供一种焦炉炉体砌筑系统，包括关节机器人、砌筑执行端、耐火泥浆输送机、地轨和垂直升降平台；
其中，关节机器人和耐火泥浆输送机通过地轨安装在垂直升降平台上，砌筑执行端安装在关节机器人端部；
所述砌筑执行端包括真空吸具、振动装置和靠尺，所述真空吸具用以吸附砖块，所述耐火泥浆输送机用以在砖块上抹泥浆料，所述靠尺用以在砖块落位后紧贴墙体垂直面，所述振动装置用以在砖块的表面振动；
所述真空吸具为海绵真空吸盘，并具有多个蜂巢式吸孔，每个所述蜂巢式吸孔被配置成独立控制。
可选地，所述标准节、升降齿条、升降驱动电机、齿轮二、导向框架和载重平台，所述导向框架上设有导向轮以使导向框架以标准节为路径滑动，所述标准节上设有升降齿条，所述导向框架上设有升降驱动电机，所述升降驱动电机的输出轴上设有齿轮二，所述齿轮二与升降齿条啮合，所述导向框架用以支撑连接所述载重平台。
可选地，所述地轨包括轨道框架、平移齿条、移动底板、平移驱动电机、齿轮一，所述轨道框架上固定安装有所述平移齿条，所述轨道框架的上表面活动安装有移动底板，所 述移动底板上表面固定安装有所述平移驱动电机，所述平移驱动电机的输出端设有齿轮一，齿轮一与平移齿条啮合。
可选地，所述砌筑执行端还包括基座，基座的主体由L型座体、T型座体和V型座体所形成；
其中，L型座体的短端与关节机器人的末端连接，L型座体的长端与T型座体的短端一头垂直连接，所述T型座体短端设有电机一并与真空吸具转动连接，所述T型座体的长端端部设有电机二并与V型座体的顶点转动连接，所述V型座体的两个边的端部分别设有振动装置和靠尺。
可选地，所述V型座体与振动装置和靠尺之间均设有气缸，两个气缸的缸体分别与V型座体的两端固定连接，两个气缸的活塞杆分别与振动装置和靠尺连接，所述气缸通过空压设备驱动。
可选地，所述真空吸具为海绵真空吸盘，并具有多个蜂巢式吸孔，每个所述蜂巢式吸孔被配置成独立控制。
可选地，所述振动装置包括壳体、振动电机、驱动轴和偏心块；所述壳体内安装所述振动电机，所述振动电机两侧均设有驱动轴，所述驱动轴沿轴向安装多个偏心块。
可选地，所述耐火泥浆输送机包括料箱、电机四、转向器、输出轴、搅拌器、螺旋叶片和输送管，所述料箱用以放置耐火泥浆的容器，所述料箱的空间内设有搅拌器，所述输送管与料箱之间连通，所述输送管内设有螺旋叶片，所述电机四与转向器驱动连接，所述转向器设有一个输入轴和一个输出轴，所述转向器的输出轴与搅拌器驱动连接。
以上提供的焦炉炉体砌筑系统，具有以下有益效果：
1、本申请的焦炉炉体砌筑系统，包括关节机器人、砌筑执行端、耐火泥浆输送机、地轨和垂直升降平台，其中，关节机器人和耐火泥浆输送机通过地轨安装在垂直升降平台上，砌筑执行端安装在关节机器人端部，砌筑执行端包括海绵真空吸盘、振动装置和靠尺，通过海绵真空吸盘吸附砖块，耐火泥浆输送机在砖块上抹泥浆料，砖块落位后，靠尺紧贴墙体垂直面，振动装置在砖块上表面振动，砖块侧面与靠尺紧贴，消除砖块拔模的细微斜度，使炉头砌筑垂直，同时振动装置的振捣，使泥浆料中的空气排出，从而提高砌筑的泥浆饱满度。
2、砌筑执行端的真空吸具采用一种海绵真空吸盘，通过采用蜂巢式吸孔，每个孔独立控制，当吸取砖块时会自动开启真空，一旦碰到孔或者凹槽的地方，这些吸孔会自动关闭，这样可以维持整个真空系统不泄露，而达到成功吸取不规则砖块的效果，适应不同类型砖块的吸取。
附图说明
下面结合附图，通过对本申请的具体实施方式详细描述，将使本申请的技术方案及其它有益效果显而易见。
图1为本申请实施例提供的焦炉炉体砌筑系统结构示意图；
图2为图1的侧视示意图；
图3为图1耐火泥浆输送机一侧示意图；
图4为图1的空压设备一侧示意图；
图5为本申请焦炉炉体砌筑系统应用场景示意图；
图6为本申请砌筑执行端与关节机器人末端组装示意图；
图7为本申请砌筑执行端振动装置和靠尺调整为水平状态的示意图；
图8为本申请真空吸具吸附砖块示意图；
图9为本申请真空吸具吸附砖块的侧视示意图；
图10为本申请振动装置与靠尺联合砌筑砖块的示意图；
图11为本申请振动装置与靠尺联合砌筑砖块的侧视示意图；
图12为本申请耐火泥浆输送机示意图；
图13为本申请耐火泥浆输送机料箱和输输送管内部示意图；
图14焦炉的砖块处于未砌砖之前的结构示意图；
图15焦炉的砖块处于砌体之后的结构示意图。
其中，图中元件标识如下：
10-垂直升降平台；11-标准节；12-升降齿条；13-升降驱动电机；14-齿轮二；15-导
向框架；16-载重平台；17-导向轮；
20-地轨；21-轨道框架；22-平移齿条；23-移动底板；24-平移驱动电机；25-齿轮
一；
60-关节机器人；60a-末端；
70-砌筑执行端；71-真空吸具；72-振动装置；721-壳体；722-振动电机；723-驱动
轴；724-偏心块；73-靠尺；741-L型座体；742-T型座体；743-V型座体；75-电机一；76-电机二；77-气缸；771-缸体；772-活塞杆；78-电机三；79-空压设备；
80-耐火泥浆输送机；81-料箱；82-电机四；83-转向器；831-输入轴；832-输出轴；
84-搅拌器；86-螺旋叶片；87-输送管；88-控制箱；881-箱盖；882-箱扣；
200-炉体；300-砖块。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了 简化本申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
本申请焦炉炉体砌筑系统，如图1-图5所示，主要包括垂直升降平台10、地轨20、关节机器人60、砌筑执行端70和耐火泥浆输送机80，其中，垂直升降平台10位于焦炉推焦侧和出焦侧，关节机器人60和耐火泥浆输送机80安装在垂直升降平台10上，砌筑执行端70安装在关节机器人60端部，砌筑执行端70包括真空吸具71、振动装置72和靠尺73，通过真空吸具71吸附砖块300，耐火泥浆输送机80在砖块300上抹泥浆料，砖块300落位后，靠尺73紧贴墙体垂直面，振动装置72在砖块300上表面振动，砖块300侧面与靠尺73紧贴，消除砖块300拔模的细微斜度，使炉体200墙面砌筑垂直，同时泥浆料中的空气排出，提高了砌筑的泥浆饱满度。
如图1-图5所示，垂直升降平台10包括标准节11、升降齿条12、升降驱动电机13、齿轮二14、导向框架15和载重平台16，标准节11为四根圆管组合的方框结构，标准节11的四根圆管外表面为导向框架15升降调节的轨道，导向框架15设有框架，框架四角的两个方向均设有导向轮17，使导向框架15以标准节11为路径滑动，标准节11方框结构外侧设有升降齿条12，导向框架15的框架结构上部设有升降驱动电机13，升降驱动电机13的输出轴上设有齿轮二14，齿轮二14与升降齿条12啮合，升降驱动电机13受关节机器人60控制系统同步控制进行垂直移动，导向框架15的框架结构下部设有载重平台16和另一组导向框架15，以便连接支撑载重平台16的支撑结构。
如图1-图5所示，地轨20包括轨道框架21、平移齿条22、移动底板23、平移驱动电机24、齿轮一25，轨道框架21的内侧或外侧固定安装平移齿条22，轨道框架21的上表面活动安装有移动底板23，移动底板23上表面固定安装有平移驱动电机24，平移驱动电机24的输出端设有齿轮一25，齿轮一25与平移齿条22啮合，平移驱动电机24受关节机器人60控制系统同步控制进行水平移动。
关节机器人60，也称关节机械手臂或多关节机器人60，本实例采用的六轴关节机器人60，机械本体主要由底座部分、转座部分、大臂部分、小臂部分、手腕体部分、手腕等部分组成。机械本体关节由伺服电机驱动，各关节相互配合以实现关节机器人60末端60a在空间中的位置和姿态调整。结合横梁30上的天轨40和垂直升降平台10，扩展了关节机器人60水平移动和垂直移动的工作范围，在关节机器人60控制系统和高精度三维视觉技术精准识别定位控制下，完成焦炉炉体200异形砖块300的选取、抹料、砌筑的工作。
如图6-图11所示，砌筑执行端70还包括基座，基座的主体由L型座体741、T型座体742和V型座体743组成，其中，L型座体741的短端与关节机器人60的末端60a连接，L型座体741的长端与T型座体742的短端一头垂直连接，T型座体742短端的另一头设有电机一75，与真空吸具71转动连接，T型座体742的长端端部设有电机二76，与V型座体743的顶点转动连接，V型座体743的两个边互为垂直，两个边的端部分别设有振动装置72和靠尺73。通过电机二76调整V型座体743的角度，以便将振动装置72和靠尺73的竖直状态调整成水平状态，真空吸具71吸取砖块300时，振动装置72和靠尺73不会与砖块300造成干涉。
为了增加振动装置72和靠尺73的施力性能，V型座体743与振动装置72和靠尺73之间均设有气缸77，两个气缸77的缸体771分别与V型座体743的两端固定连接，两个气缸77的活塞杆772分别与振动装置72和靠尺73连接，活塞杆772外伸时，即可增加振动装置72和靠尺73对砖块300施力的力度。与靠尺73连接的活塞杆772端设有电机三78，以便调整靠尺73的角度。气缸77通过压力空气驱动，空压设备79受关节机器人60控制系统同步控制进行气缸77伸缩的调节。电机一75、电机二76和电机三78受关节机器人60控制系统同步控制。
本实例的真空吸具71是一种海绵真空吸盘，通过采用蜂巢式吸孔，每个孔独立控制，当吸取产品时会自动开启真空，一旦碰到孔或者凹凸不平的地方，这些吸孔会自动关闭，这样可以维持整个真空系统不泄露，而达到成功搬运的效果。海绵真空吸盘的每个孔中内置独立的单向阀，防止吸取物件时物件小于海绵吸盘或被吸物没有完全覆盖于吸盘中而泄露真空，单向阀在没有接触物体时会自动关闭，不影响其工作的进行。海绵真空吸盘内置真空发生器，通过压力空气驱动，空压设备79受关节机器人60控制系统同步控制进行气缸77伸缩的调节。
振动装置72包括壳体721、振动电机722、驱动轴723和偏心块724，其中，壳体721中部设有支座安装振动电机722，振动电机722两侧均设有驱动轴723，驱动轴723沿轴向安装多个偏心块724，驱动轴723旋转时带动偏心块724不断产生振动，使得壳体721产生均匀的振动力，在砌筑砖块300的过程中对砖块300之间的耐火泥浆进行振捣，振动电机722受关节机器人60控制系统同步控制进行振捣。
如图12、图13所示，耐火泥浆输送机80主要包括料箱81、电机四82、转向器83、输出轴、搅拌器84、螺旋叶片86、输送管87和控制箱88，料箱81为放置耐火泥浆的容器，空间内设有搅拌器84，料箱81一侧设有输送管87，输送管87与料箱81之间连通，输送管87内设有螺旋叶片86，料箱81下部设有转向器83，电机四82位于转向器83的一侧，与转向器83驱动连接，转向器83设有一个输入轴831和二个输出轴832，转向器83的输出轴与搅拌器84驱动连接，搅拌器84在料箱81中对耐火泥进行搅拌，螺旋叶片86套装在输送管87中，旋转时可将耐火泥输送到管口，输送管87上端设为扁口，以便控制出料，控制箱88受关节机器人60控制系统同步控制进行耐火泥浆的输出。
料箱81设有箱盖881和箱扣882，便于装料和箱体的清理。
如图5、图14、图15所示，焦炉炉体砌筑系统使用时，
首先在焦炉的推焦侧和出焦侧安装垂直升降平台10，垂直升降平台10的建立根据承载能力布置，标准节11与建造焦炉的钢结构厂房进行连接支撑。垂直升降平台10的升降驱动电机13控制系统待关节机器人60控制系统建立时进行交互统一调试及控制。
在垂直升降平台10上安装轨道框架21，轨道框架21的内侧或外侧固定安装平移齿条22，轨道框架21的上表面活动安装移动底板23，移动底板23上表面固定安装平移驱动电机24，平移驱动电机24的输出端安装齿轮一25，与平移齿条22啮合，并测试地轨20运行情况，平移驱动电机24的控制系统待关节机器人60控制系统建立时进行交互统一调试及控制。
将关节机器人60及控制柜和耐火泥浆输送机80安装在地轨20的移动底板23上，将垂直升降平台10的升降驱动电机13控制、位于地轨上的平移驱动电机24控制和耐火泥浆输送机80与关节机器人60控制系统建立联系，进行交互统一调试及控制。
在关节机器人60的末端60a安装砌筑执行端70和三维视觉系统，将气缸77与空压设备79进行连接，电机一75、电机二76、电机三和电机四82、空压设备79和三维视觉系统与关节机器人60控制系统建立联系，进行交互统一调试及控制，进一步使用示教器完成控制关节机器人60的所有功能。
进入炉体200的砌筑阶段，对炉体200的砖块300(砖块300是采用耐火材质制成的耐火砖)进行备料后，启动焦炉炉体砌筑系统，三维视觉系统对砖块300进行识别，关节机器人60控制系统驱动海绵真空吸盘吸附砖块300，转向耐火泥浆输送机80进行砖块300底面和侧面的抹灰后，再将砖块300初砌筑在炉体200位置上，松开海绵真空吸盘，180°旋转关节机器人60末端60a(第六轴)，使靠尺73紧贴墙体垂直面，振动装置72在砖块300上表面振动，砖块300侧面与靠尺73紧贴，消除砖块300拔模的细微斜度，使炉体200的砖块300砌筑垂直，同时泥浆料中的空气排出。
使用相同的方式将一个工作区域砌筑多层后，再相继完成其它的工作区域的炉体200的砌筑，待同高度的炉体200的墙完成砌筑后，统一调整垂直升降平台10进入新一轮的炉体200的砌筑。
以上所述，仅为本申请较佳的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。

Claims (6)

  1. 一种焦炉炉体砌筑系统，其特征在于，包括关节机器人、砌筑执行端、耐火泥浆输送机、地轨和垂直升降平台；
    其中，关节机器人和耐火泥浆输送机通过地轨安装在垂直升降平台上，砌筑执行端安装在关节机器人端部；
    所述砌筑执行端包括真空吸具、振动装置和靠尺，所述真空吸具用以吸附砖块，所述耐火泥浆输送机用以在砖块上抹泥浆料，所述靠尺用以在砖块落位后紧贴墙体垂直面，所述振动装置用以在砖块的表面振动；
    所述真空吸具为海绵真空吸盘，并具有多个蜂巢式吸孔，每个所述蜂巢式吸孔被配置成独立控制；
    所述砌筑执行端还包括基座，基座的主体由L型座体、T型座体和V型座体所形成；
    其中，L型座体的短端与关节机器人的末端连接，L型座体的长端与T型座体的短端一头垂直连接，所述T型座体短端设有电机一并与真空吸具转动连接，所述T型座体的长端端部设有电机二并与V型座体的顶点转动连接，所述V型座体的两个边的端部分别设有振动装置和靠尺。
  2. 根据权利要求1所述焦炉炉体砌筑系统，其特征在于，所述垂直升降平台包括标准节、升降齿条、升降驱动电机、齿轮二、导向框架和载重平台，所述导向框架上设有导向轮以使导向框架以标准节为路径滑动，所述标准节上设有升降齿条，所述导向框架上还设有升降驱动电机，所述升降驱动电机的输出轴上设有齿轮二，所述齿轮二与升降齿条啮合，所述导向框架用以支撑连接所述载重平台。
  3. 根据权利要求1所述焦炉炉体砌筑系统，其特征在于，所述地轨包括轨道框架、平移齿条、移动底板、平移驱动电机、齿轮一，所述轨道框架上固定安装有所述平移齿条，所述轨道框架的上表面活动安装有移动底板，所述移动底板上表面固定安装有所述平移驱动电机，所述平移驱动电机的输出端设有齿轮一，齿轮一与平移齿条啮合。
  4. 根据权利要求1所述焦炉炉体砌筑系统，其特征在于，所述V型座体与振动装置之间、所述V型座体与靠尺之间均设有气缸，两个气缸的缸体分别与V型座体的两端固定连接，两个气缸的活塞杆分别与振动装置和靠尺连接，所述气缸通过空压设备驱动。
  5. 根据权利要求1所述焦炉炉体砌筑系统，其特征在于，所述振动装置包括壳体、振动电机、驱动轴和偏心块；所述壳体内安装所述振动电机，所述振动电机两侧均设有驱动轴，所述驱动轴沿轴向安装多个偏心块。
  6. 根据权利要求1所述焦炉炉体砌筑系统，其特征在于，所述耐火泥浆输送机包括料箱、电机四、转向器、输出轴、搅拌器、螺旋叶片和输送管，所述料箱用以放置耐火泥浆的容器，所述料箱的空间内设有搅拌器，所述输送管与料箱之间连通，所述输送管内设有螺旋叶片，所述电机四与转向器驱动连接，所述转向器设有一个输入轴和二个输出轴，所述转向器的输出轴与搅拌器驱动连接。
PCT/CN2023/109957 2022-08-04 2023-07-28 焦炉炉体砌筑系统 WO2024027605A1 (zh)

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