An adaptive control system and method for powder spraying lubrication of an extrusion machine ingot

Abstract

The present invention provides an extrusion machine ingot powder spraying lubrication adaptive control system and method, which includes a powder spraying trolley, a track, a loading manipulator and a PLC control system. The loading manipulator holds an ingot. The powder spraying trolley is arranged on the track. Both the powder spraying trolley and the loading manipulator are electrically connected to the PLC control system, and the PLC control system is electrically connected to an HMI human-machine interface. By the PLC control system, the present invention can monitor in real time the change of displacement data of encoder one of the powder spraying trolley and encoder two of the loading manipulator, and can adjust in real time the position of the powder spraying trolley and the change of its moving speed, so that the start-stop of the powder spraying trolley walking, the change of speed and the start-stop of the solenoid valve always maintain a dynamic sequential balance, ensuring the smooth progress of ingot powder spraying lubrication. Without occupying non-extrusion time, it can adaptively complete ingot powder spraying lubrication for different ingot lengths under the state of the extrusion process of the extrusion machine, reduce labor intensity and labor costs, improve production efficiency and speed up the production rhythm.

Description

Technical Field

[0001] The present invention belongs to the technical field of metallurgical equipment, specifically an aluminum extrusion machine equipment, and particularly relates to an adaptive control system and method for powder spraying lubrication of an extrusion machine ingot. Background Art

[0002] During the extrusion process in an aluminum extrusion production line, powder spraying lubrication needs to be carried out in advance to prevent the "aluminum scraping" phenomenon between the walking of the extrusion rod and the extrusion cylinder caused by the wrapping and bonding of molten aluminum at the head of the extrusion rod after extrusion, which may damage the equipment.

[0003] Currently, there are mainly two methods for powder spraying lubrication in an extrusion production line. One is to spray powder lubrication on the extrusion rod through a lubrication manipulator fixed on the extrusion machine. The production line needs to wait for the powder spraying lubrication to be completed before continuing with the ingot extrusion process. In this way, the extrusion process cannot be carried out and needs to wait for it to be completed before extrusion, occupying a large amount of non-extrusion time. The other is to manually apply lubricating powder at the ingot end for pre-extrusion lubrication. This method not only occupies manpower and material resources, increases labor costs, but also has a slow rhythm, low automation, and certain safety hazards. Summary of the Invention

[0004] The purpose of the present invention is to provide an adaptive control system for powder spraying lubrication of an extrusion machine ingot, which overcomes the technical problems existing in the prior art.

[0005] Another purpose of the present invention is to provide an adaptive control method for powder spraying lubrication of an extrusion machine ingot, which can adaptively complete the powder spraying lubrication of different ingot lengths during the extrusion process of the extrusion machine without occupying non-extrusion time, reducing labor intensity and labor costs, and improving production efficiency and accelerating the production rhythm.

[0006] Therefore, the technical solution provided by the present invention is as follows:

[0007] An adaptive control system for powder spraying lubrication of an extrusion machine ingot includes a powder spraying trolley, a rail, a loading manipulator, and a PLC control system. The loading manipulator holds an ingot. The powder spraying trolley is arranged on the rail. Both the powder spraying trolley and the loading manipulator are electrically connected to the PLC control system, and the PLC control system is electrically connected to an HMI human-machine interface.

[0008] The powder spraying trolley includes a vehicle body, which is connected with a traveling mechanism. An induction mechanism and a powder spraying storage tank are arranged on the vehicle body. A nozzle is arranged at the front end of the vehicle body. The powder spraying storage tank is communicated with the nozzle through an air pipe and a solenoid valve. The induction mechanism is used to sense whether the powder spraying trolley reaches the position for powder spraying on the ingot.

[0009] The walking mechanism includes a powder spraying walking variable frequency motor and an encoder 1. The encoder 1 is arranged on the powder spraying walking variable frequency motor. The induction mechanism, the powder spraying walking variable frequency motor, the encoder 1 and the solenoid valve are all electrically connected to the PLC control system by electrical signals.

[0010] The loading manipulator includes a fixed arm, a movable telescopic arm, a movable arm telescopic variable frequency motor and an encoder 2. The fixed arm and the movable telescopic arm are arranged in parallel, and a linear guide rail is arranged between the two. The movable telescopic arm is close to the powder spraying trolley side. Manipulator fingers for clamping ingots are arranged on both the fixed arm and the movable telescopic arm.

[0011] The linear guide rail is parallel to the track. The movable arm telescopic variable frequency motor and the encoder 2 are both electrically connected to the PLC control system by electrical signals.

[0012] The powder spraying trolley further includes a protective cover. The spray head is arranged inside the protective cover. The induction mechanism includes a thimble, an induction block, an induction switch and a spring. The thimble is arranged in parallel with the spray head and is arranged inside the protective cover. The rear end of the thimble is sequentially connected to the induction block and the spring. The induction switch is located on the vehicle body and is below or above the induction block at the rear. The induction switch is electrically connected to the PLC control system by electrical signals.

[0013] A gear is connected to the rotating shaft of the powder spraying walking variable frequency motor. The gear meshes with the rack on the track.

[0014] The linear guide rail is a ball screw. The movable telescopic arm is fixedly connected to the nut sleeved on the ball screw. The rotating shaft of the movable arm telescopic variable frequency motor is connected to the ball screw.

[0015] The PLC control system includes a PLC controller, a digital input module, a digital output module and an analog input module. The powder spraying walking variable frequency motor is communicatively connected to the PLC controller. The induction switch is signal-connected to the digital input module. The solenoid valve is signal-connected to the digital output module. The encoder 1 is signal-connected to the analog input module.

[0016] An adaptive control method for powder spraying lubrication of extrusion machine ingots uses an adaptive control system for powder spraying lubrication of extrusion machine ingots, and includes the following steps:

[0017] Step 1) Input the powder spraying time t of the current ingot and the ingot length through the HMI human-machine interface. The PLC control system obtains the closing position L1 of the movable telescopic arm of the loading manipulator according to the ingot length.

[0018] Step 2) The PLC control system determines whether the powder spraying trolley has reached the rear extreme limit while traveling along the rail through Encoder 1. When the determination is true and the loading manipulator is in the powder spraying lubrication position at this time, the telescopic arm of the loading manipulator retracts along the linear guide to the closed position L1, and at the same time, the powder spraying trolley advances from the rear extreme limit to L2, where the distance between L2 and L1 is equal to the length of the ingot.

[0019] Step 3) When the powder spraying trolley travels to L2 and the telescopic arm has reached the closed position L1, the PLC control system controls the powder spraying trolley to decelerate and advance. When the ejector pin of the powder spraying trolley hits the ingot, the powder spraying trolley continues to advance while the ejector pin compresses the spring to drive the induction block to the induction switch position.

[0020] Step 4) After the PLC control system detects the feedback signal of the induction switch, it controls the powder spraying trolley to stop advancing. At the same time, the PLC control system turns on the solenoid valve to spray powder on the end face of the ingot through the nozzle. After the spraying time t, the solenoid valve is closed and the powder spraying stops.

[0021] Step 5) The PLC control system controls the powder spraying trolley to retreat to the rear extreme limit to complete the automatic powder spraying of the ingot.

[0022] The traveling motor and rotary encoder of the loading manipulator are both electrically connected to the PLC control system. The PLC control system determines whether the loading manipulator is in the powder spraying lubrication position by real-time monitoring of the value of the rotary encoder.

[0023] Taking the rear extreme limit of the powder spraying trolley as the zero point, during the traveling process of the powder spraying trolley, the PLC control system real-time monitors the data of Encoder 1.

[0024] The beneficial effects of the present invention are:

[0025] This self-adaptive control system for powder spraying and lubrication of extrusion machine ingots provided by the present invention can real-time adjust the position and speed change of the powder spraying trolley by real-time monitoring of the displacement data changes of Encoder 1 of the powder spraying trolley and Encoder 2 of the loading manipulator by the PLC control system, so that the start-stop and speed change of the powder spraying trolley and the start-stop of the solenoid valve always maintain a dynamic sequential balance, ensuring the smooth progress of ingot powder spraying and lubrication.

[0026] Without occupying non-extrusion time, the present invention realizes the self-adaptive completion of ingot powder spraying and lubrication for different ingot lengths during the extrusion process of the extrusion machine, reduces labor intensity and labor costs, and improves production efficiency and speeds up the production rhythm.

[0027] The present invention has a high degree of automation and is applicable to both single-acting and double-acting extrusion machines at the same time. It realizes the full automation of ingot powder spraying and lubrication of the extrusion machine without manual intervention, reducing the safety hazards caused by manual transportation.

[0028] To make the above content of the present invention more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. Description of the Drawings

[0029] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0030] Figure 2 is a schematic structural diagram of an embodiment of the powder spraying trolley;

[0031] Figure 3 is a principle block diagram of the PLC control system;

[0032] Figure 4 is a flowchart of the method of the embodiment of the present invention.

[0033] In the figures:

[0034] Description of the reference numerals in the drawings:

[0035] 1. Powder spraying trolley; 2. Loading manipulator; 3. Powder spraying storage tank; 4. PLC control system; 5. Ingot; 6. HMI human-machine interface; 101. Ejector pin; 102. Protective cover; 103. Nozzle; 104. Inductive block; 105. Inductive switch; 106. Spring; 107. Powder spraying traveling frequency conversion motor; 108. Encoder 1; 109. Rail; 110. Drag chain; 201. Movable telescopic arm; 202. Movable arm telescopic frequency conversion motor; 203. Fixed arm; 204. Linear guide rail; 205. Encoder 2. Specific Embodiments

[0036] The following specific embodiments illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0037] Now, refer to the accompanying drawings to introduce exemplary embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to disclose the present invention in detail and completely and to fully convey the scope of the present invention to those skilled in the art. The terms in the exemplary embodiments shown in the drawings are not limitations on the present invention. In the drawings, the same unit / element uses the same reference numeral.

[0038] Unless otherwise specified, the terms (including scientific and technical terms) used herein have the ordinary meaning understood by those skilled in the art. In addition, it can be understood that the terms defined in the commonly used dictionary should be understood to have a meaning consistent with the context of their related fields and should not be understood as idealized or overly formal meanings.

[0039] Embodiment 1:

[0040] This embodiment provides an adaptive control system for powder spraying lubrication of ingots in an extruder, including a powder spraying trolley 1, a track 109, a loading manipulator 2, and a PLC control system 4. The loading manipulator 2 holds an ingot 5. The powder spraying trolley 1 is arranged on the track 109. Both the powder spraying trolley 1 and the loading manipulator 2 are electrically connected to the PLC control system 4, and the PLC control system 4 is electrically connected to an HMI human-machine interface 6. As Figure 1 shown.

[0041] The HMI human-machine interface 6 is used to input the powder spraying time of the ingot 5. The powder spraying time depends on the material of the ingot 5. Different materials require different amounts of lubricating powder to be sprayed. The loading manipulator 2 is used to transport the ingot 5 to the powder spraying and lubricating position. Then, under the control of the PLC control system 4, the ingot 5 and the powder spraying trolley 1 move relative to each other. After the powder spraying trolley 1 contacts the ingot 5, powder is sprayed on the end face of the ingot 5.

[0042] The present invention realizes the adaptive powder spraying lubrication of different ingot 5 lengths during the extrusion process of the extruder without occupying non-extrusion time, reduces labor intensity and labor costs, improves production efficiency, and speeds up the production rhythm.

[0043] Embodiment 2:

[0044] Based on Embodiment 1, this embodiment provides an adaptive control system for powder spraying lubrication of ingots in an extruder. The powder spraying trolley 1 includes a vehicle body, which is connected with a traveling mechanism. An induction mechanism and a powder spraying storage tank 3 are arranged on the vehicle body. A spray head 103 is arranged at the front end of the vehicle body. The powder spraying storage tank 3 is communicated with the spray head 103 through an air pipe and a solenoid valve. The induction mechanism is used to sense whether the powder spraying trolley 1 reaches the position for spraying powder on the ingot 5;

[0045] The traveling mechanism includes a powder spraying traveling variable-frequency motor 107 and an encoder 108. The encoder 108 is arranged on the powder spraying traveling variable-frequency motor 107. The induction mechanism, the powder spraying traveling variable-frequency motor 107, the encoder 108, and the solenoid valve are all electrically connected to the PLC control system 4.

[0046] The powder spraying traveling variable-frequency motor 107 is used to drive the powder spraying trolley 1 to move back and forth on the track 109. The encoder 108 is used to detect and record the current position of the powder spraying trolley 1 in real time and takes the rear extreme position of the track 109 as the zero point. The induction mechanism is used to judge whether the powder spraying trolley 1 contacts the ingot 5; As Figure 1 shown, a drag chain 110 is installed on one side of the powder spraying trolley 1 for the interpenetrating connection of the air pipe and the relevant control cables between the powder spraying storage tank 3 and the spray head 103. After the PLC control system 4 sends a signal to open the solenoid valve, the lubricating powder stored in the powder spraying storage tank 3 is sprayed out through the spray head 103.

[0047] Example 3:

[0048] Based on Example 1, this example provides an adaptive control system for powder spraying lubrication of an extruder ingot. The loading manipulator 2 includes a fixed arm 203, a movable telescopic arm 201, a variable-frequency motor 202 for telescopic movement of the movable arm, and an encoder II 205. The fixed arm 203 and the movable telescopic arm 201 are arranged in parallel, and a linear guide 204 is provided between them. The movable telescopic arm 201 is close to the powder spraying trolley 1. Manipulator fingers for clamping the ingot 5 are provided on both the fixed arm 203 and the movable telescopic arm 201.

[0049] The linear guide 204 is parallel to the track 109. The variable-frequency motor 202 for telescopic movement of the movable arm and the encoder II 205 are both electrically connected to the PLC control system 4.

[0050] The movable telescopic arm 201 is used to perform linear telescopic movement along the linear guide 204 under the drive of the variable-frequency motor 202 for telescopic movement of the movable arm. The encoder II 205 is used to detect the displacement data of the movable telescopic arm 201 in real time to accurately control the closing position of the movable telescopic arm 201.

[0051] As Figure 1 shown, the powder spraying trolley 1 is arranged beside the loading manipulator 2 and close to the movable telescopic arm 201. At the same time, the straight line where the track 109 of the powder spraying trolley 1 is located is parallel to the straight line where the linear guide 204 of the movable telescopic arm 201 of the loading manipulator 2 is located.

[0052] The manipulator fingers of the fixed arm 203 and the movable telescopic arm 201 of the loading manipulator 2 clamp the ingot 5 and transport the ingot 5 to the powder spraying lubrication position. During this process, the movable telescopic arm 201 is in an open state, that is, there is a certain distance between it and the fixed arm 203. After the loading manipulator 2 moves to the powder spraying lubrication position, in order to avoid the working interference between the movable telescopic arm and the protective cover 102 of the powder spraying trolley 1, the PLC control system 4 will obtain the corresponding optimal closing position L1 of the movable telescopic arm 201 according to the length of the ingot 5, that is, the movable telescopic arm 201 needs to approach the fixed arm 203.

[0053] Example 4:

[0054] On the basis of Embodiment 1, this embodiment provides an adaptive control system for powder spraying lubrication of an extrusion machine ingot. The powder spraying trolley 1 further includes a protective cover 102, the spray head 103 is arranged inside the protective cover 102, the sensing mechanism includes a thimble 101, a sensing block 104, a sensing switch 105 and a spring 106. The thimble 101 is arranged in parallel with the spray head 103 and inside the protective cover 102. The rear end of the thimble 101 is sequentially connected to the sensing block 104 and the spring 106. The sensing switch 105 is located on the vehicle body and is below or above the rear of the sensing block 104. The sensing switch 105 is electrically connected to the PLC control system 4.

[0055] As Figure 1 and Figure 2 shown, both the spray head 103 and the thimble 101 are arranged in the protective cover 102. The thimble 101 is connected with a spring 106 and a sensing block 104. The sensing switch 105 is fixed on the vehicle body of the powder spraying trolley 1 to be used as a judgment signal for whether the thimble 101 is in place.

[0056] When the thimble 101 touches the ingot 5, there is still a certain distance between the spray head 103 and the end face of the ingot 5. As the powder spraying trolley 1 continues to move forward, the thimble 101 compresses the spring 106 to drive the sensing block 104 to move to the position of the sensing switch 105. When the sensing switch 105 sends a signal, it sends an instruction to control the solenoid valve to open, and powder is sprayed on the end face of the ingot 5 through the spray head 103. During the powder spraying process, the PLC control system 4, according to the set powder spraying time t of this batch of ingots 5 input by the HMI human-machine interface 6, closes the solenoid valve to stop powder spraying after the powder spraying time t.

[0057] Embodiment 5:

[0058] On the basis of Embodiment 2, this embodiment provides an adaptive control system for powder spraying lubrication of an extrusion machine ingot. A gear is connected to the rotating shaft of the powder spraying traveling variable-frequency motor 107, and the gear meshes with the rack on the rail 109.

[0059] Through the meshing of the gear and the rack, the powder spraying trolley 1 moves linearly back and forth along the rail 109.

[0060] Embodiment 6:

[0061] On the basis of Embodiment 3, this embodiment provides an adaptive control system for powder spraying lubrication of an extrusion machine ingot. The linear guide rail 204 is a ball screw, the movable telescopic arm is fixedly connected to the nut sleeved on the ball screw, and the rotating shaft of the movable arm telescopic variable-frequency motor 202 is connected to the ball screw.

[0062] By converting the rotational motion into a linear motion through the ball screw, the movement distance of the movable telescopic arm can be accurately controlled.

[0063] Embodiment 7:

[0064] Based on Embodiment 4, this embodiment provides an adaptive control system for powder spraying lubrication of an extruder ingot. The PLC control system 4 includes a PLC controller, a digital input module, a digital output module, and an analog input module. The powder spraying traveling variable-frequency motor 107 is communicatively connected to the PLC controller. The induction switch 105 is signal-connected to the digital input module. The solenoid valve is signal-connected to the digital output module. The first encoder 108 is signal-connected to the analog input module.

[0065] Embodiment 8:

[0066] Based on Embodiment 1, this embodiment provides an adaptive control system for powder spraying lubrication of an extruder ingot, as Figure 1 and Figure 2 shown, which includes a powder spraying trolley 1, a loading manipulator 2, an HMI human-machine interface 6, and a PLC control system 4. A protective cover 102, an induction mechanism, a spray head 103, and a powder spraying traveling mechanism are installed on the powder spraying trolley 1.

[0067] The induction mechanism includes a thimble 101, an induction block 104, an induction switch 105, and a spring 106. The thimble 101 is connected to the spring 106 and the induction block 104. The induction switch 105 is fixed to the body of the powder spraying trolley 1. The powder spraying traveling mechanism includes a powder spraying traveling variable-frequency motor 107 and a first encoder 108. The powder spraying traveling variable-frequency motor 107 drives the rotation of the driving gear, thereby driving the powder spraying trolley 1 to move back and forth on the rack of the rail 109.

[0068] The loading manipulator 2 includes a fixed arm 203, a movable telescopic arm 201, a movable arm telescopic variable-frequency motor 202, and a second encoder 205. The movable telescopic arm 201 is close to the side of the powder spraying trolley 1. A linear guide rail 204 is provided between the fixed arm 203 and the movable telescopic arm 201. The movable arm telescopic variable-frequency motor 202 is used to drive the movable telescopic arm 201 to perform linear telescopic movement along the linear guide rail 204. The second encoder 205 is electrically signal-connected to the PLC control system 4, and the second encoder 205 is used to detect the position of the movable arm in real time.

[0069] As Figure 3 shown, the PLC control system 4 includes a PLC controller, a digital input module, a digital output module, and an analog input module. The induction switch 105 is signal-connected to the digital input module. The solenoid valve is signal-connected to the digital output module. Both the first encoder 108 and the second encoder 205 are signal-connected to the analog input module.

[0070] In this embodiment, the controller (model 1756-L72S) in the PLC control system 4 connects each part in series into a network and shares data through TCP / IP Ethernet communication. The feedback signals of encoder 108 and encoder 205 are both 4-20ma current signals. The analog input module converts their analog signals into digital signals and transmits them to the PLC controller. The signal of the proximity switch 105 is fed back to the digital input module in the PLC control system 4 to complete. The start and stop commands of the solenoid valve are completed by the digital output module.

[0071] Embodiment 9:

[0072] This embodiment provides a self-adaptive control method for powder spraying lubrication of an extrusion machine ingot, including the following steps, as Figure 4 shown:

[0073] Step 1) Input the powder spraying time t and the length of the ingot 5 through the HMI human-machine interface 6. The PLC control system 4 obtains the closing position L1 of the movable telescopic arm 201 of the loading manipulator 2 according to the length of the ingot 5;

[0074] Step 2) The PLC control system 4 judges whether the powder spraying trolley 1 has reached the rear limit position while walking along the track 109 through encoder 108. When the judgment is true and the loading manipulator 2 is in the powder spraying lubrication position at this time, the movable telescopic arm 201 of the loading manipulator 2 retracts along the linear guide 204 to the closing position L1, and at the same time the powder spraying trolley 1 advances from the rear limit position to L2, where the distance between L2 and L1 is equal to the length of the ingot 5;

[0075] Step 3) When the powder spraying trolley 1 walks to L2 and the movable telescopic arm 201 has reached the closing position L1, the PLC control system 4 controls the powder spraying trolley 1 to decelerate and advance. When the ejector pin 101 of the powder spraying trolley 1 hits the ingot 5, the powder spraying trolley 1 continues to advance while the ejector pin 101 compresses the spring 106 to drive the sensing block 104 to reach the position of the proximity switch 105;

[0076] Step 4) After the PLC control system 4 detects the feedback signal of the proximity switch 105, it controls the powder spraying trolley 1 to stop advancing. At the same time, the PLC control system 4 opens the solenoid valve and sprays powder on the end face of the ingot 5 through the nozzle. After the powder spraying time t, the solenoid valve closes and the powder spraying stops;

[0077] Step 5) The PLC control system 4 controls the powder spraying trolley 1 to retreat to the rear limit position to complete the automatic powder spraying of the ingot 5.

[0078] Among them, the determination of the closed position L1 of the movable telescopic arm 201 is to avoid the mutual interference between the movable telescopic arm and the protective cover 102 of the powder spraying trolley 1. L1 is the distance between the right end face of the ingot 5 and the movable telescopic arm 201, which is equal to the sum of the horizontal distance between the induction block 104 and the induction switch 105 and the distance between the front end of the protective cover 102 and the front end of the thimble 101.

[0079] Embodiment 10:

[0080] On the basis of Embodiment 9, this embodiment provides an adaptive control method for powder spraying and lubrication of an extrusion machine ingot. The traveling motor and the rotary encoder of the loading manipulator 2 are both electrically connected to the PLC control system 4. The PLC control system 4 determines whether the loading manipulator 2 is in the powder spraying and lubrication position by monitoring the value of the rotary encoder in real time.

[0081] Before the powder spraying cycle, the traveling motor drives the loading manipulator 2 to travel, transports the ingot 5 to the powder spraying and lubrication position, and then controls the adaptive powder spraying through the PLC control system 4.

[0082] Among them, the first encoder 108 takes the rear extreme position of the powder spraying trolley 1 as the zero point. During the traveling of the powder spraying trolley 1, the PLC control system 4 monitors the data of the first encoder 108 in real time.

[0083] The present invention can adjust the position and the change of the moving speed of the powder spraying trolley 1 in real time by monitoring the change of the displacement data of the first encoder 108 of the powder spraying trolley 1 and the second encoder 205 of the loading manipulator 2 by the PLC control system 4, so that the start-stop and speed change of the powder spraying trolley 1 and the start-stop of the solenoid valve always maintain a dynamic sequential balance, ensuring the smooth progress of the powder spraying and lubrication of the ingot 5.

[0084] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes can be made in form and details without departing from the spirit and scope of the present invention.

Claims

1. An adaptive control method for powder spraying lubrication of an extrusion machine ingot, using an adaptive control system for powder spraying lubrication of an extrusion machine ingot, characterized in that, Including the following steps: Step 1) Input the powder spraying time t of the current ingot (5) and the length of the ingot (5) through the HMI human-machine interface (6). The PLC control system (4) obtains the closed position L1 of the movable telescopic arm (201) of the loading manipulator (2) according to the length of the ingot (5). Step 2) The PLC control system (4) judges whether the powder spraying trolley (1) has reached the rear limit position while traveling along the track (109) through the first encoder (108). When the judgment is true and the loading manipulator (2) is in the powder spraying lubrication position at this time, the movable telescopic arm (201) of the loading manipulator (2) retracts along the linear guide rail (204) to the closed position L1, and at the same time, the powder spraying trolley (1) advances from the rear limit position to the position L2, where the distance between L2 and L1 is equal to the length of the ingot (5). Step 3) When the powder spraying trolley (1) travels to the position L2 and the movable telescopic arm (201) has reached the closed position L1, the PLC control system (4) controls the powder spraying trolley (1) to advance at a reduced speed. After the ejector pin (101) of the powder spraying trolley (1) hits the ingot (5), the powder spraying trolley (1) continues to advance while the ejector pin (101) compresses the spring (106) to drive the sensing block (104) to reach the position of the proximity switch (105). Step 4) After the PLC control system (4) detects the feedback signal of the proximity switch (105), it controls the powder spraying trolley (1) to stop advancing. At the same time, the PLC control system (4) turns on the solenoid valve and sprays powder on the end face of the ingot (5) through the nozzle. After the powder spraying time t, the solenoid valve is closed and the powder spraying stops. Step 5) The PLC control system (4) controls the powder spraying trolley (1) to retreat to the rear limit position to complete the automatic powder spraying of the ingot (5). Wherein, L1 is the distance between the right end face of the ingot (5) and the movable telescopic arm (201), which is equal to the sum of the horizontal distance between the sensing block (104) and the proximity switch (105) and the distance between the front end of the protective cover (102) and the front end of the ejector pin (101). An adaptive control system for powder spraying lubrication of extrusion machine ingots, including a powder spraying trolley (1), a track (109), a loading manipulator (2) and a PLC control system (4). The loading manipulator (2) holds an ingot (5). The powder spraying trolley (1) is arranged on the track (109). Both the powder spraying trolley (1) and the loading manipulator (2) are electrically connected to the PLC control system (4), and the PLC control system (4) is electrically connected to an HMI human-machine interface (6).

2. The adaptive control method for powder spraying lubrication of an extrusion machine ingot according to claim 1, characterized in that: The powder spraying trolley (1) includes a vehicle body, the vehicle body is connected with a traveling mechanism, a sensing mechanism and a powder spraying storage tank (3) are arranged on the vehicle body, a nozzle (103) is arranged at the front end of the vehicle body, and the powder spraying storage tank (3) is communicated with the nozzle (103) through an air pipe and a solenoid valve. The sensing mechanism is used to sense whether the powder spraying trolley (1) reaches the position for powder spraying on the ingot (5). The walking mechanism includes a powder spraying walking variable-frequency motor (107) and a first encoder (108). The first encoder (108) is arranged on the powder spraying walking variable-frequency motor (107). The induction mechanism, the powder spraying walking variable-frequency motor (107), the first encoder (108) and the solenoid valve are all electrically connected to the PLC control system (4) by electrical signals.

3. The adaptive control method for powder spraying lubrication of an extrusion machine ingot according to claim 1, characterized in that: The loading manipulator (2) includes a fixed arm (203), a movable telescopic arm (201), a movable arm telescopic variable-frequency motor (202) and a second encoder (205). The fixed arm (203) and the movable telescopic arm (201) are arranged in parallel, and a linear guide rail (204) is arranged between them. The movable telescopic arm (201) is on the side close to the powder spraying trolley (1). Manipulator fingers for clamping the ingot (5) are arranged on both the fixed arm (203) and the movable telescopic arm (201). The linear guide rail (204) is parallel to the track (109). The movable arm telescopic variable-frequency motor (202) and the second encoder (205) are both electrically connected to the PLC control system (4) by electrical signals.

4. The adaptive control method for powder spraying lubrication of an extrusion machine ingot according to claim 2, characterized in that: The powder spraying trolley (1) further includes a protective cover (102). The spray head (103) is arranged inside the protective cover (102). The induction mechanism includes a thimble (101), an induction block (104), an induction switch (105) and a spring (106). The thimble (101) is arranged in parallel with the spray head (103) and is arranged inside the protective cover (102). The rear end of the thimble (101) is sequentially connected to the induction block (104) and the spring (106). The induction switch (105) is located on the vehicle body and is below or above the rear of the induction block (104). The induction switch (105) is electrically connected to the PLC control system (4) by an electrical signal.

5. The adaptive control method for powder spraying lubrication of an extrusion machine ingot according to claim 2, characterized in that: A gear is connected to the rotating shaft of the powder spraying walking variable-frequency motor (107). The gear meshes with the rack on the track (109).

6. The adaptive control method for powder spraying lubrication of an extrusion machine ingot according to claim 3, characterized in that: The linear guide rail (204) is a ball screw. The movable telescopic arm is fixedly connected to the nut sleeved on the ball screw. The rotating shaft of the movable arm telescopic variable-frequency motor (202) is connected to the ball screw.

7. The adaptive control method for powder spraying lubrication of an extrusion machine ingot according to claim 4, characterized in that: The PLC control system (4) includes a PLC controller, a digital input module, a digital output module and an analog input module. The powder spraying walking variable-frequency motor (107) is communicatively connected to the PLC controller. The induction switch (105) is signal-connected to the digital input module. The solenoid valve is signal-connected to the digital output module. The first encoder (108) is signal-connected to the analog input module.

8. The adaptive control method for powder spraying lubrication of an extrusion machine ingot according to claim 7, characterized in that: The walking motor and the rotary encoder of the loading manipulator (2) are both electrically connected to the PLC control system (4). The PLC control system (4) determines whether the loading manipulator (2) is in the powder spraying and lubricating position by real-time monitoring of the value of the rotary encoder.

9. The adaptive control method for powder spraying lubrication of an extrusion machine ingot according to claim 7, characterized in that: The first encoder (108) takes the rear extreme limit position of the powder spraying trolley (1) as the zero point. During the walking process of the powder spraying trolley (1), the PLC control system (4) real-time monitors the data of the first encoder (108).

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