Automatic wheel lubricating system of sintering machine trolley in ironmaking plant

Abstract

The invention relates to an automatic wheel lubricating system for a sintering machine trolley in an iron making plant, and relates to the field of industrial automation. The system comprises a track and a sintering machine trolley advancing along the track, and further comprises automatic lubricating subsystems arranged on the two sides of the track respectively. The automatic lubrication subsystem comprises a controller, a pneumatic control system, and a wheel in-place sensor, a speed measurement cleaning device and an oil injection system which are sequentially arranged along the advancing direction of the sintering machine trolley; according to the automatic system, the manual lubrication workload of 16-24 working hours can be saved every month, and the labor intensity and the maintenance cost are remarkably reduced. And through a cooperative operation system of the double automatic lubrication subsystems, the complete unmanned lubrication operation in a high-temperature area of 80-120 DEG C and a coal gas dangerous area is realized, and the safety risks of suffocation, scalding and the like caused by the fact that a worker enters a high-risk environment are eliminated.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation, and particularly relates to an automatic lubrication system for the wheels of a sintering machine trolley in an iron-making plant. Background Art

[0002] In the iron-making process of the metallurgical industry, the sintering machine trolley is the core conveying equipment of the sintering system, and its running stability directly affects the quality of sintered ore and production efficiency. Due to long-term exposure to high temperature, heavy load and alternating stress, mechanical failures such as the deviation of the axis of the wheel set and the detachment of the wheel body are likely to occur in the walking mechanism of the trolley. Such failures are characterized by strong suddenness and difficulty in positioning. Once a trolley jamming accident is caused, it often takes 4 - 6 hours to stop the machine for emergency repair, which not only reduces the production line output by about 800 - 1200 tons per time, but also poses a safety risk caused by maintenance personnel entering the gas area for operation.

[0003] The current maintenance system has three major technical bottlenecks: First, manual lubrication operations need to be carried out in a harsh environment with a high temperature of 80 - 120°C and a dust concentration > 20mg / m 3 . It is necessary to invest 16 - 24 man-hours per month for grease replenishment, with high labor intensity and potential safety hazards of human-machine cross-operation; Second, traditional oil injection methods are difficult to achieve precise quantitative injection of grease. According to statistics, about 35% of the wheel axle failures are due to seal failures caused by over-lubrication or bearing wear caused by insufficient lubrication; Third, there is a lack of on-line monitoring means, and maintenance personnel cannot real-time grasp the running parameters of the wheel body, and the fault warning lags behind the occurrence of mechanical damage. Summary of the Invention

[0004] In view of this, the present invention aims to propose an automatic lubrication system for the wheels of a sintering machine trolley in an iron-making plant to solve the problem of low automation degree of wheel oil injection for sintering machine trolleys in the prior art.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows:

[0006] In a first aspect of the present invention, there is provided an automatic lubrication system for the wheels of a sintering machine trolley in an iron-making plant, including a track and a sintering machine trolley traveling along the track, and further including:

[0007] Automatic lubrication subsystems respectively arranged on both sides of the track;

[0008] The automatic lubrication subsystem includes a controller, a pneumatic control system, and a wheel presence sensor, a speed measurement and cleaning device, and an oil injection system sequentially arranged along the traveling direction of the sintering machine trolley;

[0009] The wheel presence sensor is used to real-time detect whether the wheels of the sintering machine trolley reach a predetermined position on the track and output a corresponding in-place signal;

[0010] The controller, in response to the in-place signal, controls the pneumatic control system to drive the speed measurement and cleaning device to measure the rotational speed of the wheels of the sintering machine trolley traveling along the track so that the speed measurement and cleaning device outputs wheel speed data, and controls the speed measurement and cleaning device to clean the lubricating oil inlets of the wheels of the sintering machine trolley;

[0011] The controller, still in response to the in-place signal, controls the lubricating oil injection system to synchronously follow the sintering machine trolley within its travel range according to the wheel speed data and inject a preset amount of lubricating grease into the wheels of the sintering machine trolley.

[0012] Further, the pneumatic control system includes an air inlet valve, a filter, a pressurized air storage tank, and a pneumatic control box that are connected in sequence;

[0013] The air inlet valve is used to control the input of an external air source;

[0014] The filter is used to purify impurities in the air source;

[0015] The pressurized air storage tank is used to stabilize and store the purified compressed air;

[0016] The controller, in response to the in-place signal, sends a first control signal to the pneumatic control box;

[0017] The pneumatic control box is used to receive the first control signal sent by the controller and distribute air pressure to the speed measurement and cleaning device to drive the speed measurement and cleaning device to measure the rotational speed of the wheels of the sintering machine trolley traveling along the track and output wheel speed data through the speed measurement and cleaning device.

[0018] Further, the wheel in-place sensor is selected from one or more of a photoelectric sensor, an inductive proximity sensor, an ultrasonic sensor, and a limit switch.

[0019] Further, the speed measurement and cleaning device includes:

[0020] A first slide rail, a first cylinder, a second slide rail, a second cylinder, and a process encoder;

[0021] The first slide rail is arranged parallel to the track, and a first slide table is arranged on the first slide rail; the output end of the first cylinder is connected to the first slide table and is used to drive the first slide table to slide along the direction parallel to the track;

[0022] A second slide rail is arranged on the first slide table, the second slide rail is arranged perpendicular to the track, and a second slide table is arranged on the second slide rail; the output end of the second cylinder is connected to the second slide table and is used to drive the second slide table to slide along the direction perpendicular to the track;

[0023] A speed measurement guide wheel is installed on the second slide table;

[0024] The controller, in response to the in-place signal, controls the telescopic movements of the first cylinder and the second cylinder through the pneumatic control system, drives the speed measuring guide wheel to abut against the side surface of the wheel, and makes the speed measuring guide wheel rotate synchronously with the wheel through frictional transmission;

[0025] The encoder is connected to the output shaft of the speed measuring guide wheel and is used to measure the speed data of the speed measuring guide wheel to obtain the speed data of the wheel and output it.

[0026] Further, a cleaning motor is also installed on the second sliding table, a brush is installed at the output end of the cleaning motor, and the brush is configured to, when the speed measuring guide wheel abuts against the side surface of the wheel,

[0027] The brush is arranged close to the oil injection port of the wheel;

[0028] The controller is used to control the cleaning motor to rotate when the speed measuring guide wheel abuts against the side surface of the wheel, so as to drive the brush to rotate and clean the oil injection port of the wheel.

[0029] Further, the oil injection system includes: a robotic arm, a retracting mechanism, an oil injection assembly, and an oil injection gun;

[0030] A flexible displacement compensation assembly is installed on the end effector of the robotic arm; an auxiliary guide wheel and a retracting mechanism are fixedly installed on one side of the flexible displacement compensation assembly away from the robotic arm, and an oil injection gun is fixedly installed on one side of the retracting mechanism away from the flexible displacement compensation assembly; the output end of the oil injection assembly is connected to the oil injection gun;

[0031] The oil injection gun is configured to, when the auxiliary guide wheel abuts against the wheel of the sintering machine trolley, align the muzzle of the oil injection gun with the oil injection port of the wheel;

[0032] The controller, in response to the in-place signal, controls the retracting mechanism to push out the oil injection gun, controls the robotic arm to synchronously follow the sintering machine trolley within its travel range according to the wheel speed data, controls the end effector of the robotic arm to approach the sintering machine trolley, so that the auxiliary guide wheel abuts against the wheel of the sintering machine trolley, and makes the oil injection gun insert into the oil injection port of the wheel; controls the oil injection assembly to output grease with a preset amount and a preset pressure through the oil injection gun, and after the oil injection is completed, controls the retracting mechanism to retract the oil injection gun to the original position and controls the robotic arm to return to the original position. Further, the oil injection assembly includes an oil storage tank, an oil injection pump, and an oil outlet valve that are connected in sequence; the oil outlet valve is connected to the oil injection gun; a flow meter and a pressure sensor are installed between the oil injection pump and the oil outlet valve;

[0033] The controller is configured to control the oil outlet valve to open and start the oil injection pump when the end effector of the robotic arm approaches the sintering machine trolley, causing the auxiliary guide wheel to abut against the wheel of the sintering machine trolley and the grease gun to be inserted into the grease injection port of the wheel, so that the grease in the grease storage tank is injected into the grease injection port of the wheel through the grease gun. The rotation speed of the oil injection pump is controlled according to the oil injection pressure of the pressure sensor to make the oil injection pressure reach a preset pressure. The oil injection volume of the flow meter is obtained, and the oil injection pump is stopped and the oil injection valve is closed when the oil injection volume reaches a preset volume.

[0034] Furthermore, wheel number plates are installed on both sides of the sintering machine trolley and close to the wheels; the numbers of the wheel number plates of each wheel are unique;

[0035] The number area of the wheel number plate adopts a hollow structure.

[0036] Furthermore, the automatic lubrication subsystem further includes an infrared image collector;

[0037] The infrared image collector is configured to collect infrared image data of the wheel number plate of the wheel being oiled by the oil injection system;

[0038] The controller is configured to obtain and identify the number of the wheel number plate of the wheel being oiled by the oil injection system according to the infrared image data.

[0039] Furthermore, the automatic lubrication subsystem further includes a refrigeration device;

[0040] The controller is used to control the refrigeration device to cool the infrared image collector.

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] In the present invention, through the coordinated operation system of the dual automatic lubrication subsystem, fully unmanned lubrication operation in the high-temperature zone of 80 - 120 °C and the gas-dangerous area is realized, eliminating safety risks such as asphyxiation and scalding caused by manual entry into high-risk environments, meeting the requirements of safety standards, and reducing the personnel exposure risk by 100%. Through the automatic lubrication subsystem, precise lubrication of the wheels is achieved, effectively reducing the incidence of mechanical failures such as the offset of the wheel set axis and the detachment of the wheel body, and reducing the downtime (4 - 6 hours per time) and output loss (800 - 1200 tons per time) caused by jamming accidents, ensuring the stable operation of the sintering machine. The automatic lubrication system can work continuously for 24 hours, significantly improving the equipment utilization rate and enhancing the production efficiency of sintered ore. Through the coordinated work of the controller and the speed measurement and cleaning device, it is ensured that the speed of the oil injection system is synchronized with that of the traveling trolley, realizing the precise quantitative injection of lubricating grease, avoiding problems such as seal failure or bearing wear caused by excessive or insufficient lubrication, and extending the service life of the wheel set. The speed measurement and cleaning device can clean the wheel oil injection port in real time, preventing the blockage of the oil injection channel caused by dust caking and improving the lubrication efficiency. The automated lubrication system can save 16 - 24 man-hours of manual lubrication work per month, significantly reducing the labor intensity and maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0044] Figure 1 is a schematic structural diagram of the overall control of the present invention;

[0045] Figure 2 is a three-dimensional structural diagram of the sintering machine, the speed measurement and cleaning device, and the oil injection system of the present invention;

[0046] Figure 3 is a schematic structural diagram of the control of the pneumatic control system of the present invention;

[0047] Figure 4 is a schematic structural diagram of the control of the speed measurement and cleaning device of the present invention;

[0048] Figure 5 is a three-dimensional structural diagram of the speed measurement and cleaning device of the present invention;

[0049] Figure 6 is of the present invention Figure 5 partial enlarged view at B;

[0050] Figure 7 is a schematic structural diagram of the control of the oil injection system of the present invention;

[0051] Figure 8 is a three-dimensional structural diagram of the oil injection system of the present invention;

[0052] Figure 9 For the present invention Figure 8 Partial enlarged view at A;

[0053] Figure 10 Schematic structural diagram of the oil injection assembly of the present invention;

[0054] Figure 11 Schematic structural diagram of the control of the infrared image collector of the present invention;

[0055] Figure 12 Image acquisition effect diagram of the infrared image collector of the present invention.

[0056] Explanation of reference numerals:

[0057] 01, Controller; 02, Wheel in-place sensor; 03, Pneumatic control system; 031, Intake valve; 032, Filter; 033, Boost pressure storage tank; 034, Pneumatic control box; 04, Speed measurement and cleaning device; 041, First cylinder; 042, Second cylinder; 043, Process encoder; 044, Speed measurement guide wheel; 045, First slide rail; 046, First slide table; 047, Second slide rail; 048, Second slide table; 049, Cleaning motor; 0410, Brush; 05, Oil injection system; 051, Robot arm; 052, Flange; 053, Oil injection assembly; 0531, Oil storage tank; 0532, Oil injection pump; 0533, Flowmeter; 0534, Pressure sensor; 0535, Outlet valve; 054, Flexible displacement compensation assembly; 055, Retreating mechanism; 056, Oil injection gun; 057, Auxiliary guide wheel; 06, Wheel number collector; 061, Infrared image collector; 062, Refrigeration device; 07, Sintering machine trolley; 071, Wheel. Detailed implementation manners

[0058] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0059] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "back", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0060] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installation", "connection", "connection", and "connector" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in combination with specific situations.

[0061] The following will refer to the attached Figures 1 to 12 and describe the present invention in detail in conjunction with embodiments.

[0062] Overall, as Figure 1 and Figure 2 shown, an automatic lubrication system for the wheels 071 of a sintering machine trolley 07 in an iron-smelting plant includes a track and a sintering machine trolley 07 traveling along the track, and further includes:

[0063] Automatic lubrication subsystems respectively arranged on both sides of the sintering machine trolley 07;

[0064] The automatic lubrication subsystem includes a controller 01, a pneumatic control system 03, and a wheel 071 in-position sensor 02, a speed measurement and cleaning device 04, and an oil injection system 05 arranged in sequence along the traveling direction of the sintering machine trolley 07;

[0065] The wheel 071 in-position sensor 02 is used to detect in real time whether the wheel 071 of the sintering machine trolley 07 reaches a predetermined position on the track and outputs a corresponding in-position signal;

[0066] The controller 01, in response to the in-position signal, controls the pneumatic control system 03 to drive the speed measurement and cleaning device 04 to measure the rotational speed of the wheel 071 of the sintering machine trolley 07 traveling along the track so that the speed measurement and cleaning device 04 outputs wheel 071 speed data, and controls the speed measurement and cleaning device 04 to clean the oil injection port of the wheel 071 of the sintering machine trolley 07;

[0067] The controller 01 also, in response to the in-position signal, controls the oil injection system 05 to travel synchronously following the sintering machine trolley 07 within its travel range and inject a preset amount of lubricating grease into the wheel 071 of the sintering machine trolley 07.

[0068] It should be noted that in this embodiment, the wheel 071 for cleaning and speed measurement by the speed measurement and cleaning device 04 is different from the wheel 071 for oil injection by the oil injection system 05. Along the traveling direction of the sintering machine trolley 07, the wheel 071 for cleaning and speed measurement by the speed measurement and cleaning device 04 and the wheel 071 for oil injection by the oil injection system 05 are passed through in sequence.

[0069] In the present invention, through the collaborative operation system of the dual automatic lubrication subsystem, fully unmanned lubrication operation in the high-temperature area of 80 - 120 °C and the gas-dangerous area is realized, eliminating safety risks such as asphyxiation and scalding caused by manual entry into high-risk environments, meeting the requirements of safety standards, and reducing the personnel exposure risk by 100%. Through the automatic lubrication subsystem, precise lubrication of the wheel 071 is achieved, effectively reducing the incidence of mechanical failures such as axis deviation and wheel body detachment of the wheel 071 group, reducing the downtime (4 - 6 hours per time) and production loss (800 - 1200 tons per time) caused by jamming accidents, and ensuring the stable operation of the sintering machine 07. The automatic lubrication system can work continuously for 24 hours, significantly improving the equipment utilization rate and enhancing the production efficiency of sintered ore. Through the collaborative work of the controller 01 and the speed measurement and cleaning device 04, it is ensured that the oil injection system 05 is synchronized with the speed of the traveling trolley, realizing precise quantitative injection of lubricating grease, avoiding problems such as seal failure or bearing wear caused by excessive or insufficient lubrication, and extending the service life of the wheel 071 group. The speed measurement and cleaning device 04 can clean the oil injection port of the wheel 071 in real time, preventing blockage of the oil injection channel caused by dust caking and improving the lubrication efficiency. The automated lubrication system can save 16 - 24 man-hours of manual lubrication work per month, significantly reducing the labor intensity and maintenance cost.

[0070] In one embodiment, as Figure 3 shown, the pneumatic control system 03 includes an air inlet valve 031, a filter 032, a pressurized air storage tank 033, and a pneumatic control box 034 that are connected in sequence;

[0071] The air inlet valve 031 is used to control the input of the external air source;

[0072] The filter 032 is used to purify impurities in the air source;

[0073] The pressurized air storage tank 033 is used to stabilize and store the purified compressed air;

[0074] The controller 01, in response to the in-place signal, sends a first control signal to the pneumatic control box 034;

[0075] The pneumatic control box 034 is used to receive the first control signal sent by the controller 01 and distribute air pressure to the speed measurement and cleaning device 04 to drive the speed measurement and cleaning device 04 to measure the rotational speed of the wheel 071 of the sintering machine trolley 07 traveling along the track and output the wheel 071 speed data through the speed measurement and cleaning device 04.

[0076] In a specific embodiment, the pneumatic control system 03 is equipped with a filtering device to filter out water vapor in the air source. Due to the unstable workshop air pressure, a pressurized air storage tank 033 must be equipped to ensure the stable operation of the equipment.

[0077] In one embodiment, the wheel 071 in-position sensor 02 is selected from one or more of a photoelectric sensor, an inductive proximity sensor, an ultrasonic sensor, and a limit switch.

[0078] In this embodiment, each sensor can be used in combination to improve the recognition accuracy of the wheel 071 being in position;

[0079] Specifically, the principle of a photoelectric sensor is to determine the presence of an object by emitting a light beam (infrared or laser) and detecting the reflection / occlusion signal. The advantages are non-contact, fast response, and high precision, making it suitable for high-speed motion detection.

[0080] The working principle of an inductive proximity sensor is to detect the approach of a metal object by changes in the electromagnetic field. Its advantages are high temperature resistance, dust resistance, and no mechanical wear, making it suitable for stable detection of the metal wheel 071.

[0081] The working principle of an ultrasonic sensor is to calculate the distance of an object by emitting ultrasonic waves and measuring the echo time. Its advantages are that it is not affected by color or material and has strong dust penetration ability.

[0082] The working principle of a magnetic sensor (Hall sensor / Magnetic Sensor) is to trigger the Hall effect by detecting magnetic markers or built-in magnets on the wheel 071. Its advantages are resistance to dust and oil interference, making it suitable for extreme environments.

[0083] The working principle of a mechanical limit switch is to trigger a mechanical switch through physical contact with the wheel 071. Its advantages are simple structure and low cost.

[0084] In a preferred embodiment, this embodiment can use a transmissive photoelectric sensor and an inductive proximity sensor in combination, taking into account long-distance detection and precise triggering of the metal wheel 071, and the redundant design improves reliability.

[0085] In a preferred embodiment, an ultrasonic sensor or a magnetic sensor can be selected in a high-temperature environment to avoid dust interference with the optical signal.

[0086] In a preferred embodiment, a mechanical limit switch can be used, which has a low cost.

[0087] In one embodiment, as Figure 4 、 Figure 5 and Figure 6 shown, the speed measurement and cleaning device 04 includes:

[0088] The first slide rail 045, the first cylinder 041, the second slide rail 047, the second cylinder 042, and the process encoder 043;

[0089] The first slide rail 045 is arranged parallel to the track, and a first slide table 046 is arranged on the first slide rail 045; the output end of the first cylinder 041 is connected to the first slide table 046, and is used to drive the first slide table 046 to slide along the direction parallel to the track;

[0090] A second slide rail 047 is arranged on the first slide table 046, the second slide rail 047 is arranged perpendicular to the track, and a second slide table 048 is arranged on the second slide rail 047; the output end of the second cylinder 042 is connected to the second slide table 048, and is used to drive the second slide table 048 to slide along the direction perpendicular to the track;

[0091] A speed measuring guide wheel 044 is installed on the second slide table 048;

[0092] The controller 01, in response to the in-place signal, controls the telescopic actions of the first cylinder 041 and the second cylinder 042 through the pneumatic control system 03, drives the speed measuring guide wheel 044 to abut against the side of the wheel 071, and makes the speed measuring guide wheel 044 rotate synchronously with the wheel 071 through frictional transmission;

[0093] The encoder is connected to the output shaft of the speed measuring guide wheel 044, and is used to measure the speed data of the speed measuring guide wheel 044 to obtain the speed data of the wheel 071 and output it.

[0094] More specifically, in this embodiment, the controller 01 controls the telescopic movement of the first cylinder 041 according to the speed data, so that the first slide table 046 moves synchronously with the wheel 071, and further makes the speed measuring guide wheel 044 always abut against the side of the wheel 071; when exceeding the maximum stroke of the first slide rail 045 or when the speed measurement is completed (the oil injection system 05 has completed oil injection), it returns to the original position.

[0095] In a specific embodiment: both the first cylinder 041 and the second cylinder 042 are magnetic and are equipped with magnetic switches for detecting the position of the cylinder to determine the movement position of the cylinder.

[0096] When the controller 01 receives the in-place signal of the wheel 071, the longitudinal cylinder is first pushed out. After the in-place signal of the longitudinal cylinder is triggered, the transverse cylinder is pushed out. The guide wheel fits to one side of the wheel 071 and moves synchronously with the wheel 071. The process encoder 043 during the synchronous following will transmit the measured speed information to the controller 01 for acquisition to guide the synchronous operation of the oil injection system 05.

[0097] In one embodiment, a cleaning motor 049 is further installed on the second sliding table 048, and a brush 0410 is installed at the output end of the cleaning motor 049. The brush 0410 is configured to be disposed close to the oil filling port of the wheel 071 when the speed measuring guide wheel 044 abuts against the side surface of the wheel 071.

[0098] The controller 01 is configured to control the cleaning motor 049 to rotate when the speed measuring guide wheel 044 abuts against the side surface of the wheel 071, so as to drive the brush 0410 to rotate and clean the oil filling port of the wheel 071.

[0099] In one embodiment, as Figure 7 、 Figure 8 and Figure 9 shown, the oil filling system 05 includes: a robotic arm 051, a retracting mechanism 055, an oil filling assembly 053, and an oil filling gun 056;

[0100] A flexible displacement compensation assembly 054 is installed on the end effector of the robotic arm 051; an auxiliary guide wheel 057 and a retracting mechanism 055 are fixedly installed on one side of the flexible displacement compensation assembly 054 away from the robotic arm 051, and an oil filling gun 056 is fixedly installed on one side of the retracting mechanism 055 away from the flexible displacement compensation assembly 054; the output end of the oil filling assembly 053 is connected to the oil filling gun 056;

[0101] The oil filling gun 056 is configured to align the muzzle of the oil filling gun 056 with the oil filling port of the wheel 071 when the auxiliary guide wheel 057 abuts against the wheel 071 of the sintering machine trolley 07.

[0102] The controller 01, in response to the in-place signal, controls the retracting mechanism 055 to push out the oil filling gun 056, controls the robotic arm 051 to synchronously follow the sintering machine trolley 07 within its travel range according to the wheel speed data of the wheel 071, controls the end effector of the robotic arm 051 to approach the sintering machine trolley 07, so that the auxiliary guide wheel 057 abuts against the wheel 071 of the sintering machine trolley 07, and the oil filling gun 056 is inserted into the oil filling port of the wheel 071; controls the oil filling assembly 053 to output grease with a preset amount and a preset pressure through the oil filling gun 056, and after the oil filling is completed, controls the retracting mechanism 055 to retract the oil filling gun 056 to its original position, and controls the robotic arm 051 to return to its original position.

[0103] In this embodiment, the end effector refers to the flange 052 installed at the end of the robotic arm 051.

[0104] It should be noted that the flexible displacement compensation component 054 is a flexible connection material, and its function is to allow slight offsets in the left-right and front-back directions when the grease gun 056 is connected to the grease nozzle of the wheel 071 of the sintering machine trolley 07. The retraction mechanism 055 can retract the grease gun 056 to a safe position when an abnormality occurs in the equipment. A pressure sensor 0534 is installed on the grease injection assembly 053 to measure the pipeline pressure during grease injection and assist in detecting whether the grease injection is successful.

[0105] It should be noted that the retraction mechanism 055 can be an electric control slide table assembly, a hydraulic mechanism, or a cylinder, as long as it is a mechanism capable of achieving linear displacement, and no further restrictions are imposed here.

[0106] In a specific embodiment, the output pressure value of the pump body of the grease pump 0532 system is not less than 30 Mpa, the oil output per second is not less than 20 ml, and stable oil output must be ensured within 12 s. The grease pump 0532 is equipped with a separate control system and has an automatic oil output function after clicking "automatic" on the operation interface. The actual grease injection volume needs to be counted by a flow meter 0533, and an alarm prompt is given when the grease injection volume is insufficient.

[0107] This unit meets the requirements of quantitative grease injection and grease injection flow monitoring; it uses oil pumping, has high efficiency and low noise, meets the requirements of grease transportation, and has functions of oil shortage alarm and pressure value alarm.

[0108] In one embodiment, as Figure 10 shown, the grease injection assembly 053 includes a fuel tank 0531, a grease pump 0532, and an oil outlet valve 0535 that are connected in sequence; the oil outlet valve 0535 is connected to the grease gun 056; a flow meter 0533 and a pressure sensor 0534 are installed between the grease pump 0532 and the oil outlet valve 0535;

[0109] The controller 01 is used to control the oil outlet valve 0535 to open and start the grease pump 0532 when the end effector of the robotic arm 051 approaches the sintering machine trolley 07, causing the auxiliary guide wheel 057 to abut against the wheel 071 of the sintering machine trolley 07 and the grease gun 056 to insert into the grease injection port of the wheel 071, so that the grease in the fuel tank 0531 is injected into the grease injection port of the wheel 071 through the grease gun 056, control the rotation speed of the grease pump 0532 according to the grease injection pressure of the pressure sensor 0534 (the control algorithm can adopt the PID algorithm) so that the grease injection pressure reaches the preset pressure, obtain the grease injection volume of the flow meter 0533, and stop the grease pump 0532 and close the oil outlet valve when the grease injection volume reaches the preset volume.

[0110] In this embodiment, the grease injection assembly 053 provides a grease transportation channel, and the grease gun 056 can achieve docking with the grease injection port of the wheel 071, ensuring a certain sealing pressure and rotation function.

[0111] In one embodiment, as Figure 11 and Figure 12 shown, wheel number plates are installed on both sides of the sintering machine trolley 07 and close to the wheels 071; the numbers of the wheel number plates of each wheel 071 are unique;

[0112] The number area of the wheel number plate adopts a hollow structure.

[0113] The automatic lubrication subsystem further includes an infrared image collector 061;

[0114] The infrared image collector 061 is used to collect infrared image data of the wheel number plate of the wheel 071 being lubricated by the lubricating system 05.

[0115] The controller 01 is used to obtain and identify the number of the wheel number plate of the wheel 071 being lubricated by the lubricating system 05 according to the infrared image data.

[0116] The automatic lubrication subsystem further includes a refrigeration device 062;

[0117] The controller 01 is used to control the refrigeration device 062 to cool the infrared image collector 061.

[0118] In this embodiment, the refrigeration device 062 can be selected from one or more of a semiconductor refrigeration device, a compression refrigeration system, an absorption refrigeration device, and a liquid circulation refrigeration device, and no more limitations are made here.

[0119] In this embodiment, the infrared image collector 061 uploads the captured license plate image to the host computer through the controller 01, and the host computer analyzes and identifies it, and displays the identified wheel 071 license plate information and related oil injection amounts on the operation display interface.

[0120] The wheel 071 number identification scheme of the infrared image collector 061: The sintering machine 07 trolley is loaded with sintering materials, which will be slowly burned through after ignition and sintering; a large amount of heat will be generated during the sintering process of the sintering materials, and the trolley will be heated to 70 - 120 °C. The numbers in the middle of the license plate are hollow, and the digital symbols can be clearly seen from the infrared image collector 061, which is convenient for identification. Using infrared identification can effectively avoid the influence of on-site license plate dirt on the identification effect.

[0121] In a possible implementation manner, the subsystem further includes a video monitoring system composed of a network camera and a video recorder. The network camera is arranged close to the oil injection gun 056, and the camera adopts a high-definition digital camera. The main function is to enable the operator to clearly observe the completion of the robot's actions and the status around the equipment.

[0122] In a specific embodiment, a guardrail is arranged in the installation area of the oil injection system 05 and the operation area of the speed measurement and cleaning device 04, and a safety door and a safety lock are equipped. A control box is installed on the safety door or the guardrail, and an equipment operation indicator light is provided.

[0123] It should be noted that the controller 01 in this embodiment includes an electric control cabinet, electrical components inside the cabinet, a host computer system, a field operation box, etc.; the PLC system is connected to each sensor as a signal transfer center and outputs various execution instructions; at the same time, the controller 01 is also connected to the host computer and automatically executes the safety evacuation instruction after the communication between the controller 01 and the host computer is interrupted. The host computer control system completes the control of all operations of the system, including equipment start-up condition setting, operation according to procedures, control logic processing, abnormal situation handling, etc. A field operation box is installed on the equipment guardrail, which consists of a touch screen, operation buttons, indicator lights, etc. Status information and key information are displayed on the operation screen; an emergency stop button, a mode selection switch, etc. are set on the control box, that is, the equipment can be started and stopped at the operation box, and at the same time, it can also be remotely controlled through an industrial computer.

[0124] In a specific embodiment, the actual on-site working condition is that there are 232 wheels 071 on each side of the sintering machine 07, arranged in a circular chain shape; the robot oil injection system 05 is installed on both sides of the wheels 071 of the sintering machine trolley 07 on the sintering machine 07 platform, and automatic oil injection and detection are completed as the trolley runs.

[0125] On-site working conditions before using this equipment: 1. Oil filling method: Manually apply grease, generally once every 10 days, and it takes two shifts to finish filling (36 hours to finish). Shifts need to be arranged every week.

[0126] 2. Bearing consumption: The bearings use double-row tapered roller bearings. According to preliminary investigations, 200 sets are consumed annually and 50 sets are consumed quarterly.

[0127] After using this equipment, automatic grease filling is realized, file management and health status monitoring are carried out for each wheel 071, maintenance and replacement operations are optimized, faults such as wheel dropping are reduced, and the operation rate of the sintering machine 07 is improved.

[0128] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic lubrication system for the wheels of a sintering machine trolley in an iron smelting plant, comprising a track and a sintering machine trolley traveling along the track, characterized in that , further comprising: Automatic lubrication subsystems respectively arranged on both sides of the track; The automatic lubrication subsystem includes a controller, a pneumatic control system, and a wheel in-position sensor, a speed measurement and cleaning device, and an oil injection system sequentially arranged along the traveling direction of the sintering machine trolley; The wheel in-position sensor is used to detect in real time whether the wheels of the sintering machine trolley reach a predetermined position on the track and output a corresponding in-position signal; The controller, in response to the in-position signal, controls the pneumatic control system to drive the speed measurement and cleaning device to measure the rotational speed of the wheels of the sintering machine trolley traveling along the track so that the speed measurement and cleaning device outputs wheel speed data, and controls the speed measurement and cleaning device to clean the oil injection ports of the wheels of the sintering machine trolley; The controller, further in response to the in-position signal, controls the oil injection system to synchronously follow the sintering machine trolley within its travel range and inject a preset amount of lubricating grease into the wheels of the sintering machine trolley according to the wheel speed data.

2. The automatic lubrication system for the wheels of a sintering machine trolley in an iron and steel plant according to claim 1, wherein: The pneumatic control system includes an intake valve, a filter, a pressurized air storage tank, and a pneumatic control box connected in sequence; The intake valve is used to control the input of an external air source; The filter is used to purify impurities in the air source; The pressurized air storage tank is used to stabilize and store the purified compressed air; The controller, in response to the in-position signal, sends a first control signal to the pneumatic control box; The pneumatic control box is used to receive the first control signal sent by the controller and distribute air pressure to the speed measurement and cleaning device to drive the speed measurement and cleaning device to measure the rotational speed of the wheels of the sintering machine trolley traveling along the track and output wheel speed data through the speed measurement and cleaning device.

3. The automatic lubrication system for the wheels of a sintering machine trolley in an iron and steel plant according to claim 1, wherein: The wheel in-position sensor is selected from one or more of a photoelectric sensor, an inductive proximity sensor, an ultrasonic sensor, and a limit switch.

4. The automatic lubrication system for the wheels of a sintering machine trolley in an iron and steel plant according to claim 1, wherein: The speed measurement and cleaning device includes: A first slide rail, a first cylinder, a second slide rail, a second cylinder, and a process encoder; The first slide rail is arranged parallel to the track, and a first slide table is arranged on the first slide rail; the output end of the first cylinder is connected to the first slide table and is used to drive the first slide table to slide along a direction parallel to the track; A second slide rail is arranged on the first slide table, the second slide rail is arranged perpendicular to the track, and a second slide table is arranged on the second slide rail; the output end of the second cylinder is connected to the second slide table and is used to drive the second slide table to slide along a direction perpendicular to the track; A speed measurement guide wheel is installed on the second slide table; The controller, in response to the in-position signal, controls the telescopic movements of the first cylinder and the second cylinder through the pneumatic control system, drives the speed measurement guide wheel to abut against the side of the wheel, and makes the speed measurement guide wheel rotate synchronously with the wheel through frictional transmission; The encoder is connected to the output shaft of the speed measurement guide wheel and is used to measure the speed data of the speed measurement guide wheel to obtain the speed data of the wheel and output it.

5. The automatic wheel lubrication system for the sintering machine trolley of the ironmaking plant according to claim 4, characterized in that: A cleaning motor is also installed on the second slide, and a brush is installed at the output end of the cleaning motor. The brush is configured to be arranged close to the oil filling port of the wheel when the speed measuring guide wheel abuts against the side of the wheel; The controller is used to control the cleaning motor to rotate when the speed measuring guide wheel abuts against the side of the wheel, so as to drive the brush to rotate and clean the oil filling port of the wheel.

6. The automatic wheel lubrication system for the sintering machine trolley of the ironmaking plant according to claim 1, characterized in that: The oil injection system comprises: a mechanical arm, a retreat mechanism, an oil injection assembly, and an oil injection gun; A flexible displacement compensation component is installed on the end effector of the mechanical arm; an auxiliary guide wheel and a retreat mechanism are fixedly installed on the flexible displacement compensation component at a side away from the mechanical arm, and a grease gun is fixedly installed on the retreat mechanism at a side away from the flexible displacement compensation component; the output end of the grease gun is connected to the grease gun; The grease gun is configured such that when the auxiliary guide wheel abuts against the wheel of the sintering machine trolley, the muzzle of the grease gun is aligned with the grease port of the wheel; The controller, in response to the in-position signal, controls the retreat mechanism to push out the grease gun, controls the robot arm to synchronously follow the sintering machine trolley to move within its travel range according to the wheel speed data, controls the end effector of the robot arm to approach the sintering machine trolley, so that the auxiliary guide wheel abuts against the wheel of the sintering machine trolley, and the grease gun is inserted into the grease port of the wheel; controls the grease injection assembly to output a preset amount and preset pressure of grease through the grease injection gun, and controls the retreat mechanism to return the grease gun to its original position after the grease injection is completed, and controls the robot arm to return to its original position.

7. The automatic wheel lubrication system for the sintering machine trolley of the ironmaking plant according to claim 6, characterized in that: The oil injection assembly comprises an oil storage tank, an oil injection pump, and an oil outlet valve which are connected in sequence; the oil outlet valve is connected to an oil injection gun; a flow meter and a pressure sensor are installed between the oil injection pump and the oil outlet valve; The controller is used to control the oil outlet valve to open, start the oil pump so that the grease in the oil tank is injected into the oil filling port of the wheel through the oil gun, control the rotation speed of the oil pump according to the oil injection pressure of the pressure sensor so that the oil injection pressure reaches a preset pressure, obtain the oil injection amount of the flow meter, and stop the oil injection pump and close the oil injection valve when the oil injection amount reaches the preset amount.

8. The automatic wheel lubrication system for the sintering machine trolley of the ironmaking plant according to claim 1, characterized in that: Wheel number plates are installed on both sides of the sintering machine trolley and close to the wheels; the wheel number plates of each wheel have unique numbers; The numbering area of ​​the wheel number plate adopts a hollow structure.

9. The automatic wheel lubrication system for the sintering machine trolley of the ironmaking plant according to claim 8, characterized in that: The automatic lubrication subsystem also includes an infrared image collector; The infrared image collector is used to collect infrared image data of the license plate of the wheel being oiled by the oil injection system; The controller is used to obtain and identify the number of the license plate of the wheel being oiled by the oil injection system according to the infrared image data.

10. The automatic wheel lubrication system for the sintering machine trolley in the iron and steel plant according to claim 9, characterized in that: The automatic lubrication subsystem further includes a refrigeration device; The controller is used to control the refrigeration device to cool the infrared image collector.

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