阅读说明：本技术 一种智能焦炉直行测温机器人系统及测温控制方法 (Intelligent coke oven straight-moving temperature measurement robot system and temperature measurement control method ) 是由 陈涛 崔伟 张鹏 钱向征 于 2019-08-13 设计创作，主要内容包括：本发明公开了一种智能焦炉直行测温机器人系统及测温控制方法,包括管理平台、轨道总成、供电总成、通信总成和焦炉直行测温机器人；所述管理平台由监控管理站、测温服务器、数据库服务器、流媒体服务器和前端服务器组成的数据监控中心；所述焦炉直行测温机器人由车体耐高温防护外壳、核心控制单元、伺服驱动单元、辅助定位单元、无线通信模块、电源驱动模块、安全避障模块、直行测温模块和机械抓取机构组成,整个机器人本体安装在双圆管型材轨道总成上进行行走,其秉承模块化、高性能、高密度、强兼容、高防护等设计原则,可实现对焦炉的自动测温,代替人工测温,降低劳动强度,提升测温质量,提高工厂产能。(The invention discloses an intelligent coke oven straight-moving temperature measurement robot system and a temperature measurement control method, wherein the intelligent coke oven straight-moving temperature measurement robot system comprises a management platform, a track assembly, a power supply assembly, a communication assembly and a coke oven straight-moving temperature measurement robot; the management platform is a data monitoring center consisting of a monitoring management station, a temperature measurement server, a database server, a streaming media server and a front-end server; the coke oven straight-moving temperature measurement robot is composed of a high-temperature-resistant protective shell of a coke oven body, a core control unit, a servo driving unit, an auxiliary positioning unit, a wireless communication module, a power driving module, a safe obstacle avoidance module, a straight-moving temperature measurement module and a mechanical grabbing mechanism, wherein the whole robot body is installed on a double-circular-tube-shaped-tube track assembly to walk, and the robot body inherits modularization, high performance, high density, strong compatibility, high protection and other design principles, can realize automatic temperature measurement of a coke oven, replaces manual temperature measurement, reduces labor intensity, improves temperature measurement quality and improves factory productivity.)

1. An intelligent coke oven straight-moving temperature measurement robot system is characterized by comprising a management platform (12), a track assembly (13), a power supply assembly (14), a communication assembly (16) and a coke oven straight-moving temperature measurement robot (15);

the management platform (12) is a data monitoring center consisting of a monitoring management station (1201), a temperature measurement server (1202), a database server (1203), a streaming media server (1204) and a front-end server (1205), the data monitoring center is connected with a three-layer switch (1208) through a data interface, an optical fiber ring network (1206) is further connected to the three-layer switch (1208), and the optical fiber ring network (1206) is in data connection with a coke oven straight-ahead temperature measurement robot (15) through a wireless AP network (1207);

the track assembly (13) comprises a double-circular-tube-shaped-tube track (309), a connecting piece (310), a height adjusting support (311) and a horizontal adjusting support (313); the upper part of the double-circular-tube-shaped-tube track (309) is used for driving the coke oven straight-moving temperature measuring robot (15), the lower part of the double-circular-tube-shaped-tube track is supported and connected with a height adjusting bracket (311) through a connecting piece (310), the lower end of the height adjusting bracket (311) is connected with a horizontal adjusting bracket (313) through an adjusting bolt (312), and a horizontal adjusting hole (314) is formed in the horizontal adjusting bracket (313);

the power supply assembly (14) comprises a magnetic resonance non-contact charging system consisting of a magnetic resonance wireless power receiving component (601), a BMS energy management component (602), a lithium iron phosphate or ternary lithium battery (603) and a high-efficiency high-density power converter (604); the magnetic resonance wireless power receiving assembly (601) consists of a wireless charging take-up reel (605) and a wireless charging receiving controller (606), the wireless charging receiving controller (606) realizes data interaction with a wireless charging transmitting controller (607), and the wireless charging transmitting controller (607) is connected with a wireless charging transmitting reel (608);

the communication assembly (16) adopts an integrated network communication system combining a TCP/IP comprehensive data network, an optical fiber ring network (1206) and a wireless AP network (1207), wherein two ends of the top of a coke oven are respectively provided with a wireless base station device or a set of WIFI communication base station is arranged at the position of a coal tower arranged in the middle of the coke oven and is accessed to a field control box, a dual-mode WiFi wireless base station device is arranged on each access node of the field control box, and a waterproof plate-shaped antenna is used as a wireless antenna to realize the real-time communication of a data monitoring center in a coke oven temperature measurement and management platform (12);

the coke oven straight-moving temperature measurement robot (15) is composed of a high-temperature-resistant protective shell (1) of a coke oven body, a core control unit (2), a servo drive unit (3), an auxiliary positioning unit (4), a wireless communication module (5), a power drive module (6), a safe obstacle avoidance module (7), a straight-moving temperature measurement module (9) and a mechanical grabbing mechanism (10), wherein the core control unit (2) is installed in the high-temperature-resistant protective shell (1) of the coke oven body, and the core control unit (2) is in interactive connection with a data monitoring center on a management platform (12) through a wireless AP (1207), an optical fiber ring network (1206) and a three-layer switch (1205); the core control unit (2) comprises a high-temperature industrial controller (201), and the high-temperature industrial controller (201) is connected with a communication interface (202), an analog quantity interface (203) and a digital quantity interface (204) through a control circuit;

the servo driving unit (3) comprises a driving motor (301), a brake (302), a speed reducer (303), an encoder (304), a coupler (305), a driving wheel (306) and a driven wheel (307); the encoder (304) is connected with a core control unit (2); the driving motor (301) is arranged on a chassis support (308), and the chassis support (308) is fixed at the bottom of the high-temperature resistant protective shell (1) of the vehicle body; the driving motor (301) is in transmission connection with a driving wheel (306) through a speed reducer (303) and a coupler (305), the driving wheel (306) is in transmission connection with a driven wheel (307), and the driving wheel (306) and the driven wheel (307) are correspondingly arranged on four end corners of a chassis support (308); the high-temperature resistant protective shell (1) of the vehicle body is connected to a double-circular-tube-shaped-tube track (309) through a driving wheel (306) and a driven wheel (307) which are arranged on a chassis support (308);

the auxiliary positioning unit (4) comprises a high-temperature card reader (401), a high-temperature RFID card (402), a Hall sensor (403) and a positioning magnet (404), the positioning magnet (404) and the Hall sensor (403) realize non-contact positioning, and the Hall sensor (403) and the high-temperature card reader (401) are respectively connected with the core control unit (2);

the wireless communication module (5) consists of a vehicle-mounted wireless industrial module (501) and an omnidirectional high-gain antenna (502), and the vehicle-mounted wireless industrial module (501) is in wireless encrypted connection with the site communication base station through the omnidirectional high-gain antenna (502); the vehicle-mounted wireless industrial module (501) is connected with a core control unit (2) in the vehicle body through a self-adaptive network port through wired Ethernet;

the power supply driving module (6) is composed of a magnetic resonance wireless power receiving assembly (601), a BMS energy management assembly (602), lithium iron phosphate or ternary lithium battery (603), a high-efficiency high-density power converter (604), a wireless charging take-up reel (605), a wireless charging receiving controller (606), a wireless charging transmitting controller (607) and a wireless charging transmitting reel (608) in a power supply assembly (14); the wireless charging receiving controller (606) is installed in a high-temperature resistant protective shell (1) of the vehicle body and connected with the core control unit (2), a wireless charging take-up reel (605) is installed on the upper surface of the high-temperature resistant protective shell (1) of the vehicle body, a wireless charging emission reel (608) aligned with the wireless charging take-up reel (605) and a wireless charging emission controller (607) connected with the wireless charging emission reel (608) are installed on a wireless charging support arm (609), the wireless charging emission controller (607) needs AC220 power supply, the wireless charging support arm (609) is arranged on one side of the double-circular-tube-shaped material track (309) in a bending structure, and the lower end of the wireless charging support arm is fixed on the ground; the BMS energy management assembly (602) realizes charging and discharging management of an internal battery cell of the lithium iron phosphate or ternary lithium battery (603), monitors the temperature, voltage and current of the internal battery cell, and simultaneously completes communication of the main CPU; the high-efficiency high-density power converter (604) realizes power supply output of internal equipment with different voltage requirements;

the safety obstacle avoidance module (7) comprises an ultrasonic detector (701), an ultrasonic probe (702) and an acousto-optic alarm (703); the ultrasonic detector (701) is arranged inside the high-temperature resistant protective shell (1) of the vehicle body and is connected with the core control unit (2); the ultrasonic probes (702) are arranged on the front end surface and the rear end surface of the high-temperature resistant protective shell (1) of the vehicle body and are connected with the ultrasonic detector (701); the audible and visual alarm (703) is arranged on two sides of the upper end surface of the high-temperature resistant protective shell (1) of the vehicle body and is connected with the core control unit (2);

the straight-moving temperature measurement module (9) is an infrared temperature measurement sensor formed by assembling an infrared optical lens (902), a high-temperature optical fiber conduction bundle (903), an integrated optical filter (904), an infrared sensor (905) and an electric signal processing unit (906), and the infrared temperature measurement sensor is fixed on the side wall of the high-temperature resistant protective shell (1) of the vehicle body through a connecting rod (901) and is connected with a core control unit (2) inside the high-temperature resistant protective shell (1) of the vehicle body;

the mechanical grabbing mechanism (10) comprises a motor (1001), a transmission rod (1002), a rotary supporting arm (1003) and a watching hole cover grabbing table (1004); the motor (1001) and the transmission rod (1002) are fixedly arranged at the bottom of the high-temperature-resistant protective shell (1) of the vehicle body, and a T-shaped thread (1005) is machined at the upper end of the transmission rod (1002) and is sleeved with a bevel gear pair (1006) through the T-shaped thread (1005); the motor (1001) is in meshed connection with a bevel gear pair (1006) through a bevel gear; the lower part of the bevel gear pair (1006) of the transmission rod (1002) is provided with a positioning guide groove (1007), a lifting rotary positioning mechanism (1008) is sleeved through the positioning guide groove (1007), the lower end of the lifting rotary positioning mechanism (1008) is fixedly connected with one end of a rotary support arm (1003), the other end of the rotary support arm (1003) is fixedly connected with the center of the fire hole cover grabbing table (1004), a fan blowing port (1009) is arranged at the center of the fire hole cover grabbing table (1004), the fan blowing port (1009) is connected with a blower installed on the fire hole cover grabbing table (1004), and three electromagnets (1010) which are arranged at equal angles are further distributed on the lower end face of the fire hole cover grabbing table (1004).

2. The intelligent coke oven straight-running temperature measurement robot system of claim 1, wherein: the management platform (12) comprises an application management module, a robot front-end machine module, a streaming media processing module and an interface display module, wherein the application management module provides network connection, communication and database operation management, and realizes the function of importing temperature measurement data into the existing temperature measurement software of the coking plant through joint debugging of a data protocol interface; the front-end machine module of the robot realizes the overall scheduling, control and acquisition services of the coke oven straight-moving temperature measurement robot (15); the streaming media processing module is used for processing and analyzing visible light and audio and video streams; the interface display module faces to the display and interactive operation interface of the user.

3. The intelligent coke oven straight-running temperature measurement robot system of claim 1, wherein: the high-temperature-resistant protective shell (1) of the car body comprises a PPS (polyphenylene sulfide) shell (101) and a lining (102), fireproof paint primer (103) is coated on the inner side and the outer side of the PPS shell (101), silver heat-reflecting paint (104) is further sprayed on the fireproof paint primer (103) on the outer side of the PPS shell (101), and a high-silica self-adhesive tape (105) is pasted on the fireproof paint primer (103) on the inner side; the lining (102) comprises an outer layer composite aluminum foil cloth (106) and an inner layer composite aluminum foil cloth (107), and a liner sheet metal framework (108) is arranged between the outer layer composite aluminum foil cloth (106) and the inner layer composite aluminum foil cloth (107) and is connected into a whole through a rivet (109); and the wire cable between the lining (102) and the PPS shell (101) is wound by adopting a high-temperature-resistant flame-retardant sleeve or a high-silica self-adhesive tape (105).

4. The intelligent coke oven straight-running temperature measurement robot system of claim 1, wherein: the double-circular-tube-shaped-tube track (309) is a seamless hot-dip galvanized steel tube with the thickness not less than 1.5mm and the diameter not less than 32mm, and the Dacromet zinc-chromium coating surface treatment process is adopted for material matrix protection.

5. The intelligent coke oven straight-running temperature measurement robot system of claim 1, wherein: refute union piece (310) and be used for the termination of pipe track (309), and satisfy track (309) axial strength, horizontal roll, vertical support's spacing fastening demand, every interval 3 meters or 6 meters set up a strong point.

6. The intelligent coke oven straight-running temperature measurement robot system of claim 1, wherein: the height adjusting support (311) is matched with the horizontal adjusting support (313) to realize that the height and the horizontal degree of freedom of the whole robot can be adjusted within a limited range, so that the height adjusting support adapts to the curve and the fluctuation change of the height of the coke oven top.

7. The intelligent coke oven straight-running temperature measurement robot system of claim 1, wherein: the high-temperature resistant protective shell (1) of the car body is also provided with a video imaging module (8), the video imaging module (8) consists of a camera (801), a sound pick-up (802) and an audio and video network codec (803), and the camera (801) and the sound pick-up (802) are respectively connected with the audio and video network codec (803); the audio and video network codec (803) is further connected with the core control unit (2).

8. The intelligent coke oven straight-running temperature measurement robot system of claim 1, wherein: the high-temperature-resistant protection shell (1) of the car body is further provided with an environment component part (11), the environment component part (11) is composed of an industrial environment temperature and humidity sensor (1101) and an all-in-one combustible harmful gas detector (1102), and the industrial environment temperature and humidity sensor (1101) and the all-in-one combustible harmful gas detector (1102) are respectively connected with a core control unit (2) inside the high-temperature-resistant protection shell (1) of the car body.

9. The temperature measurement control method of the intelligent coke oven straight-moving temperature measurement robot system of claim 1, characterized by comprising the following steps:

s1: when the robot reaches a temperature measuring point, starting the mechanical grabbing mechanism (10) to control the rotating support arm (1003) to descend;

s2: when a fire observation hole cover grabbing platform (1004) at the front end of the rotary support arm (1003) approaches a furnace cover, starting a high-rotation-speed blower, and cleaning coal cinder dust of the furnace cover through a blower blowing port (1009);

s3: the core control unit (2) controls the strong magnetic electromagnet (1010) to start, sucks the temperature measuring furnace cover, and lifts and rotates 90 degrees to one side of the vehicle body;

s4: the robot starts a straight-moving temperature measurement module (9) to carry out temperature measurement on the vertical fire path, temperature measurement data are uploaded to a core control unit (2) through a wireless communication module (5), and the core control unit (2) uploads the temperature measurement data to a management platform (12);

s5: after the temperature measurement is finished, the support arm (1003) is rotated to return, and the furnace cover is covered by the release electromagnet (1010).

Technical Field

The invention relates to the technical field of coking, in particular to an intelligent coke oven straight-moving temperature measurement robot system and a temperature measurement control method.

Background

At present, most of coke ovens in operation adopt manual timing and interval to the top of the coke oven to collect the straight temperature of each combustion chamber, usually every four hours, a temperature measurer finishes one-time temperature measurement on all representative flame paths at the coke side of the coke oven through a handheld infrared thermometer, transmits the temperature to a computer through a handheld temperature recorder to form temperature records, and the average value obtained is called as the straight temperature. The manual temperature measurement mode has severe field working environment (high temperature, high pollution and high risk), and if the direct temperature measurement is finished within the specified time, the labor intensity of staff is not low and a plurality of people need to work in a matching way; as long as fatigue, error, mistake appear in the work of manual work inevitability, in order to solve above-mentioned problem, need research and development a special robot replace artifical temperature measurement mode, reduce workman intensity of labour, reduce the operation risk, improve temperature measurement precision and temperature measurement efficiency, can not only practice thrift the labour cost for the coke-oven plant, but also can promote coke-oven plant's production efficiency.

The stability of the coke oven temperature is an important basis for evaluating the heating level of the coke oven and is an important temperature index for evaluating the coking production. At present, in the operating coke oven, the direct temperature of each combustion chamber is acquired by manually timing and spacing the top of the coke oven, and the temperature measurement mode has low safety level (high temperature, high pollution and high risk), low production efficiency and high labor cost year by year.

At present, an online temperature measuring instrument fixedly arranged on the fire observation hole is also arranged, but the equipment installation quantity is large (one set of equipment is arranged in each fire observation hole), periodic nitrogen dust prevention cleaning is needed, and the cost is too high.

Through searching the technical scheme of the prior patent, the closest technical scheme to the invention is found to be as follows:

patent publication No. CN101078653A discloses a temperature measuring system of a coke oven combustion chamber and a measuring method thereof. The measuring system is provided with an operation station for controlling the mobile temperature measuring device, collecting temperature measuring data of the mobile temperature measuring device, and completing data record statistics, report generation and network transmission of data; the movable temperature measuring device measures the temperature of all vertical flame paths; the control station performs processing, printing and corresponding application management of the transmitted information. The measurement method is to control the whole process of moving, positioning, cover lifting, temperature measurement and cover closing of the mobile temperature measurement device through wireless data transmission and control. Said invention can automatically and accurately measure the temperature of all vertical flame paths, and can display the furnace number, combustion chamber number, vertical flame path number and temperature in control station and operation station, so that it can implement real-time flame regulation. However, compared with the technical scheme of the invention, the invention patent has the following technical defects: the structure is too complicated, the whole span is too large by 6-7 meters, the system stability is poor (the electromagnet needs to be stabilized in an auxiliary way), the whole cost is too high, all flame paths need to be measured, and the whole working efficiency is low; occupying the track of the coal charging car and interfering with the operation of the coal charging car; the system needs an independent power supply rail, increases the system cost, brings unstable factors (the system is paralyzed due to lightning stroke easily in the outdoor operation on the roof), is supplied by the contact rail, is easy to have poor contact, strike sparks and be interfered by the lightning stroke, and brings unstable factors to chemical plants. The system integration level is low, and the intelligent level is low.

Patent publication No. CN1563276A discloses an automatic temperature measuring method and a temperature measuring system for a coke oven, wherein the temperature measuring system comprises an annular temperature measuring track arranged on the inner side or the outer side of a coal charging car track on the oven surface of the coke oven, an automatic temperature measuring device with an optical probe, an electric brush type communication head and an upper computer. The temperature measuring method comprises the steps that an automatic temperature measuring device walks on a temperature measuring track, a temperature measuring probe on the temperature measuring device scans and actually measures the temperature in the oven through a standard vertical flue temperature measuring hole in the temperature measuring track, the automatic temperature measuring device transmits the acquired temperature data to an upper computer on the ground through a wired communication line through an electric brush type communication head arranged at one point above the temperature measuring track, and the upper computer analyzes and calculates the sampling curve data to obtain the temperature of each standard vertical flue and control a coke oven heating system. The invention integrates temperature measurement and temperature control, and greatly improves the accuracy and reliability of coke oven measurement. Although the invention patent has simple structure, certain technical defects exist: (1) a special track needs to be laid on the top of the furnace; (2) the cover of the observation hole needs to be modified; (3) only the temperature of the standard vertical flue can be measured during temperature measurement; (4) when the standard vertical flue is arranged beside the dust removal or coal charging car track, the installation of the annular temperature measuring track cannot be realized; (5) the temperature probe is too close to the observation hole, and the temperature probe is easy to lose efficacy due to deflagration and smoke of the gas when the cover is opened. Compared with the technical scheme of the invention, the invention also has the following technical defects: the invention patent needs to improve the fire cover of the fire hole, the construction cost is high, the mechanical lever opens the fire cover, the automation level is low; the charging mode is contact charging, and the intelligent level is low; the communication method is a wired brush type communication method, and has the problems of poor contact, regular maintenance and the like.

Disclosure of Invention

The invention aims to provide an intelligent coke oven straight-moving temperature measurement robot system and a temperature measurement control method, wherein the temperature measurement robot does not interfere with the coal charging car in height and does not influence the operation, and a lifting device firstly lifts vertically and then rotates horizontally, so that the influence of uncovering and deflagration is avoided, and the problems in the prior art are solved.

In order to achieve the purpose, the invention provides the following technical scheme:

an intelligent coke oven straight-moving temperature measurement robot system comprises a management platform, a track assembly, a power supply assembly, a communication assembly and a coke oven straight-moving temperature measurement robot;

the management platform is a data monitoring center consisting of a monitoring management station, a temperature measurement server, a database server, a streaming media server and a front-end server, the data monitoring center is connected with a three-layer switch through a data interface, an optical fiber ring network is also connected to the three-layer switch, and the optical fiber ring network is in data connection with the coke oven direct-moving temperature measurement robot through a wireless AP network;

the track assembly comprises a double-circular-tube-shaped-tube track, a connecting piece, a height adjusting support and a horizontal adjusting support; the upper part of the double-circular-tube-shaped-tube track is used for the running coke oven straight-moving temperature measurement robot, the lower part of the double-circular-tube-shaped-tube track is supported and connected with a height adjusting support through a connecting piece, the lower end of the height adjusting support is connected with a horizontal adjusting support through an adjusting bolt, and the horizontal adjusting support is provided with a horizontal adjusting hole;

the power supply assembly comprises a magnetic resonance non-contact charging system consisting of a magnetic resonance wireless power receiving component, a BMS energy management component, a lithium iron phosphate or ternary lithium battery and a high-efficiency high-density power converter; the magnetic resonance wireless power receiving assembly consists of a wireless charging take-up reel and a wireless charging receiving controller, the wireless charging receiving controller realizes data interaction with the wireless charging transmitting controller, and the wireless charging transmitting controller is connected with the wireless charging transmitting reel;

the communication assembly adopts an integrated network communication system combining a TCP/IP comprehensive data network, an optical fiber ring network and a wireless AP network, wherein two ends of the top of a coke oven are respectively provided with a wireless base station device or a set of WIFI communication base station is arranged at the position of a coal tower arranged in the middle of the coke oven and is accessed into a field control box, a dual-mode WiFi wireless base station device is arranged on an access node of each field control box, and a waterproof plate-shaped antenna is used as a wireless antenna to realize the real-time communication of a data monitoring center in a coke oven temperature measurement and management platform;

the coke oven straight-moving temperature measurement robot consists of a high-temperature resistant protective shell of a coke oven body, a core control unit, a servo drive unit, an auxiliary positioning unit, a wireless communication module, a power drive module, a safety obstacle avoidance module, a straight-moving temperature measurement module and a mechanical grabbing mechanism, wherein the core control unit is arranged in the high-temperature resistant protective shell of the coke oven body and is interactively connected with a data monitoring center on a management platform through a wireless AP network, an optical fiber ring network and a three-layer switch; the core control unit comprises a high-temperature industrial controller, and the high-temperature industrial controller is connected with a communication interface, an analog quantity interface and a digital quantity interface through a control circuit;

the servo driving unit comprises a driving motor, a brake, a speed reducer, an encoder, a coupler, a driving wheel and a driven wheel; the encoder is connected with the core control unit; the driving motor is arranged on a chassis support, and the chassis support is fixed at the bottom of the high-temperature resistant protective shell of the vehicle body; the driving motor is in transmission connection with a driving wheel through a speed reducer and a coupling, the driving wheel is in transmission connection with a driven wheel, and the driving wheel and the driven wheel are correspondingly arranged on four end corners of the chassis support; the high-temperature resistant protective shell of the vehicle body is connected with the double-circular-tube-shaped-tube track through a driving wheel and a driven wheel which are arranged on a chassis support;

the auxiliary positioning unit comprises a high-temperature card reader, a high-temperature RFID card, a Hall sensor and a positioning magnet, the positioning magnet and the Hall sensor are positioned in a non-contact mode, and the Hall sensor and the high-temperature card reader are respectively connected with the core control unit;

the wireless communication module consists of a vehicle-mounted wireless industrial module and an omnidirectional high-gain antenna, and the vehicle-mounted wireless industrial module realizes wireless encrypted connection with the on-site wireless communication base station through the omnidirectional high-gain antenna; the vehicle-mounted wireless industrial module is connected with a core control unit in the vehicle body through a self-adaptive network port through a wired Ethernet;

the power supply driving module consists of a magnetic resonance wireless power receiving component, a BMS energy management component, lithium iron phosphate or a ternary lithium battery, a high-efficiency high-density power converter, a wireless charging take-up reel, a wireless charging receiving controller, a wireless charging transmitting controller and a wireless charging transmitting reel in a power supply assembly; the wireless charging receiving controller is arranged in the high-temperature-resistant protective shell of the vehicle body and connected with the core control unit, the wireless charging take-up reel is arranged on the upper surface of the high-temperature-resistant protective shell of the vehicle body, the wireless charging transmitting reel aligned with the wireless charging take-up reel and the wireless charging transmitting controller connected with the wireless charging transmitting reel are arranged on the wireless charging support arm, the wireless charging support arm is arranged on one side of the double-circular-tube-shaped material track in a bending structure, and the lower end of the wireless charging support arm is fixed on the ground; the BMS energy management assembly realizes charging and discharging management of an internal battery core of the lithium iron phosphate or ternary lithium battery, monitors the temperature, voltage and current of the internal battery core and completes communication of the main CPU; the high-efficiency high-density power converter realizes power supply output of internal equipment with different voltage requirements;

the safety obstacle avoidance module comprises an ultrasonic detector, an ultrasonic probe and a sound-light alarm; the ultrasonic detector is arranged in the high-temperature resistant protective shell of the vehicle body and is connected with the core control unit; the ultrasonic probes are arranged on the front end surface and the rear end surface of the high-temperature resistant protective shell of the vehicle body and are connected with the ultrasonic detector; the audible and visual alarm is arranged on two sides of the upper end surface of the high-temperature resistant protective shell of the vehicle body and is connected with the core control unit;

the direct-moving temperature measurement module is an infrared temperature measurement sensor formed by assembling an infrared optical lens, a high-temperature optical fiber conduction bundle, an integrated optical filter, an infrared sensor and an electric signal processing unit, and the infrared temperature measurement sensor is fixed on the side wall of the high-temperature resistant protective shell of the vehicle body through a connecting rod and is connected with a core control unit inside the high-temperature resistant protective shell of the vehicle body;

the mechanical grabbing mechanism comprises a motor, a transmission rod, a rotary support arm and a watching hole cover grabbing table; the motor and the transmission rod are fixedly arranged at the bottom of the high-temperature-resistant protective shell of the vehicle body, and a T-shaped thread is processed at the upper end of the transmission rod and is sleeved with a bevel gear pair through the T-shaped thread; the motor is in meshed connection with the bevel gear pair through a bevel gear; the transfer line is equipped with the location guide slot in bevel gear pair's below to cup joint through the location guide slot and promote rotary positioning mechanism, promote rotary positioning mechanism's lower extreme and the one end fixed connection of rotatory support arm, the other end of rotatory support arm and the center department fixed connection that the stand was snatched to the hole lid, and the center department that snatchs the stand at the hole lid of seeing sets up the fan mouth of blowing, the fan mouth of blowing is connected with the hair-dryer of installing at the hole lid of seeing snatchs the bench, the electro-magnet that sets up at the lower terminal surface that the platform was snatched to the hole lid of seeing still has arranged three equal angle.

Furthermore, the management platform comprises an application management module, a robot front-end machine module, a streaming media processing module and an interface display module, wherein the application management module provides network connection, communication and database operation management, and realizes the function of importing temperature measurement data into the existing temperature measurement software of the coking plant through joint debugging of a data protocol interface; the front-end robot module of the robot realizes the overall scheduling, control and acquisition services of the coke oven straight-moving temperature measurement robot; the streaming media processing module is used for processing and analyzing visible light and audio and video streams; the interface display module faces to the display and interactive operation interface of the user.

Furthermore, the high-temperature-resistant protective shell of the vehicle body comprises a PPS (polyphenylene sulfide) shell and a lining, wherein fireproof paint primer is coated on the inner side and the outer side of the PPS shell, silver heat-reflecting paint is further sprayed on the fireproof paint primer on the outer side of the PPS shell, and a high-silica self-adhesive tape is pasted on the fireproof paint primer on the inner side; the lining comprises an outer layer composite aluminum foil cloth and an inner layer composite aluminum foil cloth, and an inner container metal plate framework is arranged between the outer layer composite aluminum foil cloth and the inner layer composite aluminum foil cloth and is connected into a whole through rivets; and the wire cable between the lining and the PPS case is wound by adopting a high-temperature-resistant flame-retardant sleeve or a high-silica self-adhesive tape.

Furthermore, the double-circular-tube-shaped pipe track adopts a seamless hot-dip galvanized steel pipe with the thickness not less than 1.5mm and the diameter not less than 32mm, and adopts a Dacromet zinc-chromium coating surface treatment process to perform material matrix protection.

Furthermore, refute the union piece and be used for the orbital termination of pipe, and satisfy orbital axial strength, horizontal roll, the spacing fastening demand of vertical support, every interval 3 meters or 6 meters set up a strong point.

Furthermore, the height adjusting support is matched with the horizontal adjusting support to realize that the height and the horizontal freedom of the whole robot can be adjusted within a limited range, so that the height adjusting support is suitable for the curve and the fluctuation of the coke oven top.

Furthermore, a video imaging module is further installed on the high-temperature resistant protective shell of the car body, the video imaging module consists of a camera, a sound pick-up and an audio and video network codec, the camera and the sound pick-up are respectively connected with the audio and video network codec, and the audio and video network codec is connected with the core control unit.

Furthermore, an environment component part is further installed on the high-temperature resistant protective shell of the vehicle body, the environment component part is composed of an industrial-grade environment temperature and humidity sensor and an all-in-one combustible harmful gas detector, and the industrial-grade environment temperature and humidity sensor and the all-in-one combustible harmful gas detector are respectively connected with a core control unit inside the high-temperature resistant protective shell of the vehicle body.

The invention provides another technical scheme: a temperature measurement control method of an intelligent coke oven straight-moving temperature measurement robot system comprises the following steps:

s1: when the robot reaches the temperature measuring point, the mechanical grabbing mechanism is started to control the rotating support arm to descend;

s2: when a fire observation hole cover grabbing platform at the front end of the rotary supporting arm is close to the furnace cover, starting a high-rotation-speed blower, and cleaning coal slag and dust on the furnace cover through a blowing port of a fan;

s3: the core control unit controls the strong magnetic electromagnet to start, sucks the temperature measuring furnace cover, and lifts and rotates 90 degrees to one side of the vehicle body;

s4: the robot starts the straight temperature measurement module to carry out temperature measurement on the vertical fire channel, temperature measurement data are uploaded to the core control unit through the wireless communication module, and the core control unit uploads the temperature measurement data to the management platform;

s5: after the temperature measurement is finished, the support arm is rotated to return, and the furnace cover is covered by releasing the electromagnet.

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

1. according to the intelligent coke oven straight-moving temperature measurement robot system and the temperature measurement control method, the operation risk of personnel is reduced, the situation that the personnel are burned due to the rise of cover-opening fuel gas is avoided, the risk that the personnel operate at high temperature in summer and sunstroke are avoided, and the influence of high-pollution environment on the personnel is also avoided.

2. According to the intelligent coke oven straight-moving temperature measurement robot system and the temperature measurement control method, the labor intensity of operators is reduced, the labor efficiency is improved, and the defects of inaccurate temperature measurement data and the like caused by fatigue of personnel and high-temperature discomfort are overcome; the temperature of the coke oven is accurately measured, and the temperature control precision of the coke oven is improved, so that the quality of a coking product is improved, and the capacity of a factory is improved.

3. The intelligent coke oven straight-moving temperature measurement robot system and the temperature measurement control method provided by the invention have the advantages that the automation degree is improved, the conversion of new and old kinetic energy is realized, the labor cost is reduced, and the robot can replace 6-9 straight-moving temperature measurement personnel to work.

4. The intelligent coke oven straight-moving temperature measurement robot system and the temperature measurement control method provided by the invention can timely and accurately detect the oven temperature, provide real and reliable data for fire adjustment, save energy, reduce consumption, prolong the service life of an oven body and improve the production management level of enterprises.

Drawings

FIG. 1 is a block diagram of the system components of the present invention;

FIG. 2 is a schematic diagram of a management platform monitoring network architecture according to the present invention;

FIG. 3 is a diagram of a network communication architecture of the present invention;

FIG. 4 is a schematic structural view of a track assembly according to the present invention;

FIG. 5 is a schematic structural view of a straight-moving temperature measuring robot according to the present invention;

FIG. 6 is an exploded view of the inline thermometry robot of the present invention;

FIG. 7 is a schematic diagram of a frame of a straight-traveling temperature measuring robot according to the present invention;

FIG. 8 is a flow chart of the power driving module charging process according to the present invention;

FIG. 9 is a schematic structural view of a mechanical gripping mechanism of the present invention;

FIG. 10 is a disassembled view of the body refractory protective housing of the present invention;

FIG. 11 is a flow chart of a temperature measuring method according to the present invention.

In the figure: 1 high-temperature resistant protective shell of a car body, 101 PPS (polyphenylene sulfide) shell, 102 liner, 103 fireproof paint primer, 104 silver heat-reflecting paint, 105 high silica self-adhesive tape, 106 outer layer composite aluminum foil cloth, 107 inner layer composite aluminum foil cloth, 108 liner sheet metal framework, 109 rivet, 2 core control unit, 201 high-temperature industrial controller, 202 communication interface, 203 analog interface, 204 digital interface, 3 servo drive unit, 301 drive motor, 302 brake, 303 speed reducer, 304 encoder, 305 coupler, 306 drive wheel, 307 driven wheel, 308 chassis support, 309 double-circular tube type material track, 310 refute joint, 311 height adjusting support, 312 adjusting bolt, 313 horizontal adjusting support, 314 horizontal adjusting hole, 4 auxiliary positioning unit, 401 high-temperature card reader, 402 high-temperature RFID (radio frequency identification) card, 403 Hall sensor, 404 positioning magnet, 5 wireless communication module, 501 wireless vehicle-mounted industrial module, 502 omnidirectional high-gain antenna, 6 power driving modules, 601 magnetic resonance wireless power receiving assembly, 602 BMS energy management assembly, 603 lithium iron phosphate or ternary lithium battery, 604 high-efficiency high-density power converter, 605 wireless charging take-up reel, 606 wireless charging receive controller, 607 wireless charging transmit controller, 608 wireless charging transmit reel, 609 wireless charging support arm, 7 safety obstacle avoidance module, 701 ultrasonic detector, 702 ultrasonic probe, 703 audible and visual alarm, 8 video imaging module, 801 camera, 802 sound pickup, 803 audio and video network codec, 9 straight temperature measurement module, 901 connecting rod, 902 infrared optical lens, 903 high-temperature optical fiber conduction bundle, 904 integrated optical filter, 905 infrared sensor, 906 electric signal processing unit, 10 mechanical grabbing mechanism, 1001 motor, 1002 transmission rod, 1003 rotating support arm, 1004 fire hole cover grabbing table, 1005T type thread, 1006 bevel gear pair, 1007 positioning guide groove, 1008 lifting and rotating positioning mechanism, 1009 fan blowing port, 1010 electromagnet, 11 environment component part, 1101 industrial environment temperature and humidity sensor, 1102 all-in-one combustible harmful gas detector, 12 management platform, 1201 monitoring management station, 1202 temperature measurement server, 1203 database server, 1204 streaming media server, 1205 front end server, 1206 optical fiber ring network, 1207 wireless AP network, 1208 three-layer switch, 13 track assembly, 14 power supply assembly, 15 coke oven direct temperature measurement robot and 16 communication assembly.

Detailed Description

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

Referring to fig. 1, in the embodiment of the present invention: the intelligent coke oven straight-moving temperature measurement robot system comprises a management platform 12, a track assembly 13, a power supply assembly 14, a communication assembly 16 and a coke oven straight-moving temperature measurement robot 15;

referring to fig. 2-3, the management platform 12 mainly realizes automatic remote control and manual control of the coke oven straight-moving temperature measurement robot 15 by adopting a mode of combining B/S and C/S, records, analyzes, stores temperature measurement data, displays a graphical interface, and automatically calculates coefficients of K average, K ampere and the like to automatically form a corresponding temperature curve; the system collected data can be shared by external interfaces of a WEB server; the special client software can carry out remote control, task configuration, video access and data access on the temperature measuring robot; specifically, the management platform 12 is a data monitoring center consisting of a monitoring management station 1201, a temperature measurement server 1202, a database server 1203, a streaming media server 1204 and a front-end server 1205, the data monitoring center is connected with a three-layer switch 1208 through a data interface, the three-layer switch 1208 is also connected with an optical fiber ring network 1206, and the optical fiber ring network 1206 is in data connection with the coke oven direct-movement temperature measurement robot 15 through a wireless AP network 1207; the management platform 12 comprises an application management module, a robot front-end machine module, a streaming media processing module and an interface display module, wherein the application management module provides network connection, communication and database operation management, and realizes the function of importing temperature measurement data into the existing temperature measurement software of the coking plant through joint debugging of a data protocol interface; the front-end robot module of the robot realizes the overall scheduling, control and acquisition services of the coke oven straight-moving temperature measurement robot 15; the streaming media processing module is used for processing and analyzing visible light and audio and video streams; the interface display module faces to the display and interactive operation interface of the user.

Referring to fig. 4, the track assembly 13 includes a double circular tube type track 309, a connecting member 310, a height adjusting bracket 311 and a horizontal adjusting bracket 313; the upper part of the double-circular-tube-shaped-tube track 309 is used for driving the coke oven straight-moving temperature measuring robot 15, the lower part of the double-circular-tube-shaped-tube track is supported and connected with a height adjusting bracket 311 through a connector 310, the lower end of the height adjusting bracket 311 is connected with a horizontal adjusting bracket 313 through an adjusting bolt 312, and the horizontal adjusting bracket 313 is provided with a horizontal adjusting hole 314; the rail 309 is a double-circular-tube section, a seamless hot-dip galvanized steel tube with the thickness not less than 1.5-2mm and the diameter of 32mm is adopted, and meanwhile, in order to meet the requirements of the temperature measurement service environment and the service life of the coke oven, a Dacromet (DACROMET) zinc-chromium coating surface treatment process is adopted for material matrix protection; the connecting piece 310 is used for terminating the circular tube track 309, meets the limit fastening requirements of axial strength, transverse rolling and vertical support of the track 309, and is simple and reliable in construction and easy to disassemble and assemble; in order to improve the load-carrying strength of the steel pipe of the track 309 with a span of 6m, a supporting point is arranged at intervals of 3 meters; the height adjusting bracket 311 is matched with the horizontal adjusting bracket 313 to realize that the height and the horizontal freedom of the whole robot can be adjusted within a limited range, so that the robot adapts to the curve and the height fluctuation change of the coke oven top and provides stable motion conditions for the double-circular-tube rail type temperature measuring robot.

The power supply assembly 14 selects a magnetic resonance non-contact charging system composed of a distributed intelligent charging station, an electric energy receiving and transmitting coil, an onboard lithium ion power source and the like based on an electromagnetic resonance principle; the power supply assembly 14 comprises a magnetic resonance non-contact charging system consisting of a magnetic resonance wireless power receiving component 601, a BMS energy management component 602, a lithium iron phosphate or ternary lithium battery 603 and a high-efficiency high-density power converter 604; the magnetic resonance wireless power receiving assembly 601 comprises a wireless charging take-up reel 605 and a wireless charging receiving controller 606, the wireless charging receiving controller 606 realizes data interaction with a wireless charging transmitting controller 607, and the wireless charging transmitting controller 607 is connected with a wireless charging transmitting reel 608; different from the traditional contact type charging system, the magnetic resonance non-contact type charging system is divided into three parts, namely an electric energy transmitting management unit consisting of a distributed intelligent charging station and an electric energy transmitting coil, a charging receiving management unit consisting of lithium iron phosphate or ternary lithium battery 603 and an onboard electric energy receiving coil, and a battery management system BMS built in a power supply, wherein the electric energy transmitting management unit has the functions of model matching, charging preparation, start-stop control, state protection, interaction between a management platform and a rail type temperature measuring machine, instruction receiving and sending and the like, and the charging receiving management unit has the functions of model matching, load feedback, voltage stabilization output, charging state (period, current, voltage), state protection (overvoltage, undervoltage, overcurrent, overheat, short circuit), start-stop control, instruction receiving and sending and the like.

The communication assembly 16 adopts an integrated network communication system combining a TCP/IP comprehensive data network, an optical fiber ring network 1206 and a wireless AP network 1207, the data transmission rate required by the network communication system is not lower than 50Mbps, and the fast roaming of the switching between cross-regions is lower than 50ms, so as to achieve the aims of remote centralized monitoring, centralized display alarm, centralized transfer control and centralized management, wherein two ends of the top of a coke oven are respectively provided with a wireless base station device or a set of WIFI communication base stations are arranged at the position of a coal tower arranged in the middle of the coke oven and are accessed into a field control box, a dual-mode WiFi wireless base station device is arranged on each access node of the field control box, and a waterproof plate-shaped antenna is used as a wireless antenna, so that the real-time communication of a data monitoring center in the coke oven temperature measurement and management.

Referring to fig. 5-7, a coke oven straight-moving temperature measurement robot 15 is composed of a car body high temperature resistant protective shell 1, a core control unit 2, a servo drive unit 3, an auxiliary positioning unit 4, a wireless communication module 5, a power drive module 6, a safe obstacle avoidance module 7, a straight-moving temperature measurement module 9 and a mechanical grabbing mechanism 10, wherein the core control unit 2 is installed in the car body high temperature resistant protective shell 1, and the core control unit 2 is interactively connected with a data monitoring center on a management platform 12 through a wireless AP network 1207, an optical fiber ring network 1206 and a three-layer switch 1205; the core control unit 2 includes a high-temperature industrial controller 201, and the high-temperature industrial controller 201 is connected with a communication interface 202, an analog interface 203, and a digital interface 204 through a control circuit.

The servo driving unit 3 comprises a driving motor 301, a brake 302, a speed reducer 303, an encoder 304, a coupler 305, a driving wheel 306 and a driven wheel 307; the encoder 304 is connected with the core control unit 2; the driving motor 301 is arranged on a chassis support 308, and the chassis support 308 is fixed at the bottom of the high-temperature resistant protective shell 1 of the vehicle body; the driving motor 301 is in transmission connection with a driving wheel 306 through a speed reducer 303 and a coupler 305, the driving wheel 306 is in transmission connection with a driven wheel 307, and the driving wheel 306 and the driven wheel 307 are correspondingly arranged on four end corners of a chassis support 308; the high-temperature resistant protective shell 1 of the vehicle body is connected with a double-circular-tube-shaped-tube track 309 through a driving wheel 306 and a driven wheel 307 which are arranged on a chassis support 308.

The auxiliary positioning unit 4 is used for the mobile positioning function of robot walking to complete robot path planning and path position correction, the auxiliary positioning unit 4 comprises a high-temperature card reader 401, a high-temperature RFID card 402, a Hall sensor 403 and a positioning magnet 404, the positioning magnet 404 and the Hall sensor 403 are positioned in a non-contact mode, and the Hall sensor 403 and the high-temperature card reader 401 are respectively connected with the core control unit 2; the robot can realize absolute position identification within the speed of less than 5 m/S by wirelessly reading the position data (or the number mapping position information) of the high-temperature RFID card 402 through the high-temperature card reader 401; in order to prevent the high-temperature card reader 401 from being disabled, the hall sensor 403 identifies the positioning magnet 404, so as to identify a specific position, such as a starting point of the track 309 or a robot charging station.

The wireless communication module 5 consists of a vehicle-mounted wireless industrial module 501 and an omnidirectional high-gain antenna 502, wherein the vehicle-mounted wireless industrial module 501 is in wireless encrypted connection with the field communication base station through the omnidirectional high-gain antenna 502; the wireless device adopts a rapid Roaming technology, seamless Roaming switching (switching delay is within 50 ms) in the moving process can be realized, a high-speed stable, seamless Roaming, safe and reliable wireless communication network can be rapidly deployed, the wireless device has the characteristics of radio frequency shielding, electromagnetic shielding, excellent heat dissipation and the like, has high anti-interference capability and excellent protection performance, supports high and low temperature of-40-75 ℃, and can meet all-weather uninterrupted work in a complex electromagnetic environment and severe climate.

The power driving module 6 is composed of a magnetic resonance wireless power receiving component 601, a BMS energy management component 602, a lithium iron phosphate or ternary lithium battery 603, and a high-efficiency high-density power converter 604; the magnetic resonance wireless power receiving assembly 601 comprises a wireless charging take-up reel 605 and a wireless charging receiving controller 606, the wireless charging receiving controller 606 realizes data interaction with a wireless charging transmitting controller 607, and the wireless charging transmitting power is adjusted cooperatively; the wireless charging receiving controller 606 is installed in the high-temperature resistant protective shell 1 of the vehicle body and connected with the core control unit 2, the wireless charging receiving take-up reel 605 is installed on the upper surface of the high-temperature resistant protective shell 1 of the vehicle body, a wireless charging transmitting wire coil 608 aligned with the wireless charging receiving take-up reel 605 and a wireless charging transmitting controller 607 connected with the wireless charging transmitting wire coil 608 are installed on a wireless charging support arm 609, the wireless charging support arm 609 is arranged on one side of the track 309 in a bending structure, and the lower end of the wireless charging support arm 609 is fixed on the ground; the BMS energy management component 602 implements charge and discharge management of an internal battery cell of the lithium iron phosphate or ternary lithium battery 603, monitors the temperature, voltage, and current of the internal battery cell, and completes communication of the main CPU; the high-efficiency high-density power converter 604 realizes power supply output of internal equipment with different voltage requirements;

referring to fig. 8, the charging process: the robot acquires the system residual power through the BMS energy management component 602, when the power of the robot is lower than a charging threshold value, the robot automatically starts a charging process, a charging station position is configured in the robot, the high-temperature RFID card 402 number is wirelessly read through the high-temperature card reader 401 for position calibration, the robot is ensured to be accurately positioned at the charging station position, and the robot controls the charging station to start the magnetic resonance wireless power receiving component 601 after the robot is in place; the robot monitors the battery capacity in real time through the BMS energy management assembly 602, when the SOC of the robot battery or the battery voltage exceeds the designed charging threshold value, the robot core controller automatically cuts off the charging process (informs the charging management station to stop charging), and when the BMS energy management assembly 602 monitors that the battery capacity is normal and does not need to be charged, the robot automatically leaves the charging station, enters a non-high-temperature operation rest area and waits for the operation of the platform to be transferred.

The safety obstacle avoidance module 7 comprises an ultrasonic detector 701, an ultrasonic probe 702 and an acousto-optic alarm 703; in order to ensure the running safety of the straight-moving temperature measuring robot on the track 309 and the personal safety of ground workers, audible and visual alarms 703 are arranged at two ends of the roof of the vehicle to warn the safety of field workers; meanwhile, an ultrasonic detector 701 is installed on the robot, active scanning is carried out on the front sector and the rear sector (4-8 paths), the principle is that the ultrasonic detector 701 sends ultrasonic waves and receives reflected waves of the ultrasonic waves, the distance of an obstacle is obtained through calculation, the radiation angle of the detector is 45 degrees, the human body sensitivity is 0.3-1.2 m, the object sensitivity is 0.3-2.5 m, and the data resolution is 1 cm; the device has the functions of preventing false alarm of spraying and rain fog; the safety obstacle avoidance module 7 comprises an ultrasonic detector 701, an ultrasonic probe 702 and an acousto-optic alarm 703; the ultrasonic detector 701 is installed inside the high-temperature resistant protective shell 1 of the vehicle body and is connected with the core control unit 2; the ultrasonic probes 702 are arranged on the front end surface and the rear end surface of the high-temperature resistant protective shell 1 of the vehicle body and are connected with the ultrasonic detector 701; the audible and visual alarm 703 is installed on both sides of the upper end surface of the high temperature resistant protective shell 1 of the vehicle body and is connected with the core control unit 2.

The straight-moving temperature measurement module 9 is an infrared temperature measurement sensor formed by assembling an infrared optical lens 902, a high-temperature optical fiber conduction bundle 903, an integrated optical filter 904, an infrared sensor 905 and an electric signal processing unit 906, the infrared temperature measurement sensor is fixed on the side wall of the high-temperature resistant protective shell 1 of the car body through a connecting rod 901 and is connected with a core control unit 2 inside the high-temperature resistant protective shell 1 of the car body, and can detect infrared radiation from a measured target, determine the temperature of the target according to the radiation intensity of the infrared radiation and provide signal output; the infrared optical lens 902 adopts a stainless steel shell, has an ultra-large distance coefficient, and the high-temperature optical fiber conduction bundle 903 resists temperature up to 300 ℃, has good protection capability on an industrial field, can be conveniently installed on various complex working condition occasions, and is particularly suitable for industrial environments needing high temperature resistance, long distance and strong interference.

Referring to fig. 9, when the coke oven straight-moving temperature measurement robot travels along the track 309 to measure the temperature, the mechanical grabbing mechanism 10 is used to realize the automatic opening and closing function of the vertical flue furnace cover; the mechanical gripping mechanism 10 comprises a motor 1001, a transmission rod 1002, a rotary arm 1003 and a manhole cover gripping table 1004; the motor 1001 and the transmission rod 1002 are fixedly arranged at the bottom of the high-temperature resistant protective shell 1 of the vehicle body, a T-shaped thread 1005 is processed at the upper end of the transmission rod 1002, and a bevel gear pair 1006 is sleeved and connected through the T-shaped thread 1005; the motor 1001 is in meshed connection with the bevel gear pair 1006 through a bevel gear; a positioning guide groove 1007 is arranged below the bevel gear pair 1006 of the transmission rod 1002, and a lifting rotary positioning mechanism 1008 is sleeved through the positioning guide groove 1007, the lower end of the lifting rotary positioning mechanism 1008 is fixedly connected with one end of a rotary supporting arm 1003, the other end of the rotary supporting arm 1003 is fixedly connected with the center of the manhole cover grabbing table 1004, a fan blowing port 1009 is arranged at the center of the manhole cover grabbing table 1004, the fan blowing port 1009 is connected with a blower arranged on the manhole cover grabbing table 1004, and three electromagnets 1010 which are arranged at equal angles are further arranged on the lower end face of the manhole cover grabbing table 1004;

the grabbing temperature measurement process comprises the following steps: the robot is positioned to reach a temperature measuring point, an electric rotating mechanism is started, a rotating support arm 1003 is controlled to descend, and when a fire observation hole cover grabbing table 1004 at the front end of the rotating support arm 1003 approaches a furnace cover, a high-rotating-speed blower is started to clean coal slag and dust of the furnace cover; then, controlling the electromagnet 1010 to start, sucking the temperature measuring furnace cover, and lifting and rotating by 90 degrees to one side of the vehicle body; after the robot finishes measuring the temperature, the electromagnet 1010 is released, the furnace cover is covered, and the mechanical arm is rotated to return.

Referring to fig. 10, in the above embodiment, the working temperature of the whole robot is-20 ℃ to 65 ℃, the protection level of the core module is not lower than the IP67 standard, and the protection level of the whole robot is IP65 standard, so that the robot can adapt to application environments such as outdoor wind blowing, rain, open-air sunshine and the like; due to the particularity of the working environment of the coke oven top site, the belly of the robot needs to be subjected to fireproof and heat insulation treatment, so that the high-temperature-resistant protective shell 1 of the car body comprises a PPS (polyphenylene sulfide) shell 101 and a lining 102, fireproof paint primer 103 is coated on the inner side and the outer side of the PPS shell 101, silver heat-reflecting paint 104 is further sprayed on the fireproof paint primer 103 on the outer side of the PPS shell 101, and a high-silica self-adhesive tape 105 is pasted on the fireproof paint primer 103 on the inner side; the lining 102 comprises an outer layer composite aluminum foil cloth 106 and an inner layer composite aluminum foil cloth 107, and a liner sheet metal framework 108 is arranged between the outer layer composite aluminum foil cloth 106 and the inner layer composite aluminum foil cloth 107 and is connected into a whole through a rivet 109; the conductor cable between the lining 102 and the PPS casing 101 is wound with a high temperature resistant flame retardant sleeve or a high silica self adhesive tape 105.

In the above embodiment, the high temperature resistant protective casing 1 of the car body is further provided with the video imaging module 8, the video imaging module 8 is composed of the camera 801, the sound pickup 802 and the audio and video network codec 803, the camera 801 and the sound pickup 802 are respectively connected with the audio and video network codec 803, the audio and video network codec 803 is connected with the core control unit 2, and the car body has the functions of image capture, real-time video viewing, on-site working condition voice monitoring and the like, and integrates the video and audio acquisition monitoring function according to the needs of clients.

In the above embodiment, the environment component part 11 is further installed on the high temperature resistant protection shell 1 of the coke oven body, the environment component part 11 is composed of the industrial environment temperature and humidity sensor 1101 and the all-in-one combustible harmful gas detector 1102, the industrial environment temperature and humidity sensor 1101 and the all-in-one combustible harmful gas detector 1102 are both installed on the high temperature resistant protection shell 1 of the coke oven body and connected with the core control unit 2 inside the high temperature resistant protection shell 1 of the coke oven body, so that the environment temperature, the environment humidity, the CO, the H and the like on the top of the coke oven are realized₂S、O₂And Ex and other environmental gas parameters are continuously monitored, so that reliable environmental assessment is provided for equipment operation safety and operating personnel safety; the industrial-grade environment temperature and humidity sensor 1101 adopts a high integration technology, completely calibrates digital output (calibration of a humidity chamber), and the all-in-one combustible harmful gas detector 1102 consists of a capacitive polymer humidity sensitive element and a temperature sensitive element made of energy gap materials, and has the characteristics of high measurement precision (humidity +/-2% RH, temperature +/-0.3 ℃) and the like, high reaction speed, strong anti-interference and protection capabilities and the like.

Referring to fig. 11, the present invention further provides another technical solution: a temperature measurement control method of an intelligent coke oven straight-moving temperature measurement robot system is characterized in that when a coke oven straight-moving temperature measurement robot moves along a track, each observation hole needing temperature measurement is automatically positioned, and a series of automatic operations such as furnace cover opening, flame path temperature measurement, furnace cover closing and the like are completed; the method specifically comprises the following steps:

the first step is as follows: when the robot reaches the temperature measuring point, the mechanical grabbing mechanism 10 is started to control the rotating support arm 1003 to descend;

the second step is that: when a fire observation hole cover grabbing platform 1004 at the front end of the rotary support arm 1003 approaches to a furnace cover, starting a high-rotation-speed blower, and cleaning coal cinder dust of the furnace cover through a blower blowing port 1009;

the third step: the core control unit 2 controls the strong magnetic electromagnet 1010 to start, sucks the temperature measuring furnace cover, and lifts and rotates by 90 degrees to one side of the vehicle body;

the fourth step: the robot starts a straight-going temperature measurement module 9 to carry out temperature measurement on the hot flue, temperature measurement data are uploaded to a core control unit 2 through a wireless communication module 5, and the core control unit 2 uploads the temperature measurement data to a management platform 12;

the fifth step: after the temperature measurement is finished, the support arm 1003 is rotated to return, the electromagnet 1010 is released, and the furnace cover is covered.

The working principle is as follows: according to the direct temperature measurement robot system and the temperature measurement control method for the intelligent coke oven, a fixed track is laid on the top of a coke oven according to the direct temperature measurement requirement, a track robot is used for replacing manual work to complete temperature measurement, a high-precision positioning system carried by the robot is used for enabling the robot to automatically open hole covers and complete temperature measurement when the robot reaches the upper part of a fire observation hole, the opened hole covers are required to be automatically closed by the robot after temperature measurement, meanwhile, the measured temperature data are transmitted to a rear-end management platform 12 in real time through a control system on the robot, the management platform 12 is responsible for sending a temperature measurement task command to the temperature measurement robot or the robot automatically performs the direct temperature measurement task according to the work task configured by the platform, and the platform is required to complete the direct temperature data analysis, storage and management function after receiving a temperature measurement result.

In summary, the following steps: according to the intelligent coke oven straight-moving temperature measurement robot system and the temperature measurement control method, manual automatic temperature measurement is replaced, data acquisition and transmission are achieved through a wireless local area network technology, statistics and analysis of data are achieved under the support of a background computer and a server, personnel operation risks are reduced, uncovering gas is prevented from rising to burn personnel, the risk of sunstroke of personnel in high-temperature operation in summer is also avoided, and the influence of the high-pollution environment on the personnel is also avoided; the labor intensity of operators is reduced, the labor efficiency is improved, and the defects of inaccurate temperature measurement data and the like caused by fatigue of personnel and high-temperature discomfort are avoided; the temperature of the coke oven is measured accurately, and the temperature control precision of the coke oven is improved, so that the quality of a coking product is improved, and the capacity of a factory is improved; the automation degree is improved, the conversion of new and old kinetic energy is realized, the labor cost is reduced, and the robot can replace 6-9 straight-moving temperature measuring personnel to work; the detection of the furnace temperature is timely and accurate, real and reliable data is provided for fire adjustment, energy is saved, consumption is reduced, the service life of a furnace body is prolonged, and the production management level of an enterprise is improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.