A sintering pallet oiling device and control method

Abstract

The present application relates to a kind of sintering trolley oiling device, the oiling device includes trolley body, trolley wheel, bolt connection orifice with one-way valve function, oil gun body, laser ranging device, video recognition system, oiling high-pressure hose, oiling system, follow walking device with position detection sensor, retractable oil cylinder with tail wing sensor, compression spring detection sensor, speed measuring wheel device and spherical connection, oiling pipe and oiling system connection adopt spherical connection;One side of the trolley body is provided with wheel and speed measuring wheel device, bolt connection orifice with one-way valve function is arranged on wheel, retractable oil cylinder is arranged between oil gun body and follow walking device, laser ranging device, video recognition system are arranged below oil gun body, and oiling system is connected oil gun body by oiling high-pressure hose.

Description

Technical Field

[0001] The present invention relates to a refueling device, in particular to a refueling device for a sintering trolley and a control method thereof, and belongs to the technical field of mechanical hydraulics. Background Art

[0002] In the metallurgical industry, the sintering process is to calcine iron ore with coking coal according to a certain ratio to form sintered ore with a high iron content and agglomerated into agglomerates, which are then sent to the blast furnace for smelting. The sintering trolley is a tool for laying iron ore on it for calcination and transporting the sintered ore after it is formed. The trolley is actually a movable flatbed truck. The actual running track of the sintering trolley is not on a horizontal plane, but an elliptical track that goes up and down two stories high like a roller coaster. The trolley runs on the track, with sintered ore spread on the upper surface, and the sintered ore is poured at the elliptical bend. The trolley then rotates, with the trolley mouth facing downward at the bottom of the elliptical track. The trolley is used in a very harsh environment and is affected by the high-temperature radiation of the sintered ore. Therefore, the failure rate of the sintered ore trolley wheels is relatively high due to poor lubrication. According to statistics, failures of traditional trolley wheels in the industry caused by poor lubrication account for 85% of the system failures. Manual refueling is currently used. Since the sintering trolley is always in reciprocating motion during working hours, it is very difficult to refuel the wheels without stopping the machine. When the machine is actually stopped for maintenance, it is necessary to verify that the trolley track has made a circle. There is no refueling condition on the back of the elliptical track. Therefore, seemingly ordinary refueling is necessary for the sintering trolley. However, due to the strong randomness and simple manual operation of manual refueling, serious lubricating oil dripping on site is caused.

[0003] In response to the problem of refueling such a sintering trolley, many manufacturers have carried out technical research on automatic refueling. Patent: Automatic refueling method and automatic refueling system for sintering machine trolley wheels (application number: 201910411307.3). The technology is a typical automatic refueling technology. According to the technical solution, the technology can be implemented within its very limited trolley range. At the same time, all control processes mainly rely on image recognition, and its uncertainty is particularly obvious. From the perspective of grease addition, the method used is to judge the overflow area of ​​the wheel hub. Now sealed end covers are used, and grease will not overflow. It is judged according to the overflow area in the technical solution. In fact, the overflow There is no necessary correlation between the area and the drying of grease in the internal structure. Secondly, when determining the trolley's running speed using image recognition, errors are inevitable in harsh environments. As long as these errors exist, the speed tracking of the sintering trolley will be inconsistent, and the refueling connection will not be successful. Thirdly, considering the actual elliptical motion trajectory of the trolley and the actual trolley wheels that are over 100 meters long, they are greatly affected by the thermal expansion of the sintered ore with and without the trolley. The trolley's operation is not continuous and constant, but rather has a discontinuous "fast and slow" state. The actual speed calculated by image recognition is actually an average speed, which is necessarily inaccurate. Fourthly, to ensure the proper connection of the refueling interface, the solution uses a positioning wheel that contacts the trolley wheel and rotates with the rotation of the trolley wheel. The refueling slide and the positioning wheel maintain the same radius and then align with the refueling hole to achieve refueling. In actual production, due to factors such as wheel deformation, the actual radius between the refueling slide and the positioning wheel is not the designed radius, or the wheel hub is deformed. After the slide passes, it is misaligned with the refueling hole, resulting in damage to the refueling nozzle. Fifth: In this solution, after the trolley is refueled, there is no sealing device. After refueling, the oil will flow out, causing pollution over a large area. Therefore, a new solution is urgently needed to solve the above technical problems. Summary of the Invention

[0004] The present invention aims at solving the problems in the prior art and provides a refueling device for a sintering trolley. The refueling device of this technical solution can adapt to the conventional refueling of sintering trolley wheels. The refueling device is stably connected to the trolley and there is no leakage during the refueling process.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a sintering trolley refueling device, the refueling device includes a trolley body, a trolley wheel, a bolt connection thread with a one-way valve function, a refueling gun body, a laser ranging device, a video recognition system, a refueling high-pressure hose, a refueling system, a following walking device with a position detection sensor, a telescopic oil cylinder with a tail wing sensor, a compression spring detection sensor, a speed measuring wheel device and a spherical connection, and the refueling pipe and the refueling system are connected by a spherical connection; a wheel and a speed measuring wheel device are provided on one side of the trolley body, a bolt connection thread with a one-way valve function is provided on the wheel, a telescopic oil cylinder is provided between the refueling gun body and the following walking device, a laser ranging device and a video recognition system are provided below the refueling gun body, and the refueling system is connected to the refueling gun body through a refueling high-pressure hose.

[0006] As an improvement of the present invention, a refueling nozzle, a pressure adjustment buffer spring and a compression spring detection sensor are provided in the refueling gun body.

[0007] The end of the fueling nozzle has a 30° trumpet-shaped tube with a hollow interior to ensure that when the fueling gun is slightly deformed against the trolley wheel hub or there is a slight speed difference between the wheel hub oil port and the fueling port, the fueling port and the wheel hub oil port can be stably connected; a buffer spring is installed outside the tube of the fueling pipe device, and there is a compression spring detection sensor 12 for detecting the deformation amount of the spring compression process. The degree of compression between the fueling gun nozzle and the wheel hub oil port is monitored by the spring deformation detection device, according to "spring stubbornness coefficient × deformation length = the force of the fueling pipe pressing the wheel hub oil port", which not only ensures that the fueling port will not be damaged, but also ensures that there is no leakage between the fueling port and the wheel hub oil port during refueling.

[0008] As an improvement of the present invention, a screw thread, a valve body, a spring and a valve block are arranged in the threaded port of the bolt connection with a one-way valve function, a screw thread is arranged below the valve body, a spring is arranged in the cavity of the valve body, and a valve block is arranged at the end of the spring.

[0009] In order to ensure that there is no leakage when refueling the bogie wheel hub, which is also a major reason for manual refueling to leak and pollute the environment, grease leakage will occur when the end cap of the refueling hole is opened during manual refueling, especially before the grease is added and closed. Therefore, this technical solution adds a one-way valve nut structure to prevent the lubricating grease from overflowing, which is directly screwed on the refueling hole of the sintered bogie wheel hub to form a non-return protection function, ensuring that after the grease is added to the wheel hub lubricating oil cavity, it will not overflow from the refueling hole.

[0010] As an improvement of the present invention, the speed measuring wheel device includes bracket one, bracket two, a connecting spring, a speed sensor, a speed measuring wheel 135 and a reinforcing rib plate 136. Bracket two is fixed on bracket one. There is a reinforcing rib plate on the trolley. The speed measuring wheel is against the reinforcing rib plate of the trolley. A speed sensor 134 is arranged above the speed measuring wheel. The moving speed of the refueling gun device and the trolley wheel hub must be consistent. During the connection and refueling process, the refueling device will move synchronously with the moving speed of the trolley wheel hub, and is generally controlled by the extension and contraction of the hydraulic cylinder. Therefore, the trolley running speed detection is a key parameter. In order to detect the stable speed of the trolley operation, this technical solution adopts the speed measurement method of "feedback detection and indirect detection".

[0011] The so-called feedback detection is to use a tachometer wheel. There is a reinforcing rib plate on the trolley, and the tachometer wheel is against the reinforcing rib plate of the trolley. The purpose of the so-called reinforcing rib plate is to ensure that the tachometer wheel rotates on a plane. Some trolleys do not have neat rib plates. The running track of the trolley with the same height can be directly welded on the trolley. The tachometer wheel is used to drive the encoder, and the encoder signal is sent to the PLC system. The pulse of the encoder is directly measured to calculate the driving speed of the cylinder of the trolley refueling device to ensure that the running speed of the refueling device and the trolley wheel hub are consistent. In order to ensure that the refueling device and the trolley wheel hub are completely consistent, the movement of the refueling device is also verified by speed feedback using the moving distance per unit time to ensure that the movement of the cylinder driving the refueling device completely follows the trolley wheel hub.

[0012] The so-called indirect speed measurement: the speed source is the speed feedback of the sintering trolley inverter. This speed feedback can be converted into the speed of the trolley wheel through various conversions, such as motor speed, gearbox speed ratio, trolley drive shaft speed ratio, and then converted into the speed of the trolley wheel according to the elliptical The length of the track can be used to more accurately calculate the wheel that has reached the refueling device. In this way, it is very convenient to manage and number all wheels. There are many other technologies that recognize the handwritten numbers of the wheel hubs, but after the sintering trolley is replaced, all the numbers will change. Therefore, the conventional technology basically only refuels the wheel hubs, and does not manage the refueling amount and the wheel hub status. Because the frequency converter speed feedback is used, in the running elliptical On the track, a certain moment or a certain wheel hub is virtually numbered, and the position of each wheel hub is determined, and the number of each wheel hub is virtually generated. This method can lock each wheel hub and record the status of each wheel hub. Even after replacing the wheel hub, it only needs to modify the database number of the replaced one to complete it, because the replaced trolley wheel hub must be operated according to speed feedback and must arrive at the refueling device within a calculable time. It does not involve precise positioning. Such a positioning method can greatly reduce the workload of the image recognition system, reduce the errors caused by pure image recognition, and improve the efficiency of the image recognition system.

[0013] As an improvement of the present invention, the video recognition system 7 includes a camera, an image processing host, a lifting cylinder for driving the refueling port device, and a moving following cylinder for the refueling device, so as to realize rapid recognition of the wheel hub refueling port by the image of the refueling device. When the trolley wheel hub enters the image recognition area according to the feedback speed calculation, the camera starts to scan the wheel hub refueling port. After the image processing host processes the image recognition, the PLC system is started to integrate the speed of the tachometer wheel, and the time between the lifting cylinder to the refueling port of the refueling device and the wheel hub refueling port is calculated. The speed feedback of the tachometer wheel is used to directly control the lifting speed of the lifting cylinder to ensure that the refueling port reaches the wheel hub refueling port accurately. Because the refueling port is 30°, the error is within 3 cm to ensure stable refueling docking. The camera compares the connection status of the refueling port and the refueling device. When the refueling port and the refueling port overlap and dock, the moving cylinder of the refueling device is immediately controlled, and the speed feedback of the trolley is used to drive the refueling device to move synchronously with the trolley speed.

[0014] According to this control method, if the refueling port of a wheel hub is not aligned, the PLC will make a virtual record, and after the trolley runs for one circle, it can still be refueled.

[0015] As an improvement of the present invention, a flow meter is provided in the refueling system. Therefore, the refueling device has a flow monitoring device to monitor the addition of grease in a quantitative manner.

[0016] A sintering trolley refueling control method is characterized in that the method is as follows: the sintering trolley refueling device is configured, a one-way valve nut is installed on the oil receiving port of the sintering trolley wheel hub, and a speed measuring wheel for monitoring the actual running speed of the trolley is installed in a fixed position. The speed measuring device can rotate along the axis and roll along the flat track mechanism on the side of the trolley under the action of a compression spring. The speed measuring wheel encoder mechanism and the frequency converter speed feedback are input into the PLC communication network. The refueling device and the PLC form a control system to realize centralized control.

[0017] When the sintering trolley is running, the inverter speed is constantly fed back to the PLC. Because the trolley running track is a fixed value, although the trolley running speed is not a constant value at the moment, its average speed does not change much in the corresponding time period. Therefore, the position of the virtual numbered wheels corresponding to the trolley refueling device as the starting position can be calculated. If the trolley wheel hub at the refueling device position is designated as No. 1 at a certain moment, the PLC system will automatically generate No. 2, No. 3, etc. The speeds of these wheels converted according to the inverter speed feedback are in the trolley elliptical shape. When the trolley is traveling on a track with a fixed length and a relatively fixed speed, the position of the No. 1 trolley hub is relatively calculated. Similarly, the position of each numbered hub on the elliptical track is known. According to the inverter speed feedback, multiplied by the speed ratio of the connected gearbox, and then multiplied by the circumference of the running wheel, the running speed of the trolley is roughly calculated, and the actual running distance of the trolley is calculated. When the system issues a refueling command, refueling starts with the hub closest to the refueling area. When the No. 1 hub runs on the elliptical track, the PLC calculates its running speed according to the inverter speed feedback. When the No. 1 hub enters the refueling identification area, the refueling identification area is set mainly to reduce the workload of the PLC and video recognition and reduce the system's malfunction rate. Only when the hub enters the identification area will the system start a series of refueling control operations. When the No. 1 hub enters the refueling area, during the forward process, the laser ranging device (6 in Figure 4) detects the hub signal and determines that the hub enters the video detection range of the refueling device. At this moment, the refueling port of the refueling device ( Figure 4 5) In the lifting cylinder ( Figure 4 Under the action of (2), the jacking cylinder is quickly lifted forward and makes the first arrival action, and stops 3cm away from the hub refueling port. The distance is determined by the jacking cylinder sensor ( Figure 4 11) is measured and controlled. This distance is mainly to ensure that the oil receiving port of the hub is Figure 4 3) and the refueling port of the refueling device ( Figure 4 3) No collision occurs, the closer the better, wait for the last and hub oil port ( Figure 4 3) for docking, and all process cameras scan the wheel hub.

[0018] When the speed measuring wheel approaches the trolley, a running flat track is added. Due to the friction, the speed measuring wheel runs synchronously with the running speed of the trolley. The speed measuring wheel is connected to the shaft to drive the encoder. The encoder outputs a 4-20mA signal to the PLC. This signal feedback is the actual speed of the sintering trolley, which is completely consistent. It accurately calculates the distance and time from the laser ranging detection of the rising edge of the hub edge to the first lifting of the refueling device, and the time when the refueling port waits for the position of the hub oil port. In actual production, because the trolley hub runs at a low speed, this calculation is very accurate. When the hub is When the oil port runs to the range of the refueling port of the refueling device, the refueling port of the refueling device is lifted up again. This action process is the second time to reach the position, which mainly ensures the docking between the oil port and the wheel hub oil receiving port. Because the oil port has a 30° opening, it is very easy to ensure the docking between the oil port and the oil receiving port. At this moment, video recognition is used to judge to ensure that the wheel hub oil receiving port is completely covered by the oil port; if it is not covered, to prevent collision between the oil port and the oil receiving port, the lifting cylinder must retreat, which is equivalent to the failure of refueling of the wheel hub, and refueling starts again from the next wheel hub.

[0019] The video recognition judges that the wheel hub oil port is completely covered by the oil filling port. At this moment, the jacking cylinder continues to lift. This action process is the third time to ensure that the oil filling port is compressed. When the oil filling pressure is greater than the one-way valve pressure of the nut structure, the oil filling is smooth and there is no oil leakage. According to the principle, the spring is compressed ( Figure 4 4) appears deformation, because according to the pressure of the wheel hub refueling port one-way valve as the standard, using the formula: F = k × △ X, where the spring coefficient is the compression spring ( Figure 4 In 4), the spring's inherent characteristics are as follows: △X is the amount of spring contraction after being compressed. In actual operation, because the oil filling port and the oil receiving port are similar to hard connections, the deformation is not as obvious as calculated. After the third lifting cylinder action, the lifting cylinder sensor has a significant data change, which indicates that the oil receiving port is completely covered at the filling port and lifted to the bottom by the lifting cylinder. The data changes and then pauses, and the pause is delayed for 0.1 seconds (different systems can be debugged according to actual conditions). At this time, the PLC opens the solenoid valve, and the system refuels with a pressure greater than the one-way valve pressure of the nut structure.

[0020] At the moment when the video recognition determines that the refueling port covers the refueling port, the refueling device ( Figure 4 ) The whole structure and the wheel hub must move synchronously. The recognition point at this moment is when the camera video recognizes that the two overlap. At this moment, the movement follows the cylinder ( Figure 4 10) Drive the refueling device to move, and the moving speed must be consistent with the actual speed of the wheel hub measured by the speed measuring wheel.

[0021] Control of the mobile following cylinder: The encoder speed feedback driven by the tachometer wheel is used as the inner control loop to ensure that the movement speed of the following travel device is consistent with the trolley running speed detected by the tachometer wheel. The indirect speed measurement of the trolley inverter speed feedback is used as the given proportional valve for controlling the following travel device, which is the outer control loop. The encoder speed feedback is used as the speed control negative feedback to form a proportional valve system that controls the movement speed of the following travel device. This feedback can ensure that the running speed of the following cylinder and the wheel hub are consistent.

[0022] In order to ensure the deviation of the working speed of the following cylinder and the running speed of the wheel hub, the designed refueling port device has a certain deformation range. The connection between the refueling pipe and the refueling device adopts a spherical connection, which is a non-rigid connection. When the speed is not synchronized, a certain angle of deviation is allowed.

[0023] After docking is complete and the follow-up oil cylinder is synchronized, the refueling system refuels through the refueling high-pressure hose. The refueling system is equipped with a flow meter. The main purpose of the flow meter is to detect whether there is oil flow during the refueling process. The grease is ensured to flow into the hub refueling cavity through the hub one-way valve refueling port under the action of the pump pressure. To prevent the refueling cavity of the sintering trolley wheel hub from drying up due to various reasons, thus preventing the lubricating grease from being added and causing equipment accidents due to long-term "false refueling", the flow meter makes qualitative and quantitative judgments and feeds back the status to the PLC. Using virtual numbers, it records the refueling status of each hub.

[0024] Stop the refueling process: When the refueling device is advancing with the follower cylinder, the refueling device continuously refuels the wheel hub. When the refueling time is up (refueling of the trolley wheel hub generally does not require precise measurement) or the flow meter measures enough, the PLC controls this moment.

[0025] Compared with the prior art, the present invention has the following advantages: the solution realizes automatic refueling of the sintering trolley wheels, ensuring stable refueling and no leakage; in order to ensure that there is no leakage in the refueling of the trolley wheel hub, the solution improves the refueling port structure, ensures that the refueling gun device and the trolley wheel hub moving speed must be consistent, the refueling device image quickly identifies the wheel hub oil receiving port, and a refueling flow monitoring device, etc., further ensuring stable refueling and no leakage. The entire device is cleverly and compactly designed, which is convenient for large-scale promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 , Schematic diagram of the nut structure one-way valve (oil receiving port);

[0027] Figure 2 , schematic diagram of the speed measuring wheel structure;

[0028] Figure 3 , refueling process control diagram;

[0029] Figure 4 , Schematic diagram of the sintering trolley oiling system structure;

[0030] Figure 5 , virtual hub number.

[0031] In the figure: 1, trolley body; 2, trolley wheel; 3, bolt connection thread with one-way valve function; 4, pressure adjustment buffer spring; 5, oil gun body; 6, laser ranging device; 7, video recognition system; 8, high-pressure oil filling hose; 9, lubricating system; 10, following walking device with position detection sensor; 11, telescopic oil cylinder with tail wing sensor; 12, compression spring detection sensor; 13, speed measuring wheel device; 14, oil filling nozzle; 15, spherical connection, 31, screw thread; 32, valve body; 33, spring; 34, valve block; 131, support one; 132, support two; 133, connecting spring; 134, speed sensor; 135, speed measuring wheel; 136, reinforcing rib plate. DETAILED DESCRIPTION

[0032] In order to deepen the understanding of the present application, the following will be described in detail in combination with the drawings.

[0033] Example 1: see Figure 1 A sintering trolley oil filling device, the oil filling device comprises a trolley body 1, a trolley wheel 2, a bolt connection thread with one-way valve function 3, an oil gun body 5, a laser ranging device 6, a video recognition system 7, a high-pressure oil filling hose 8, an oil filling system 9, a following walking device with position detection sensor 10, a telescopic oil cylinder with tail wing sensor 11, a compression spring detection sensor 12, a speed measuring wheel device 13 and a spherical connection 15, and the connection between the oil filling pipe and the oil filling system adopts spherical connection; one side of the trolley body is provided with the trolley wheel 2 and the speed measuring wheel device 13, the bolt connection thread with one-way valve function 3 is arranged on the trolley wheel, the telescopic oil cylinder 11 is arranged between the oil gun body 5 and the following walking device 10, the laser ranging device 6 and the video recognition system 7 are arranged below the oil gun body 5, the oil filling system 9 is connected to the oil gun body 5 through the high-pressure oil filling hose 8, the oil gun body 5 is provided with an oil filling nozzle 14, a pressure adjustment buffer spring 4 and a compression spring detection sensor 12, the end of the oil filling nozzle 14 has a 30° horn-shaped opening and a hollow conduit inside, which can ensure the stable butt joint between the oil filling nozzle and the oil receiving port of the wheel hub when there is a slight deformation of the trolley wheel hub or a slight speed difference between the oil receiving port of the wheel hub and the oil filling port; the buffer spring 4 is installed outside the conduit of the oil filling pipe device, and the compression spring detection sensor 12 for detecting the deformation amount of the compression spring during compression is arranged, and the compression degree between the oil filling nozzle and the oil receiving port of the wheel hub is monitored by the spring deformation detection device, and the action force of the oil filling pipe on the oil receiving port of the wheel hub is "spring stiffness coefficient x deformation length", which can not only ensure that the oil filling port will not be damaged, but also ensure that there is no leakage between the oil filling port and the oil receiving port of the wheel hub during the oil filling process; the bolt connection thread with one-way valve function 3 is provided with a screw thread 31, a valve body 32, a spring 33 and a valve block 34, the screw thread 31 is arranged below the valve body 32, the spring 33 is arranged in the cavity of the valve body, and the valve block 34 is arranged at the end of the spring.

[0034] In order to ensure that there is no leakage when refueling the bogie wheel hub, which is also a major reason for manual refueling to leak and pollute the environment, grease leakage will occur when the end cap of the refueling hole is opened during manual refueling, especially before the grease is added and closed. Therefore, this technical solution adds a one-way valve nut structure to prevent the lubricating grease from overflowing, which is directly screwed on the refueling hole of the sintered bogie wheel hub to form a non-return protection function, ensuring that after the grease is added to the wheel hub lubricating oil cavity, it will not overflow from the refueling hole.

[0035] As an improvement of the present invention, the speed measuring wheel device 13 includes a bracket 131, a bracket 2 132, a connecting spring 133, a speed sensor 134, a speed measuring wheel 135 and a reinforcing rib plate 136. Bracket 2 is fixed on bracket 1. There is a reinforcing rib plate on the trolley. The speed measuring wheel is against the reinforcing rib plate of the trolley. A speed sensor 134 is arranged above the speed measuring wheel.

[0036] The moving speeds of the refueling gun device and the trolley wheel hub must be consistent. During the connection and refueling process, the refueling device will move synchronously with the moving speed of the trolley wheel hub, which is generally controlled by the extension and contraction of the hydraulic cylinder. Therefore, the trolley running speed detection is a key parameter. In order to detect the stable speed of the trolley operation, this technical solution adopts the speed measurement method of "feedback detection and indirect detection".

[0037] The so-called feedback detection is to use a tachometer wheel. There is a reinforcing rib plate on the trolley, and the tachometer wheel is against the reinforcing rib plate of the trolley. The purpose of the so-called reinforcing rib plate is to ensure that the tachometer wheel rotates on a plane. Some trolleys do not have neat rib plates. The running track of the trolley with the same height can be directly welded on the trolley. The tachometer wheel is used to drive the encoder, and the encoder signal is sent to the PLC system. The pulse of the encoder is directly measured to calculate the driving speed of the cylinder of the trolley refueling device to ensure that the running speed of the refueling device and the trolley wheel hub are consistent. In order to ensure that the refueling device and the trolley wheel hub are completely consistent, the movement of the refueling device is also verified by speed feedback using the moving distance per unit time to ensure that the movement of the cylinder driving the refueling device completely follows the trolley wheel hub.

[0038] The so-called indirect speed measurement: the speed source is the speed feedback of the sintering trolley inverter. This speed feedback can be converted into the speed of the trolley wheel through various conversions, such as motor speed, gearbox speed ratio, trolley drive shaft speed ratio, and then converted into the speed of the trolley wheel according to the elliptical The length of the track can be used to more accurately calculate the wheel that has reached the refueling device. In this way, it is very convenient to manage and number all wheels. There are many other technologies that recognize the handwritten numbers of the wheel hubs, but after the sintering trolley is replaced, all the numbers will change. Therefore, the conventional technology basically only refuels the wheel hubs, and does not manage the refueling amount and the wheel hub status. Because the frequency converter speed feedback is used, in the running elliptical On the track, a certain time or determine a certain hub virtual number, then the position of each hub is determined, and the number of each hub is virtually generated. Using this method, each hub can be locked, and the state of each hub can be recorded. Even if the hub is replaced, only the replaced one needs to be modified in the database number to complete the task. Because the replaced trolley hub must run according to the speed feedback, it must reach the refueling device within a calculable time, and does not involve precise positioning. This positioning method can greatly reduce the working intensity of the image recognition system, reduce the errors caused by pure image recognition, and improve the efficiency of the image recognition system.

[0039] The video recognition system 7 includes a camera, an image processing host, a lifting cylinder for driving the oil port device, and a moving following oil cylinder for the oiling device, which realizes fast image recognition of the oiling device for the hub oil port. When the trolley hub enters the image recognition area according to the feedback speed calculation, the camera starts to scan the hub oil port. After the image processing host processes the image recognition, the PLC system is started to calculate the speed of the measuring wheel, and the time between the lifting cylinder and the oiling port of the oiling device to the hub oil port is calculated. The speed feedback of the measuring wheel is used to directly control the lifting speed of the lifting cylinder, to ensure that the oil port accurately reaches the hub oil port. Because the oiling port is 30°, the error is within 3 cm, which ensures stable oiling docking. The camera compares the connection state of the oil port and the oiling device. When the oil port and the oil port overlap and dock, the moving cylinder of the oiling device is immediately controlled. The speed feedback of the measuring wheel is used to drive the oiling device to move synchronously with the trolley speed.

[0040] According to this control method, if the oil port of a certain hub is not aligned, the PLC will make a virtual record. After the trolley runs for one week, it can still complete the refueling. The oiling system is provided with a flowmeter. Therefore, the oiling device has a flow monitoring device to monitor the quantitative addition of oil.

[0041] Installation and working process: refer to Figure 1 — Figure 5 , according to the structure diagram of the sintering trolley oiling system ( Figure 4 ), configure the one-way valve nut ( Figure 4 ) on the sintering trolley hub oil port ( Figure 1 ), install the speed measuring wheel (135) for monitoring the actual running speed of the trolley on the fixed position (131), the speed measuring device can rotate along the shaft (132) and roll along the trolley side rail track mechanism (136) under the action of the compression spring (133), and the speed feedback of the frequency converter into the communication network of the PLC is configured with the speed encoder mechanism (134) mechanism and the oiling device ( Figure 4) also forms a control system with PLC to realize centralized control; when the sintering trolley is running, the inverter speed keeps feeding back to the PLC. Because the trolley running track is a fixed value, although the trolley running speed is not a constant value at the instant, its average speed does not change much in the corresponding time period. Therefore, the position of the virtual numbered wheels corresponding to the trolley refueling device as the starting position can be calculated. If the trolley wheel hub located at the refueling device position is designated as No. 1 at a certain moment, the PLC system will automatically generate No. 2, No. 3, etc., and the speeds of these wheels converted according to the inverter speed feedback are in the trolley elliptical shape. When traveling on a track, the length of the track is fixed and the speed is relatively fixed, so the position of the wheel hub of the No. 1 trolley can be relatively calculated. Similarly, the position of each numbered wheel hub on the elliptical track is known.

[0042] According to the inverter speed feedback, multiplied by the speed ratio of the connected gearbox, and then multiplied by the circumference of the running wheel, the running speed of the trolley can be roughly calculated, and the actual running distance of the trolley can be calculated.

[0043] When the system issues a refueling command, refueling starts with the wheel hub closest to the refueling area, such as 25# close to ( Figure 5 The virtual hubs are numbered along the direction of the trolley's forward movement, and refueling starts from #25. After #25 rotates one circle and the previous #26 is refueled, the entire refueling process is completed. For the sake of convenience, the explanation starts from refueling the #1 hub.

[0044] When wheel No. 1 runs on the elliptical track, the PLC calculates its running speed based on the inverter speed feedback. When wheel No. 1 enters the refueling identification area, setting the refueling identification area is mainly to reduce the workload of the PLC and video recognition and reduce the system's false operation rate. Only when the wheel enters the identification area does the system start a series of refueling control operations.

[0045] When the No. 1 wheel hub enters the refueling area, the laser distance measuring device ( Figure 4 6) When the wheel hub signal is detected, it is determined that the wheel hub enters the video detection range of the refueling device. At this moment, the refueling device refueling port ( Figure 4 5) In the lifting cylinder ( Figure 4 Under the action of (2), the jacking cylinder is quickly lifted forward and makes the first arrival action, and stops 3cm away from the hub refueling port. The distance is determined by the jacking cylinder sensor ( Figure 4 11) is measured and controlled. This distance is mainly to ensure that the oil receiving port of the hub is Figure 4 3) and the refueling port of the refueling device ( Figure 4 3) No collision occurs, the closer the better, wait for the last and hub oil port ( Figure 43) for docking, and all process cameras scan the wheel hub.

[0046] The running flat track (136) is added on the trolley when the speed measuring wheel (135) is close to the trolley. Due to the friction, the speed measuring wheel runs synchronously with the running speed of the trolley. The speed measuring wheel (133) is connected to the shaft to drive the encoder (134). The encoder outputs a 4-20mA signal to the PLC. This signal feedback is the actual speed of the sintering trolley that is completely consistent. The distance and time from the laser ranging detection of the rising edge of the hub to the first lifting of the refueling device and the position of the hub oil receiving port are accurately calculated. In actual production, because the trolley wheel hub runs at a low speed, such calculation is very accurate. When the hub oil receiving port (133) runs to the refueling port ( Figure 4 14) range, the refueling port of the refueling device is lifted up again. This action process is the second time to ensure the connection between the refueling port and the wheel hub oil receiving port, because the refueling port ( Figure 4 14) has a 30° opening, so it is very easy to ensure the docking of the refueling port and the oil receiving port. At this moment, video recognition is used to determine whether the wheel hub oil receiving port is completely covered by the refueling port. If it is not covered, to prevent a collision between the refueling port and the oil receiving port, the jacking cylinder must retreat, which is equivalent to a failure of refueling for the wheel hub, and refueling starts again from the next wheel hub.

[0047] The video recognition judges that the wheel hub oil port is completely covered by the oil filling port. At this moment, the jacking cylinder continues to lift. This action process is the third time to ensure that the oil filling port is compressed. When the oil filling pressure is greater than the one-way valve pressure of the nut structure, the oil filling is smooth and there is no oil leakage. According to the principle, the spring is compressed ( Figure 4 4) appears deformation, because according to the pressure of the wheel hub refueling port one-way valve as the standard, using the formula: F = k × △ X, where the spring coefficient is the compression spring ( Figure 4 In 4), the spring's inherent characteristics are as follows: △X is the amount of spring contraction after being compressed. In actual operation, because the oil filling port and the oil receiving port are similar to hard connections, the deformation is not as obvious as calculated. After the third lifting cylinder action, the lifting cylinder sensor has a significant data change, which indicates that the oil receiving port is completely covered at the filling port and lifted to the bottom by the lifting cylinder. The data changes and then pauses, and the pause is delayed for 0.1 seconds (different systems can be debugged according to actual conditions). At this time, the PLC opens the solenoid valve, and the system refuels with a pressure greater than the one-way valve pressure of the nut structure.

[0048] At the moment when the video recognition determines that the refueling port covers the refueling port, the refueling device ( Figure 4 ) The whole structure and the wheel hub must move synchronously. The recognition point at this moment is when the camera video recognizes that the two overlap. At this moment, the movement follows the cylinder ( Figure 410) drives the refueling device to move, and the speed of movement must be consistent with the actual speed of the hub measured by the speed measuring wheel (134).

[0049] Control of the mobile following oil cylinder: The encoder speed feedback (134) driven by the tachometer wheel is used as the inner control loop to ensure that the movement speed of the following travel device (136) is consistent with the trolley running speed detected by the tachometer wheel (136). The indirect speed measurement of the trolley inverter speed feedback is used as the given proportional valve for controlling the following travel device, which is the outer control loop. The control of the encoder speed feedback (134) is used as the speed control negative feedback to form a proportional valve system for controlling the movement speed of the following travel device. This feedback can ensure that the running speed of the following oil cylinder and the wheel hub is consistent.

[0050] In order to ensure the deviation of the working and running speed of the following oil cylinder and wheel hub, the designed refueling port device has a certain deformation range, and the connection between the refueling pipe and the refueling device adopts a spherical connection ( Figure 4 15), non-rigid connection, when the speed is not synchronized, a certain angle deviation is allowed.

[0051] When the docking is completed and the follower cylinder is synchronized, the refueling system ( Figure 4 9) Through the refueling high pressure hose ( Figure 4 8), refueling, refueling system ( Figure 4 9) is equipped with a flow meter. Its main purpose is to detect whether there is oil flow during the refueling process, ensuring that the grease flows into the wheel hub refueling cavity through the refueling port of the wheel hub check valve under the action of pump pressure. This prevents the refueling cavity of the sintering trolley wheel hub from drying up due to various reasons, preventing lubricating grease from being added, and causing equipment accidents caused by long-term "false refueling". The flow meter makes qualitative and quantitative judgments and feeds back the status to the PLC. Using virtual numbers, it records the refueling status of each wheel hub.

[0052] Stop refueling process: When the refueling device is advancing with the follower oil cylinder, the refueling device continuously refuels the wheel hub. When the refueling time is up (the refueling of the trolley wheel hub generally does not require accurate measurement) or the flow meter measures enough, at this moment, the PLC controls the refueling solenoid valve to lose power and close, stop the pump, stop refueling, and refuel the refueling pipe ( Figure 4 Because of the atmospheric pressure, no grease will flow out of the wheel hub refueling port (14). Figure 1 ) design, grease cannot flow out, realizing environmentally friendly refueling.

[0053] At this moment, the oil filling port is in the jacking cylinder ( Figure 4 Under the action of 11), the oil filling port and the wheel hub oil receiving port are separated. After the lifting cylinder is retracted into place, a sensor ( Figure 411) to measure and control, follow the cylinder back, by moving the follow cylinder sensor ( Figure 4 The movement of the lifting cylinder and the following cylinder is tracked and measured by the cylinder sensor, and the data is sent to the PLC for control.

[0054] During the whole process, the camera video recognition monitors the coverage between the refueling port and the receiving port. If there is any deviation in the refueling process through image recognition, the refueling process will be started and stopped immediately, and the virtual number of the wheel hub will be recorded. After the trolley runs one circle, the wheel hub will be refueled again.

[0055] After the refueling device returns to its original position, the system enters the next refueling process, waits for the signal feedback from the next wheel hub to the laser ranging point, and starts the next refueling process ( Figure 3 , refueling process control diagram).

[0056] After using the virtual number, each wheel can establish an independent health record.

[0057] It should be noted that the above embodiments are not intended to limit the scope of protection of the present invention, and equivalent changes or substitutions made on the basis of the above technical solutions fall within the scope of protection of the claims of the present invention.

Claims

1. A sintering trolley refueling device, characterized in that: The refueling device includes a trolley body, trolley wheels, a bolt connection thread with a one-way valve function, a refueling gun body, a laser distance measuring device, a video recognition system, a refueling high-pressure hose, a refueling system, a following walking device with a position detection sensor, a telescopic oil cylinder with a tail sensor, a compression spring detection sensor, a speed measuring wheel device and a spherical connection. The refueling pipe and the refueling system are connected using a spherical connection; a wheel and a speed measuring wheel device are provided on one side of the trolley body, a bolt connection thread with a one-way valve function is provided on the wheel, a telescopic oil cylinder is provided between the refueling gun body and the following walking device, a laser distance measuring device and a video recognition system are provided below the refueling gun body, and the refueling system is connected to the refueling gun body through a refueling high-pressure hose; The fueling gun body is provided with a fueling nozzle, a pressure adjustment buffer spring, and a compression spring detection sensor. The end of the fueling nozzle has a hollow conduit with a 30° flared shape. A buffer spring is installed outside the conduit of the fueling pipe device. At the same time, a compression spring detection sensor is provided to detect the deformation of the spring during the compression process. The bolt connection thread with one-way valve function is provided with screw threads, valve body, spring and valve block, screw threads are provided under the valve body, spring is provided in the cavity of the valve body, and valve block is provided at the end of the spring; The speed wheel device includes a bracket 1, a bracket 2, a connecting spring, a speed sensor, a speed wheel and a reinforcing rib plate. The bracket 2 is fixed to the bracket 1. The trolley is provided with a reinforcing rib plate. The speed wheel is against the reinforcing rib plate of the trolley. A speed sensor is provided above the speed wheel. The video recognition system includes a camera, an image processing host, a lifting cylinder that drives the refueling port device, and a moving following cylinder of the refueling device, so as to realize rapid image recognition of the wheel hub refueling port of the refueling device. When the trolley wheel hub enters the image recognition area according to the feedback speed calculation, the camera starts to scan the wheel hub refueling port. After the image processing host processes the image recognition, the PLC system is started to integrate the speed of the tachometer wheel, and calculates the time between the lifting cylinder to the refueling port of the refueling device and the wheel hub refueling port. The speed feedback of the tachometer wheel is used to directly control the lifting speed of the lifting cylinder to ensure that the refueling port reaches the wheel hub refueling port accurately. Because the refueling port is 30°, the error is within 3 cm to ensure stable refueling docking. The camera compares the connection status of the refueling port and the refueling device. When the refueling port and the refueling port overlap and dock, the moving cylinder of the refueling device is immediately controlled. The speed feedback of the trolley is used to drive the refueling device to move synchronously with the trolley speed. A flow meter is provided in the refueling system.

2. A sintering trolley refueling control method, characterized in that: Using the refueling device according to claim 1, the method is as follows: The sintering trolley oiling device is configured with a one-way valve nut installed on the oil receiving port of the sintering trolley wheel hub, and a speed measuring wheel for monitoring the actual running speed of the trolley is installed in a fixed position. The speed measuring device rotates along the axis and rolls along the flat track mechanism on the side of the trolley under the action of the compression spring. The speed measuring wheel encoder mechanism and the frequency converter speed feedback are fed into the PLC communication network. The oiling device and PLC form a control system to achieve centralized control; When the sintering trolley is running, the inverter speed is constantly fed back to the PLC. Because the trolley running track is a fixed value, although the trolley running speed is not a constant value at the moment, its average speed does not change much in the corresponding time period. Therefore, the position of the virtual numbered wheels corresponding to the trolley refueling device as the starting position can be calculated. If the trolley wheel hub at the refueling device position is designated as No. 1 at a certain moment, the PLC system will automatically generate No. 2, No. 3, etc. The speeds of these wheels converted according to the inverter speed feedback are in the trolley elliptical shape. When traveling on a track, the length of the track is fixed, and the speed is relatively fixed. The position of the wheel hub of the No. 1 trolley is relatively calculated, and so on. The position of each numbered wheel hub on the elliptical track is known. According to the inverter speed feedback, multiply it by the speed ratio of the connected gearbox, and then multiply it by the circumference of the running wheel to roughly calculate the running speed of the trolley and the actual running distance of the trolley; When the system issues a refueling command, refueling starts from the wheel hub closest to the refueling area. When wheel No. 1 runs on the elliptical track, the PLC calculates its running speed based on the inverter speed feedback. When wheel No. 1 enters the refueling recognition area, the refueling recognition area is set to reduce the workload of the PLC and video recognition, and reduce the system's false operation rate. Only when the wheel enters the recognition area does the system start a series of refueling control operations. When the No. 1 wheel hub enters the refueling area and moves forward, the laser distance measuring device detects the wheel hub signal and determines that the wheel hub has entered the video detection range of the refueling device. At this moment, the refueling port of the refueling device is quickly lifted forward by the lifting cylinder under the action of the lifting cylinder, and performs the first positioning action. It pauses 3 cm away from the wheel hub refueling port. This distance is measured and controlled by the lifting cylinder sensor. This distance is mainly to ensure that the raised refueling port of the wheel hub and the refueling port of the refueling device do not collide. The closer the better, waiting for the final docking with the wheel hub refueling port. The camera scans the wheel hub throughout the process. When the speed measuring wheel approaches the trolley, a running flat track is added. Due to the friction, the speed measuring wheel runs synchronously with the running speed of the trolley. The speed measuring wheel is connected to the shaft to drive the encoder. The encoder outputs a 4-20mA signal to the PLC. This signal feedback is the actual speed of the sintering trolley, which is completely consistent. It accurately calculates the distance and time from the laser ranging detection of the rising edge of the hub edge to the first lifting of the refueling device, and the time when the refueling port waits for the position of the hub oil port. In actual production, because the trolley hub runs at a low speed, this calculation is very accurate. When the hub is When the oil port reaches the refueling port range of the refueling device, the refueling port of the refueling device is lifted up again. This action process is the second arrival, which mainly ensures the docking between the oil port and the wheel hub oil receiving port. Because the oil port has a 30° opening, it is very easy to ensure the docking between the oil port and the oil receiving port. At this moment, video recognition is used to judge whether the wheel hub oil receiving port is completely covered by the oil port. If it is not covered, to prevent the oil port and the oil receiving port from colliding, the lifting cylinder must retreat, which is equivalent to the failure of refueling the wheel hub, and refueling starts again from the next wheel hub. The video recognition determines that the wheel hub oil receiving port is completely covered by the oil filling port. At this moment, the jacking cylinder continues to lift. This action process is the third time in place. The purpose is to ensure that the oil filling port is compressed. When the refueling pressure is greater than the pressure of the nut structure one-way valve, refueling is smooth and there is no oil leakage. According to the principle, the compression spring will be deformed. Because the pressure of the wheel hub oil filling port one-way valve is used as the standard, the formula is: F = k × △X, where the spring coefficient is the characteristic of the compression spring itself, and △X is the contraction amount of the spring after compression. In actual operation, because the oil filling port and the oil receiving port are similar to hard connections, the deformation is not as obvious as calculated. After the third lifting cylinder action, the lifting cylinder sensor has obvious data changes. This change shows that the oil receiving port is completely covered at the oil filling port and is lifted to the bottom by the jacking cylinder. The data changes from change to pause, and the pause is delayed by 0.1 seconds. At this time, the PLC opens the solenoid valve, and the system refuels with a pressure greater than the nut structure one-way valve pressure. When the video recognition determines that the refueling port covers the refueling receiving port, the entire refueling device structure and the wheel hub must move synchronously. The recognition point at this moment is when the camera video recognizes that the two overlap. At this moment, the movement follows the movement of the refueling device driven by the oil cylinder, and the movement speed must be consistent with the actual speed of the wheel hub measured by the speed measuring wheel; Control of the mobile following cylinder: The encoder speed feedback driven by the tachometer wheel is used as the inner control loop to ensure that the movement speed of the following travel device is consistent with the trolley running speed detected by the tachometer wheel. The indirect speed measurement feedback from the trolley inverter is used as the reference for the proportional valve controlling the following travel device, which is the outer control loop. The encoder speed feedback is used as the speed control negative feedback to form a proportional valve system that controls the movement speed of the following travel device. This feedback can ensure that the running speed of the following cylinder and the wheel hub are consistent. In order to ensure the deviation of the working speed of the following cylinder and the running speed of the wheel hub, the designed refueling port device has a certain deformation range. The connection between the refueling pipe and the refueling device adopts a spherical connection, which is a non-rigid connection. When the speed is not synchronized, a certain angle of deviation is allowed. When the docking is completed and the follow-up cylinder is synchronized, the refueling system is refueled through the refueling high-pressure hose. The refueling system is equipped with a flow meter. The purpose of the flow meter is mainly to detect whether there is oil flow during the refueling process, and to ensure that the grease flows into the wheel hub refueling cavity through the wheel hub one-way valve refueling port under the action of the pump pressure; Stop the refueling process: When the refueling device is advancing with the follower cylinder, the refueling device continuously refuels the wheel hub. When the refueling time is up or the flow meter measures enough, the PLC controls this moment.

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