Grease liquoring machine for sintering pallet and control method and control system of grease liquoring machine

Abstract

The invention belongs to the technical field of sintering pallet fat liquoring, and particularly relates to a sintering pallet fat liquoring machine and a control method and a control system thereof, the sintering pallet fat liquoring machine comprises a follow-up car which is used for running in parallel with a sintering pallet and can run in a reciprocating mode, and an oil injection module is installed on the follow-up car; the control method comprises the following steps: S1, the positioning rudder is standby; s2, wheels of the sintering pallet are captured; s3, the follow-up car follows; s4, the oil injection gun is operated; s5, oil injection; s6, the oil injection gun is separated; and S7, resetting the positioning rudder. According to the automatic grease adding device, automatic grease adding and lubrication of the wheels of the sintering pallet in time under the non-stop state are achieved, the sintering efficiency is improved, manpower is liberated, normal operation of the sintering pallet is guaranteed, and the automatic grease adding device has very important significance for solving the grease adding problem of an existing pallet.

Description

Technical Field

[0001] The invention belongs to the technical field of greasing a sintering trolley, and in particular relates to a greasing machine for a sintering trolley and a control method and a control system thereof. Background Art

[0002] Sintering is an important process in the iron-making process. Modern sintering is a draft sintering process, which is to mix iron ore powder, flux, fuel and return ore in a certain proportion to form a mixture, add appropriate amount of water, mix and pelletize, spread on the trolley of the belt sintering machine, ignite under a certain negative pressure, and as the trolley moves forward, the mixture burns from top to bottom to form sintered ore.

[0003] The sintering machine is the key core equipment of the sintering process. It consists of several trolleys connected end to end along the trolley track and running in a cycle. Except for maintenance time, it generally runs 24 hours a day. The trolley wheels are a relatively complex component of the trolley. When the trolley is running, the trolley wheels will bear a large load, which requires the trolley wheel bearing system to have good lubrication ability. In order to ensure that there is sufficient grease on the bearing and not affect the normal production and operation of the sintering machine, it is necessary to perform grease injection on the wheels online every 1 to 2 weeks.

[0004] Usually, the greasing method for the wheel bearings of the sintering machine trolley is manual greasing, and there is no automatic greasing method. The main reason is that the wheels of the sintering machine trolleys are bumpy and vibrating during operation, and the bearing greasing holes are difficult to locate. The greasing holes are relatively small, which increases the difficulty of automatic greasing. Since the sintering machine has hundreds of trolleys, each trolley has 4 wheels, and the total number of wheels of a sintering machine trolley is as high as hundreds, each manual greasing takes a long time, the labor intensity is extremely high, and the efficiency of manual greasing is low.

[0005] There are many patents for automatic oiling of sintering trolleys. The patent number 201810299119.1 is a method of using a robot to achieve automatic greasing of the sintering trolley, but the patent does not explain how to accurately and reliably obtain the positioning information of the wheel greasing hole, which is the key to the robot to achieve automatic greasing. Patent number 201910087992.9 is a purely mechanical method to achieve automatic greasing of the sintering trolley, but this method uses three telescopic positioning rods and springs to determine the positioning position of the wheel greasing hole, and the positioning accuracy is difficult to guarantee. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides a sintering trolley greasing machine, which can realize automatic greasing of the wheels of the sintering trolley, save time and labor, and effectively ensure the positioning accuracy of the wheel greasing holes.

[0007] The sintering trolley greasing machine comprises a follower trolley which is used to run in parallel with the sintering trolley and can reciprocate itself, and an oil injection module is installed on the follower trolley;

[0008] The oiling module comprises an oiling carriage installed on a follower carriage and reciprocating, the running direction of the oiling carriage being perpendicular to the running direction of the follower carriage; an oiling gun for adding grease to the sintering trolley and reciprocating is installed on the oiling carriage, the running direction of the oiling gun is parallel to the running direction of the oiling carriage, an oiling gun delivery device for driving the oiling gun to run is installed on the oiling carriage, the oiling gun is connected to an oiling pump through a lubricating oil pipeline, a lubricating pipeline solenoid valve is installed on the lubricating oil pipeline, and an insertion depth sensor for measuring the insertion depth of the oiling gun is arranged on the side of the oiling gun;

[0009] The oiling car is equipped with a lifting positioning rudder, on which are installed three rollers which press the wheel end cover of the sintering trolley from top to bottom. The three rollers are on the same arc surface, and the central axis of the oiling gun coincides with the arc center line formed by the three rollers; when the three rollers press the end cover, the central axis of the oiling gun and the oiling nozzle on the wheel of the sintering trolley are in line;

[0010] The three rollers are the mounting wheel, the clamping wheel and the guide wheel from front to back. The mounting wheel is installed at the front end of the positioning rudder, and the clamping wheel and the guide wheel are installed at the upper end of the positioning rudder. When the wheel end cover on the sintering trolley contacts the mounting wheel, when the wheel moves forward, it pushes the mounting wheel to move, and drives the follower car to move along the moving direction of the sintering trolley.

[0011] A wheel sensing probe is installed on the positioning rudder for sensing the approach of the sintering trolley wheel to the mounting wheel; an external laser rangefinder is arranged in the direction of the sintering trolley wheel toward the sintering trolley grease adding machine; the external laser rangefinder is used to measure the horizontal distance when the external laser rangefinder is perpendicular to the sintering trolley wheel after the sintering trolley wheel runs to the external laser rangefinder.

[0012] With respect to the above-mentioned sintering trolley greasing machine, the present invention further provides a control method for the sintering trolley greasing machine, and the control method is as follows:

[0013] S1, Positioning rudder standby:

[0014] The positioning rudder is raised, and according to the distance measured by the external laser rangefinder, the oil injection vehicle is controlled to extend to the positioning position toward the sintering trolley, and the positioning rudder is suspended and in standby state;

[0015] S2. Capture the sintering trolley wheels:

[0016] When the wheel end cap on the sintering trolley is closer and closer to the mounting wheel, the wheel sensing probe is finally triggered. At this time, the positioning rudder is pressed down, the oiling gun and the center axis of the oiling nozzle on the sintering trolley wheel are in line, and the wheel end cap pushes the positioning rudder and the sintering trolley forward at the same speed through the mounting wheel;

[0017] S3, follow-up vehicle:

[0018] The positioning rudder pushes the oil injection vehicle forward, thereby driving the follower vehicle to run at the same speed as the sintering trolley;

[0019] S4. Run the grease gun:

[0020] Start the grease gun delivery device to push the grease gun toward the grease nozzle;

[0021] S5. Oil filling:

[0022] The grease gun continues to move toward the oil receiving nozzle. When the insertion depth sensor contacts the end cover, if the displacement value of the insertion depth sensor is greater than the set value, the grease gun stops running, the solenoid valve of the lubrication pipeline opens, and oil is injected into the sintering trolley wheel.

[0023] S6, Grease gun detached:

[0024] After the oil filling is completed, the oil filling gun delivery device drives the oil filling gun to separate from the oil receiving nozzle and return to the standby position;

[0025] S7, positioning rudder reset:

[0026] After the oiling gun is disengaged, the positioning rudder rises and the oiling car returns to the standby position. Subsequently, the follower car is started to run in the opposite direction of the sintering trolley to the initial standby position of the follower car, preparing to enter the second oiling cycle.

[0027] Furthermore, the setting value range of the insertion depth sensor in S5 is 3 to 5 mm.

[0028] Furthermore, the oiling time of the wheels of the sintering trolley in S5 is 2 to 5 seconds.

[0029] Furthermore, in S6, the disengagement time of the grease gun is ≤0.5s.

[0030] Furthermore, the time for the oil filling vehicle to return to the standby position state in S7 is ≤ 1 s.

[0031] The present invention also relates to a control system based on the control method of the sintering trolley greasing machine, which is specifically as follows:

[0032] It includes a PLC system. The oiling gun, the oiling vehicle and the follower vehicle are all driven by a servo motor. The PLC system is connected to the servo driver in the servo motor through a high-speed pulse signal and a DI / DO signal to control the start and stop of the servo motor.

[0033] Origin proximity switches are installed at the initial positions of the grease gun, grease trolley and follower trolley, and limit proximity switches are installed at the maximum travel positions of the grease gun, grease trolley and follower trolley. Both the origin proximity switches and limit proximity switches are connected to the PLC system signal;

[0034] The insertion depth sensor, the wheel sensing probe, and the external laser rangefinder are respectively connected to the PLC system signal to receive the signals of the insertion depth sensor, the wheel sensing probe, and the external laser rangefinder;

[0035] The positioning rudder is lifted by a cylinder. The positioning rudder lifting solenoid valve and lubrication pipeline solenoid valve on the cylinder are connected to the PLC system signal. The PLC system is used to control the opening and closing of the positioning rudder lifting solenoid valve and lubrication pipeline solenoid valve.

[0036] Furthermore, the system control process is as follows:

[0037] S11, control system initialization:

[0038] Enter the automatic lubrication working mode and initialize the control system;

[0039] S12, the follower vehicle, the grease gun and the grease vehicle return to the origin;

[0040] S13, the oiling vehicle and the oiling gun return to the standby position, and the positioning rudder is raised;

[0041] S14, the follower vehicle moves to the standby position, and the servo drive enable of the follower vehicle is disconnected;

[0042] S15. The external working conditions of the grease filling machine are met, and the oil filling vehicle moves to the positioning position:

[0043] The external laser rangefinder is used to determine whether the sintering trolley wheel is detected. If detected, a delay of T1 is performed, where T1 is the time obtained by dividing the lateral distance from the external laser rangefinder to the oiling trolley by half of the speed of the sintering trolley. Then the control system sends an absolute displacement command to the servo driver of the oiling trolley, and the oiling trolley is driven by the servo motor to move to the positioning position.

[0044] S16, judging whether the wheel is in place:

[0045] The wheel sensing probe is used to determine whether the wheel is in place. If so, the next step S7 is executed, otherwise, the process continues to wait.

[0046] S17, the positioning rudder is pressed down, and the oiling vehicle and the follower vehicle are relatively stationary:

[0047] After the control system receives the signal that the wheels of the sintering trolley are in place, it delays for 1 second and sends a positioning rudder downward pressure signal to the positioning rudder lifting solenoid valve to control the positioning rudder to press down. At the same time, the oiling car and the follower car are relatively stationary. At this time, the oiling gun and the center axis of the oiling nozzle on the wheel of the sintering trolley are in line.

[0048] S18, grease gun moves forward:

[0049] The control system sends a forward command to the servo driver of the grease gun. The servo driver receives the signal and drives the servo motor to drive the grease gun to move forward.

[0050] S19, judging that the insertion depth of the grease gun is greater than a threshold value:

[0051] When the control system detects that the value of the insertion depth sensor is greater than the threshold, step S10 is executed;

[0052] S110, the grease gun stops extending and starts refueling:

[0053] The control system sends a stop command to the servo driver of the grease gun to stop the movement of the grease gun, and then the control system sends an open control command to the solenoid valve of the lubrication line to start refueling;

[0054] S111, when the refueling time reaches the set refueling time, refueling is stopped:

[0055] When refueling starts, the control system starts timing. When the timing reaches the refueling set time value, refueling stops, that is, the lubrication pipeline solenoid valve is closed;

[0056] S112, the grease gun moves backward, detaches from the end cover, and returns to the standby position;

[0057] S113, the positioning rudder is raised, and the oil filling vehicle retreats to the standby position;

[0058] S114, the follower vehicle servo drive is enabled and moves in the reverse direction to the standby position. A complete refueling process has been completed.

[0059] The present invention also relates to a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the control method of the sintering trolley greasing machine described in the above content when executing the computer program.

[0060] The present invention also relates to a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the sintering trolley greasing machine described in the above content are implemented.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] The present invention realizes the timely and automatic greasing of the wheels of the sintering trolley without stopping the machine, thereby improving the sintering efficiency, freeing up manpower, and ensuring the normal operation of the sintering trolley, which is of great significance for solving the existing greasing problem of the trolley. Specifically:

[0063] 1. The present invention utilizes the position characteristics of the existing greasing hole at the center of the wheel. The three rollers (mounting wheel, guide wheel, and clamping wheel) on the positioning rudder are used to clamp the end cover of the wheel. The center position of the greasing hole is calculated according to the method of determining the center of the circle by three points, so that the refueling gun is at the center position determined by the three rollers, laying the foundation for accurate greasing.

[0064] 2. Under the technical scheme design of the control method and control system, when the three rollers are tightly attached to the wheel end cover, it can effectively ensure that the mounting wheel is tightly attached to the wheel end cover, thereby ensuring that the refueling gun can be exactly aimed at the grease hole at the center of the wheel. This design can accurately and reliably obtain the positioning information of the wheel grease hole, and the positioning accuracy is accurate.

[0065] The control method or control system under this design, from startup to operation, not only greatly simplifies the work of the operating personnel, but also reduces the possibility of misoperation, laying the foundation for accurate greasing of the sintering trolley wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0067] Figure 1 It is a schematic diagram of the structure of the sintering trolley greasing machine in the present invention;

[0068] Figure 2 This is a schematic diagram of the structure of the oil injection module of the present invention;

[0069] Figure 3 This is a process flow chart of the fatliquor process of the present invention;

[0070] Figure 4 This is a flow chart of automatic greasing control of the present invention;

[0071] Figure 5 It is a structural block diagram of the control system of the present invention;

[0072] Figure 6 Schematic diagram of an external laser rangefinder measuring the horizontal distance to the sintering trolley wheel.

[0073] Figure numerals: 1. Follower vehicle; 2. Grease gun; 3. Positioning rudder; 4. Grease vehicle; 5. Follower vehicle driving device; 6. Grease gun delivery device; 7. Grease pump; 8. Frame; 9. External laser rangefinder; 10. Lubrication line solenoid valve; 11. Mounting wheel; 12. Wheel sensing probe; 13. Insertion depth sensor; 14. Guide wheel; 15. Clamping wheel. DETAILED DESCRIPTION

[0074] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0075] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0076] Embodiment 1

[0077] This embodiment lists a sintering trolley greasing machine. The working principle of the sintering trolley greasing machine in this embodiment is to capture and lock the wheels of the sintering trolley to be oiled during the operation of the sintering trolley, and follow the wheels for a distance, which is equal to the refueling time (the refueling time starts from the time when the positioning rudder presses the sintering trolley wheel to the time when the positioning rudder retreats to the standby position) multiplied by the trolley wheel speed. During this process, the oiling process of the wheel oiling nozzle is completed, and then it returns to the initial position to enter the second refueling cycle, and this process is repeated continuously, and the oiling operation covers all the oil nozzles of the trolley wheel.

[0078] The main structure is as follows Figure 1 , Figure 2 As shown, it includes a frame 8, which can be as follows Figure 1 The frame structure shown can also be other existing structures, which are mainly used for positioning and installing other components. The left side of the frame 8 is the entry side of the sintering trolley, and the right side is the exit side of the sintering trolley; the frame 8 is equipped with a follower car 1 for running parallel to the sintering trolley and reciprocating itself, and the running range of the follower car 1 is B / 2 (B is the width of the trolley, usually about 1500mm), and an oil injection module is installed on the follower car 1.

[0079] like Figure 1 , Figure 2As shown, the oiling module includes an oiling trolley 4 installed on the follower trolley 1 and reciprocating, and the running direction of the oiling trolley 4 is perpendicular to the running direction of the follower trolley 1; the oiling trolley 4 is equipped with an oiling gun 2 for greasing the sintering trolley and reciprocating, and the running direction of the oiling gun 2 is parallel to the running direction of the oiling trolley 4, and the oiling gun delivery device 6 for driving the oiling gun 2 is installed on the oiling trolley 4, the oiling gun 2 is connected to the oiling pump 7 through the lubricating oil pipeline, and a lubricating pipeline solenoid valve 10 is installed on the lubricating oil pipeline, and an insertion depth sensor 13 for measuring the insertion depth of the oiling gun 2 is arranged on the side of the oiling gun 2.

[0080] The oiling trolley 4 is provided with a liftable positioning rudder 3, and the positioning rudder 3 is provided with three rollers for pressing the wheel end cover of the sintering trolley from top to bottom. The three rollers are on the same arc surface, and the central axis of the oiling gun 2 coincides with the arc center line formed by the three rollers; when the three rollers press the end cover, the oiling gun 2 is collinear with the central axis of the oiling nozzle on the wheel of the sintering trolley; preferably, the three rollers are bearings, and the wheel end cover of the sintering trolley is pressed by the outer ring of the bearing. During the specific installation, the bearing is installed on the positioning rudder 3 by a fixed shaft. The bearing is used for stable operation and convenient pressing of the wheel end cover. In actual application, rollers with other structures can also be used.

[0081] When the three rollers are distributed, they are the mounting wheel 11, the clamping wheel 15 and the guide wheel 14 from front to back. The mounting wheel 11 is installed at the front end of the positioning rudder 3, and the clamping wheel 15 and the guide wheel 14 are installed at the upper end of the positioning rudder 3. When the wheel end cover on the sintering trolley contacts the mounting wheel 11, when the wheel moves forward, it pushes the mounting wheel 11 to move, and drives the follower car 1 to move along the moving direction of the sintering trolley;

[0082] A wheel sensing probe 12 for sensing the approach of the sintering trolley wheel to the mounting wheel 11 is installed on the positioning rudder 3. Preferably, the wheel sensing probe 12 is a non-contact sensor, such as a proximity switch. When in use, other existing technologies that can sense the approach of the sintering trolley wheel to the mounting wheel 11 can also be used; an external laser rangefinder 9 is arranged in the direction where the sintering trolley wheel drives toward the sintering trolley greasing machine (that is, the sintering trolley greasing machine described in this example); Figure 6 As shown, the external laser distance meter 9 is used to measure the horizontal distance (that is, the distance between the wheels of the sintering trolley and the external laser distance meter 9 when the wheels are perpendicular to the wheels of the sintering trolley) after the wheels of the sintering trolley run to the external laser distance meter 9. Figure 6 L1), the external laser rangefinder 9 is installed on the frame 8 at the direction in which the sintering trolley enters.

[0083] The above-mentioned technology used to realize the reciprocating operation of the follower car 1, the oiling car 4 and the oiling gun 2 is an existing known technology, such as the sliding cooperation of the slide rail and the slide groove, and the driving mechanism can adopt a mutually meshing gear and rack, and the driving power adopts a servo motor. When installing, the gear is installed on the output shaft of the servo motor, and the servo motor and the corresponding rack are installed on the follower car 1 and the frame 8, the oiling car 4 and the follower car 1, and the oiling gun 2 and the oiling car 4. In other words, when realizing the reciprocating operation of the follower car 1, the corresponding servo motor is installed on the follower car 1, and the corresponding rack is installed on The corresponding servo motor may be mounted on the frame 8, or the corresponding rack may be mounted on the follower trolley 1; when the oiling trolley 4 is reciprocating, the corresponding servo motor may be mounted on the follower trolley 1, and the corresponding rack may be mounted on the oiling trolley 4, or the corresponding servo motor may be mounted on the oiling trolley 4, and the corresponding rack may be mounted on the follower trolley 1; when the oiling gun 2 is reciprocating, the corresponding servo motor may be mounted on the oiling gun 2, and the corresponding rack may be mounted on the oiling trolley 4, or the corresponding servo motor may be mounted on the oiling gun 2, and the corresponding rack may be mounted on the follower trolley 1. For another example, a ball screw may be used to realize the movement of the follower trolley 1, the oiling trolley 4, and the oiling gun 2. In actual application, the gear and rack may be transformed into a chain and a sprocket, and the sprocket may be driven by a servo motor; or they may be transformed into a screw rod and a nut, and the screw rod may be driven by a servo motor; or even a linear motor or other structure may be used to complete the operation.

[0084] The lifting and lowering of the positioning rudder 3 can be completed by using existing structures such as hydraulic cylinders, air cylinders and linear motors. During installation, if a hydraulic cylinder is used, the cylinder body can be installed on the positioning rudder 3 and the piston rod can be installed on the oil injection vehicle 4, or the cylinder body can be installed on the oil injection vehicle 4 and the piston rod can be installed on the positioning rudder 3. The specific installation can be determined according to the installation space. The installation method of the air cylinder and the linear motor is similar to the installation method of the hydraulic cylinder, so it will not be described here one by one. In this embodiment, the air cylinder is used to realize the lifting and lowering of the positioning rudder 3.

[0085] During installation, the frame 8 is fixedly installed on both sides of the sintering machine, and the installation position is suitable for filling lubricating oil on the wheels of the sintering trolley.

[0086] This embodiment also relates to a control method for realizing the above-mentioned sintering trolley greasing machine. Figure 3 As shown, the control method is as follows:

[0087] S1, Positioning rudder 3 standby:

[0088] The positioning rudder 3 is raised, and according to the distance measured by the external laser rangefinder 9, the oil injection vehicle 4 is controlled to extend toward the sintering trolley to the positioning position, and the positioning rudder 3 is suspended and in a standby state; the positioning position described in this paragraph is the position reached after the positioning rudder 3 is extended a certain distance, and this positioning position can ensure that the three rollers press the wheel end cover, and is preferably in the middle position where the three rollers press the wheel end cover.

[0089] S2. Capture the sintering trolley wheels:

[0090] When the wheel end cap on the sintering trolley is closer and closer to the mounting wheel 11, the wheel sensing probe 12 is finally triggered. At this time, the positioning rudder 3 is pressed down, the oiling gun 2 is aligned with the central axis of the oiling nozzle on the wheel of the sintering trolley, and the wheel end cap pushes the positioning rudder 3 and the sintering trolley forward at the same speed through the mounting wheel 11;

[0091] S3, follow-up vehicle 1:

[0092] The positioning rudder 3 pushes the oil injection vehicle 4 forward, thereby driving the follower vehicle 1 to run at the same speed as the sintering trolley;

[0093] S4, operate grease gun 2:

[0094] Start the oiling gun delivery device 6 to push the oiling gun 2 towards the oil receiving nozzle; at this time, turn on the lubricating oil pump to make the pressure value of the lubrication pipeline greater than the set threshold value, which is 10-15MPa, preferably 10Mpa. When used, 15Mpa or any value between 10 and 15MPa can also be selected according to the process requirements.

[0095] S5. Oil filling:

[0096] The oiling gun 2 continuously moves toward the oiling nozzle. When the insertion depth sensor 13 contacts the end cap, if the displacement value of the insertion depth sensor 13 is greater than the set value, the oiling gun 2 stops running, the lubrication pipeline solenoid valve 10 opens, and oil is injected into the sintering trolley wheel. The set value range of the insertion depth sensor 13 is 3 to 5 mm. When applied, the set value is determined according to the actual working conditions on site, and 3, 3.5, 5, and any number between 3 and 5 can be used. The oiling time for injecting oil into the sintering trolley wheel is 2 to 5 seconds. When applied, the oiling time is determined according to the actual working conditions on site, and 2, 3, 4, 4.5, 5, and any number between 2 and 5 can be used.

[0097] S6, Grease gun detached:

[0098] After the oiling is completed, the oiling gun delivery device 6 drives the oiling gun 2 to separate from the oiling nozzle and return to the standby position; the separation time of the oiling gun 2 is ≤0.5s.

[0099] S7, positioning rudder 3 reset:

[0100] After the oiling gun 2 is disengaged, the positioning rudder 3 is raised, and the oiling car 4 returns to the standby position. Then, the follower car 1 is started to run in the opposite direction of the sintering trolley to the initial standby position of the follower car 1, ready to enter the second oiling cycle. The time for the oiling car 4 to return to the standby position is ≤1s, and the time for the positioning rudder 3 to rise is ≤0.5s.

[0101] This embodiment also relates to a control system of the above control method, such as Figure 4 , Figure 5 As shown, it includes a PLC system, which includes a CPU module, a DI / DO module, and an AI / AO module. The grease gun 2, the grease cart 4, and the follower car 1 are all driven by servo motors. The PLC system is connected to the servo driver in the servo motor through high-speed pulse signals and DI / DO signals to control the start and stop of the servo motor; and to determine the moving position values ​​of the grease gun 2, the grease cart 4, and the follower car 1. The servo motor is the core component of the motion actuator of each component.

[0102] An origin proximity switch is installed at the initial position of the grease gun 2, the grease cart 4 and the follower car 1, and a limit proximity switch is installed at the maximum stroke position of the grease gun 2, the grease cart 4 and the follower car 1. The origin proximity switch and the limit proximity switch are both connected to the PLC system signal;

[0103] The insertion depth sensor 13, the wheel sensing probe 12, and the external laser rangefinder 9 are respectively connected to the PLC system signals for receiving the signals of the insertion depth sensor 13, the wheel sensing probe 12, and the external laser rangefinder 9; the PLC system reads the distance value of the external laser rangefinder 9 through the AI ​​module, and the wheel sensing probe 12 is used to sense whether the wheel of the sintering trolley is in place. The in-place signal is a DI signal, and the PLC collects the signal through the DI module; the insertion depth sensor 13 is used to detect the depth value of the oil nozzle of the oil filling gun 2 inserted into the end cover, and the PLC system obtains the value of the insertion depth sensor 13 through the AI ​​module.

[0104] The positioning rudder 3 is lifted by a cylinder. The positioning rudder lifting solenoid valve and lubrication pipeline solenoid valve 10 on the cylinder are connected to the PLC system signal. The PLC system is used to control the opening and closing of the positioning rudder lifting solenoid valve and the lubrication pipeline solenoid valve 10. The lubrication pipeline solenoid valve 10 is a switch that controls the lubrication oil pipeline; the PLC system outputs a DO signal to control the opening and closing of the lubrication pipeline solenoid valve 10. When the lubrication pipeline solenoid valve 10 is opened, the lubrication oil is delivered to the oil nozzle position of the grease gun 2. The positioning rudder lifting solenoid valve is used to control the action of the lifting cylinder of the positioning rudder. When the PLC control system outputs a DO signal to the rising solenoid valve, the positioning rudder lifting cylinder is actuated to drive the positioning rudder to rise, or when the PLC control system outputs a DO signal to the descending solenoid valve, the positioning rudder lifting cylinder is actuated to drive the positioning rudder to descend.

[0105] This embodiment further illustrates the technology, and the system control process is as follows:

[0106] S11, control system initialization:

[0107] Enter the automatic greasing working mode and initialize the control system; that is, initialize the working step value to zero, the corresponding fault and alarm signals to zero, and the action control signal to zero (that is, the lifting signal of the positioning rudder 3 cylinder, the motor signal of the oil injection pump 7, the control signal of the lubrication pipeline solenoid valve 10, etc.).

[0108] S12, follow-up vehicle 1, grease gun 2 and grease vehicle 4 return to the origin; specifically:

[0109] The control system controls the servo motor through the servo driver to move the corresponding follower vehicle 1, grease gun 2 and grease cart 4. In order to make the subsequent follower vehicle 1, grease gun 2 and grease cart 4 move to the standby position or positioning position according to the absolute displacement command (the standby position is the origin position of the follower vehicle 1, grease gun 2 and grease cart 4. The positioning position has been described in the previous embodiment 2. It is the position reached after the positioning rudder 3 is extended a certain distance. This positioning position can ensure that the three rollers press the wheel end cover, and it is preferably in the middle position where the three rollers press the wheel end cover). Preferably, the follower vehicle 1, grease gun 2 and grease cart 4 return to the origin first, and the control system sends a return-to-origin signal to the servo driver of the follower vehicle 1, grease gun 2 and grease cart 4 to control the grease cart, grease gun and follower vehicle to return to the origin.

[0110] S13, the oil filling vehicle 4 and the oil filling gun 2 return to the standby position, and the positioning rudder 3 rises; specifically:

[0111] First, the servo drivers of the oiling cart 4 and the oiling gun 2 receive the absolute displacement command from the control system. According to the set standby position value, the oiling cart 4 and the oiling gun 2 move to their respective standby positions and wait for the next command action. At the same time, the control system sends an ascending signal to the positioning rudder lifting solenoid valve to control the positioning rudder 3 to ascend.

[0112] S14, the follower vehicle 1 moves to the standby position, and the servo drive enable of the follower vehicle 1 is disconnected; the control system sends an absolute displacement command to the servo driver of the follower vehicle 1, and according to the set standby position value, the follower vehicle 1 moves to the standby position under the drive of the servo motor, and then the servo enable signal of the servo driver of the follower vehicle 1 is disconnected. When the servo enable signal is disconnected, the follower vehicle 1 is in a free state, and the follower vehicle 1 can be dragged by the end cover to move passively.

[0113] S15. The external working conditions of the grease filling machine are met, and the oil filling vehicle 4 moves to the positioning position:

[0114] The external laser rangefinder 9 determines whether the sintering trolley wheel is detected. If detected, a delay of T1 is performed, where T1 is the time obtained by dividing the lateral distance from the external laser rangefinder 9 to the oiling trolley 4 by half of the speed of the sintering trolley. Then the control system sends an absolute displacement command to the servo driver of the oiling trolley 4, and the oiling trolley 4 is driven by the servo motor to move to the positioning position.

[0115] S16, judging whether the wheel is in place:

[0116] The wheel sensing probe 12 is used to determine whether the wheel is in place. If so, the next step S7 is executed, otherwise, the process continues to wait.

[0117] S17, the positioning rudder 3 is pressed down, and the oil filling vehicle 4 and the follower vehicle 1 are relatively stationary:

[0118] After the control system receives the signal that the wheels of the sintering trolley are in place, it delays for 1 second, and the control system sends a downward pressure signal of the positioning rudder 3 to the positioning rudder lifting solenoid valve to control the positioning rudder 3 to be pressed down. At the same time, the oiling trolley 4 and the follower trolley 1 are relatively stationary (that is, the oiling trolley 4 is locked on the follower trolley 1, and the locking method can be to install a brake mechanism on the oiling trolley 4 and the follower trolley 1). At this time, the oiling gun 2 is in line with the central axis of the oiling nozzle on the wheel of the sintering trolley;

[0119] S18, grease gun 2 moves forward:

[0120] The control system sends a forward command to the servo driver of the grease gun 2. The servo driver receives the signal and drives the servo motor to drive the grease gun 2 to move forward.

[0121] S19, judging that the insertion depth of the grease gun 2 is greater than a threshold value:

[0122] When the control system detects that the value of the insertion depth sensor 13 is greater than the threshold, step S10 is executed; the set value of the insertion depth sensor 13 is the same as in the first embodiment, ranging from 3 to 5 mm. When applied, the set value is determined according to the actual working conditions on site, and 3, 3.5, 5 and any number between 3 and 5 can be used.

[0123] S110, grease gun 2 stops extending and starts refueling:

[0124] The control system sends a stop command to the servo driver of the oiling gun 2 to stop the movement of the oiling gun 2, and then the control system sends an open control command to the lubrication pipeline solenoid valve 10 to start oiling; the oiling time for oiling the wheels of the sintering trolley is the same as that in Example 1, ranging from 2 to 5s. When used, the oiling time is determined according to the actual working conditions on site, and 2, 3, 4, 4.5, 5 and any number between 2 and 5 can be used.

[0125] S111, when the refueling time reaches the set refueling time, refueling is stopped:

[0126] When refueling starts, the control system starts timing, and when the timing reaches the refueling set time value, refueling stops, that is, the lubrication pipeline solenoid valve 10 is closed;

[0127] S112, the grease gun 2 moves backward, detaches from the end cover, and returns to the standby position;

[0128] S113, the positioning rudder 3 is raised, and the oil filling vehicle 4 retreats to the standby position;

[0129] S114, the servo drive of follower vehicle 1 is enabled and moves in the reverse direction to the standby position. A complete refueling process has been completed.

[0130] Embodiment 2

[0131] This embodiment relates to a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the control method of the sintering trolley greasing machine described in Embodiment 1 are implemented. The computer device can be a mobile phone, a tablet computer, a personal communication service (PCS) phone, a virtual reality (VR) electronic device, an augmented reality (AR) device, a wireless terminal in industrial control, and other electronic devices, and no specific restrictions are made here.

[0132] Embodiment 3

[0133] The present embodiment relates to a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the control method of the sintering trolley greasing machine described in the first embodiment are implemented.

[0134] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0135] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0136] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A sintering trolley greasing machine, characterized in that: It comprises a follower car (1) which is used to run in parallel with the sintering trolley and can perform reciprocating movement itself, and an oil injection module is installed on the follower car (1); The oil injection module comprises an oil injection vehicle (4) installed on a follower vehicle (1) and capable of reciprocating movement, wherein the movement direction of the oil injection vehicle (4) is perpendicular to the movement direction of the follower vehicle (1); an oil injection gun (2) for adding grease to the sintering trolley and capable of reciprocating movement is installed on the oil injection vehicle (4), wherein the movement direction of the oil injection gun (2) is parallel to the movement direction of the oil injection vehicle (4); an oil injection gun delivery device (6) for driving the oil injection gun (2) to move is installed on the oil injection vehicle (4); the oil injection gun (2) is connected to an oil injection pump (7) via a lubricating oil pipeline, a lubricating pipeline solenoid valve (10) is installed on the lubricating oil pipeline, and an insertion depth sensor (13) for measuring the insertion depth of the oil injection gun (2) is arranged on the side of the oil injection gun (2); The oiling vehicle (4) is provided with a positioning rudder (3) which can be raised and lowered. The positioning rudder (3) is provided with three rollers which are used to press the end cover of the sintering trolley wheel from top to bottom. The three rollers are on the same arc surface. The central axis of the oiling gun (2) coincides with the arc center line formed by the three rollers. When the three rollers press the end cover, the central axis of the oiling gun (2) and the oiling nozzle on the sintering trolley wheel are in line with each other. The three rollers are respectively a mounting wheel (11), a clamping wheel (15) and a guide wheel (14) from front to back. The mounting wheel (11) is mounted on the front end of the positioning rudder (3), and the clamping wheel (15) and the guide wheel (14) are mounted on the upper end of the positioning rudder (3). When the wheel end cover on the sintering trolley contacts the mounting wheel (11), when the wheel moves forward, the mounting wheel (11) is pushed to move, thereby driving the follower vehicle (1) to move along the moving direction of the sintering trolley. A wheel sensing probe (12) for sensing the approach of a sintering trolley wheel to a mounting wheel (11) is installed on the positioning rudder (3); an external laser distance meter (9) is arranged in the direction of the sintering trolley wheel moving toward the sintering trolley greasing machine; the external laser distance meter (9) is used to measure the horizontal distance between the sintering trolley wheel and the external laser distance meter (9) when the external laser distance meter (9) is perpendicular to the sintering trolley wheel after the sintering trolley wheel moves to the external laser distance meter (9).

2. The control method of the sintering trolley greasing machine according to claim 1 is characterized in that: The control method is as follows: S1, Positioning rudder (3) standby: The positioning rudder (3) is raised, and according to the distance measured by the external laser rangefinder (9), the oil injection vehicle (4) is controlled to extend to the positioning position toward the sintering trolley, and the positioning rudder (3) is suspended and in a standby state; S2. Capture the sintering trolley wheels: When the wheel end cap on the sintering trolley and the mounting wheel (11) are closer and closer, the wheel sensing probe (12) is finally triggered, and the positioning rudder (3) is pressed down, the oiling gun (2) is aligned with the central axis of the oiling nozzle on the wheel of the sintering trolley, and the wheel end cap pushes the positioning rudder (3) and the sintering trolley forward at the same speed through the mounting wheel (11); S3, follow-up vehicle (1) follows: The positioning rudder (3) pushes the oil injection vehicle (4) forward, thereby driving the follower vehicle (1) to run at the same speed as the sintering trolley; S4. Run the grease gun (2): The grease gun delivery device (6) is started to push the grease gun (2) toward the grease receiving nozzle; S5. Oil filling: The oiling gun (2) continuously moves toward the oiling nozzle. When the insertion depth sensor (13) contacts the end cover, if the displacement value of the insertion depth sensor (13) is greater than a set value, the oiling gun (2) stops running, the lubrication pipeline electromagnetic valve (10) opens, and oil is injected into the sintering trolley wheel. S6, Grease gun detached: After the oil injection is completed, the oil injection gun delivery device (6) drives the oil injection gun (2) to separate from the oil receiving nozzle and return to the standby position; S7, positioning rudder (3) reset: After the oiling gun (2) is disengaged, the positioning rudder (3) rises, and the oiling carriage (4) returns to the standby position. Subsequently, the follower carriage (1) is started to run in the opposite direction of the sintering carriage to the initial standby position of the follower carriage (1), preparing to enter the second oiling cycle.

3. The control method of the sintering trolley greasing machine according to claim 2 is characterized in that: The setting value range of the insertion depth sensor (13) in S5 is 3 to 5 mm.

4. The control method of the sintering trolley greasing machine according to claim 2 is characterized in that: The oiling time of the wheels of the sintering trolley in S5 is 2 to 5 seconds.

5. The control method of the sintering trolley greasing machine according to claim 2, characterized in that: The disengagement time of the oil filling gun (2) in S6 is ≤0.5s.

6. The control method of the sintering trolley greasing machine according to claim 2, characterized in that: The time for the oil filling vehicle (4) to return to the standby position in S7 is ≤ 1 s.

7. The control system of the control method of the sintering trolley greasing machine according to claims 2 to 6, characterized in that: It comprises a PLC system, wherein the oiling gun (2), the oiling vehicle (4) and the follower vehicle (1) are all driven by a servo motor, and the PLC system is connected to a servo driver in the servo motor through a high-speed pulse signal and a DI / DO signal to control the start and stop of the servo motor; An origin proximity switch is installed at the initial position of the grease gun (2), the grease truck (4) and the follower truck (1); a limit proximity switch is installed at the maximum stroke position of the grease gun (2), the grease truck (4) and the follower truck (1); and the origin proximity switch and the limit proximity switch are both connected to the PLC system signal; The insertion depth sensor (13), the wheel sensing probe (12), and the external laser rangefinder (9) are respectively connected to the PLC system signal and are used to receive signals from the insertion depth sensor (13), the wheel sensing probe (12), and the external laser rangefinder (9); The positioning rudder (3) is lifted by a cylinder, and the positioning rudder lifting solenoid valve and the lubrication pipeline solenoid valve (10) on the cylinder are connected to the PLC system signal, and the PLC system is used to control the opening and closing of the positioning rudder lifting solenoid valve and the lubrication pipeline solenoid valve (10).

8. The control system according to claim 7, characterized in that: The system control flow is as follows: S11, control system initialization: Enter the automatic lubrication working mode and initialize the control system; S12, the follower vehicle (1), the grease gun (2) and the grease vehicle (4) return to the origin; S13, the oiling vehicle (4) and the oiling gun (2) return to the standby position, and the positioning rudder (3) rises; S14, the follower vehicle (1) moves to the standby position, and the servo drive enable of the follower vehicle (1) is disconnected; S15: When the external working conditions of the grease filling machine are met, the oil filling vehicle (4) moves to the positioning position: An external laser rangefinder (9) is used to determine whether the wheel of the sintering trolley is detected. If detected, a delay T1 is performed, where T1 is the time obtained by dividing the lateral distance from the external laser rangefinder (9) to the oiling trolley (4) by half of the speed of the sintering trolley. Then, the control system sends an absolute displacement command to the servo driver of the oiling trolley (4), and the oiling trolley (4) is moved to the positioning position under the drive of the servo motor. S16, judging whether the wheel is in place: The wheel sensing probe (12) is used to determine whether the wheel is in place. If so, the next step S7 is executed, otherwise, the waiting continues; S17, the positioning rudder (3) is pressed down, and the oil injection vehicle (4) and the follower vehicle (1) are relatively stationary: After the control system receives the signal that the wheels of the sintering trolley are in place, there is a delay of 1 second, and the control system sends a downward pressure signal of the positioning rudder (3) to the positioning rudder lifting solenoid valve, controls the positioning rudder (3) to be pressed down, and at the same time, the oiling vehicle (4) and the follower vehicle (1) are relatively stationary, and at this time, the oiling gun (2) and the central axis of the oiling nozzle on the wheel of the sintering trolley are in line; S18, the grease gun (2) moves forward: The control system sends a forward command to the servo driver of the grease gun (2), and the servo driver receives the signal and drives the servo motor to drive the grease gun (2) to move forward; S19, determining whether the insertion depth of the grease gun (2) is greater than a threshold value: When the control system detects that the value of the insertion depth sensor (13) is greater than the threshold, step S10 is executed; S110, the grease gun (2) stops extending and starts refueling: The control system sends a stop command to the servo driver of the grease gun (2) to stop the movement of the grease gun (2), and then the control system sends an open control command to the lubrication pipeline solenoid valve (10) to open the lubrication pipeline solenoid valve (10) and start refueling; S111, when the refueling time reaches the set refueling time, refueling is stopped: When refueling starts, the control system starts timing, and when the timing reaches the refueling set time value, refueling is stopped, that is, the lubrication pipeline solenoid valve (10) is closed; S112, the grease gun (2) moves backward, detaches from the end cover, and returns to the standby position; S113, the positioning rudder (3) is raised, and the oil filling vehicle (4) retreats to the standby position; S114, the servo drive of the follower vehicle (1) is enabled and moves in the reverse direction to the standby position. A complete refueling process is completed.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the control method of the sintering cart greasing machine according to any one of claims 2 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method of the sintering cart greasing machine according to any one of claims 2 to 6 are implemented.

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