Used for the trolley follow-up oiling device of steel sintering ring cooling machine

Abstract

The present invention relates to a follow-up refueling device for a steel sintering ring cooler trolley, comprising a refueling gun, which is mounted on a lifting platform for adjusting the height of the refueling gun via a refueling gun seat, the lifting platform being mounted on a follow-up refueling support platform, which is slidably arranged in the length extension direction of the support chassis; the refueling gun is connected to a dry oil pump via an oil pipe, and the dry oil pump is used to refuel the refueling gun; an industrial camera for dynamically tracking the position of the wheel oil nozzle is also provided on the follow-up refueling support platform, the driving device of the follow-up refueling support platform and the lifting platform, and the industrial camera are respectively electrically connected to a PLC controller, thereby realizing continuous and precise refueling of the refueling gun. The present invention can accurately and automatically oil the rollers of the ring cooler trolley without stopping the machine, thereby improving the quality of lubrication of the ring cooler rollers, increasing the service life of the wheels, and reducing the failure rate of the ring cooler equipment.

Description

Technical Field

[0001] The invention relates to the technical field of sintering ring cooler equipment, in particular to a refueling device for a steel sintering ring cooler trolley. Background Art

[0002] Circular coolers are widely used in the steel industry as cooling equipment for cooling sintered ore during the sintering process. Currently, the rollers of the circular cooler trolleys are lubricated manually. During the production process, the rollers of the circular cooler trolleys operate in high-temperature, heavy-load, and dusty environments. Especially when the seals of the circular cooler trolleys leak, a high-temperature, positive-pressure blast zone forms in the refueling area of the circular cooler rollers, making manual lubrication difficult. Circular cooler rollers also have high requirements for lubrication conditions. Equipment failure rates due to poor manual lubrication are high, resulting in bearing failures, which impacts the stable operation of the sintering machine system. Furthermore, there are a large number of cooling trolleys, and the rollers of each trolley must be filled with grease for lubrication. Each trolley has two sets of rollers. Given the high temperatures and harsh working conditions on site, manual refueling while the circular cooler is in motion presents a significant safety hazard.

[0003] The existing device can only refuel the trolley wheels one by one, and each process requires stopping the vehicle, which is time-consuming and labor-intensive. At the same time, the control accuracy of the cylinder-driven platform and the refueling gun is low, and the control accuracy is mainly affected by the fluctuation of the gas source pressure. The cylinder gas is highly compressible and expands greatly, and there is a risk of explosion. Especially when the cylinder-driven refueling gun is refueling, if the gas source pressure is insufficient, the refueling gun and the wheel oil cup cannot be in close contact, which is prone to oil leakage, resulting in poor refueling effect. Summary of the Invention

[0004] The purpose of the present invention is to avoid the shortcomings of the existing technology and provide a follow-up oiling device for the steel sintering ring cooler trolley, which can accurately and automatically oil the ring cooler trolley roller without stopping, improve the quality of ring cooler roller lubrication, increase the service life of the wheel, and reduce the failure rate of the ring cooler equipment.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: a follow-up oiling device for a steel sintering ring cooler trolley, comprising a support base arranged on one side of a plurality of rollers of the ring cooler trolley and a oiling gun for oiling the rollers, the oiling gun being mounted on a lifting platform for adjusting the height of the oiling gun through an oil gun seat, the lifting platform being mounted on a follow-up oiling support platform, the follow-up oiling support platform being slidably arranged in the length extension direction of the support base, the follow-up oiling support platform being used to drive the oiling gun to move in the direction of movement of the rollers of the ring cooler trolley; the oiling gun is connected to a dry oil pump through an oil pipe, and the dry oil pump is used to oil the oiling gun;

[0006] An industrial camera and a PLC controller electrically connected to the industrial camera are also provided on the servo refueling support platform. The industrial camera is used to determine the positions of multiple wheel core oiling nozzles in motion and feed back the position information of the wheel core oiling nozzles 104 tracked dynamically to the PLC controller (9); the driving devices of the servo refueling support platform and the lifting platform are also electrically connected to the PLC controller respectively. The PLC controller is used to synchronously control the servo refueling support platform and the lifting platform to adjust the position of the refueling gun according to the dynamic tracking information, so that the refueling gun can continuously or intermittently refuel multiple rollers at corresponding positions of the support base during the movement of the ring cooler trolley, thereby realizing continuous and accurate refueling of the refueling gun; at the same time, the PLC controller is also electrically connected to the dry oil pump for synchronously controlling the dry oil pump to supply oil to the refueling gun.

[0007] Furthermore, a guide device for accurately refueling the refueling gun is provided at the wheel core oiling nozzles of the multiple rollers, and the guide device includes a guide block support frame fixedly connected to the roller hub on one side of the wheel core oiling nozzle, and a ring-shaped guide groove surrounding the wheel core oiling nozzle is provided on the corresponding guide block support frame on the wheel core oiling nozzle. The inner side surface of the ring-shaped guide groove is a slope, and the cross-section of the refueling gun nozzle end of the refueling gun is arc-shaped. The cooperation between the end of the oil gun nozzle and the annular groove makes it easy for the refueling gun nozzle to slide into the annular guide groove and smoothly contact the refueling port for refueling.

[0008] Furthermore, the industrial camera is a binocular camera of German BASLE acA1300-75gm / gc, which has a visual digital image acquisition and matching system for dynamically tracking and matching the position of the wheel core oiling nozzle to achieve precise oiling.

[0009] Furthermore, the industrial camera image matching is: the matching of the fueling nozzle of the fueling gun with the three-dimensional images of the positions of multiple wheel core oiling nozzles

[0010] Furthermore, the lifting platform includes a pair of first connecting rods and a pair of second connecting rods, and the corresponding ends of the first connecting rod and the second connecting rod are respectively mounted on a pair of upper slide groove seats and a pair of lower slide groove seats through a pair of fixing rods, the slide grooves of the pair of upper slide groove seats and the slide grooves of the pair of lower slide groove seats are arranged relative to each other, and the corresponding other ends of the first connecting rod and the second connecting rod are respectively slidably arranged in the slide grooves of the pair of upper slide groove seats and the pair of lower slide groove seats through a pair of sliding rods; the centers of the first connecting rod and the second connecting rod are cross-hinged with each other, so that a corresponding X-shaped connecting rod is formed between the two pairs of slide groove seats;

[0011] It also includes a driving device of the lifting platform, including a ball screw base arranged parallel to the pair of sliding groove seats, the ball screw and a first servo motor for driving the ball screw movement are arranged on the ball screw base, and a connecting block is provided on the moving nut of the ball screw, and a sliding rod sliding on the pair of sliding groove seats is passed through a connecting hole provided on the connecting block, and the connecting block is used to drive a pair of sliding rods to move in the slide grooves of a pair of upper slide groove seats and a pair of lower slide groove seats respectively when the nut of the ball screw moves; the first servo motor is electrically connected to the PLC controller, and the first servo motor drives a pair of sliding rods under the control of the PLC controller to make a pair of X-shaped connecting rods drive a pair of upper slide groove seats to move up and down, thereby realizing the up and down movement of the refueling gun on the pair of upper slide groove seats.

[0012] Furthermore, a central connecting hole is provided at the intersection of the centers of the first connecting rod and the second connecting rod, and the central connecting rod is movably inserted into the central connecting hole. The central connecting rod is used to strengthen the supporting strength of the X-shaped connecting rod.

[0013] Furthermore, the follow-up refueling support platform includes a first sliding base, a slide groove is provided at the bottom of the first sliding base, a first slide rail is provided on the support base, and the first sliding base is installed on the support base through the sliding cooperation between the slide groove and the first slide rail;

[0014] It also includes a driving device for the follow-up refueling support platform, including a second servo motor fixedly mounted on the support base below the first sliding base and a second rack arranged in the length direction of the support base, a driving gear is provided on the output shaft of the second servo motor, and the driving gear cooperates with the second rack to realize the movement of the first sliding base on the support base; the second servo motor is electrically connected to the PLC controller, and the second servo motor is used to drive the first sliding base to drive the refueling gun to move in the same direction or opposite direction as the roller of the ring cooler trolley moves under the control of the PLC controller.

[0015] Furthermore, the second sliding rail is provided on the first sliding base, the second sliding base is slidably arranged on the second sliding rail through a sliding groove, and the sliding axis of the second sliding base is arranged perpendicular to the sliding axis of the first sliding base;

[0016] The driving device of the follow-up refueling support platform also includes a rack seat provided on the first sliding base parallel to the second slide rail, a rack provided on the rack seat, a servo motor bracket provided on the second sliding base, a third servo motor installed on the servo motor bracket, a gear matched with the rack provided on the power output shaft of the third servo motor, and the third servo motor is used to drive the meshing movement of the gear and the rack to drive the second sliding base to slide along the second slide rail;

[0017] The lifting platform is installed on the second sliding base, and the third servo motor is electrically connected to the PLC controller. The third servo motor drives the second sliding base to move under the control of the PLC controller, thereby driving the refueling gun to be close to the circular cooler trolley roller when refueling, and away from the circular cooler trolley roller when refueling is completed.

[0018] Furthermore, it also includes a control junction box, and the driving devices of the mobile refueling support platform and the lifting platform and the industrial camera are electrically connected to the control junction box respectively, and the control junction box is electrically connected to the PLC controller.

[0019] Furthermore, the speed of the ring cooler trolley is 1.6-2.5 m / min, and the oiling time of a single roller is 6-8 s.

[0020] The dynamic tracking method used by the German BASLE acA1300-75gm / gc binocular camera primarily utilizes a binocular machine vision digital image acquisition and matching system for identification. A visual recognition algorithm identifies the characteristic points of the wheel grease nozzle position and determines the position of the nozzle's alignment point. The wheel grease nozzle moves along the wheel's running direction (track). The binocular camera feeds tracking information to the PLC controller. The PLC controller's synchronous control dynamically tracks the wheel grease nozzle, using this as a basis for synchronization and subsequent refueling.

[0021] Basler acA1300-75gc Binocular Camera Parameters

[0022] model Basler acA1300-75gc Chip type CMOS Resolution 1280px×1024px Pixel size 4.8μm×4.8μm Photosensitive chip size 6.1mm×4.9mm Target surface size 1 / 2” interface GigE Maximum resolution frame rate 88fps Black and white / color Color

[0023] The binocular stereo vision of the binocular camera is to obtain two images by imitating the human visual perception of three-dimensional scenes, using the camera to measure the object at different angles, and then calculate the position information of the wheel core oiling nozzle of the object in three-dimensional space based on the parallax principle, thereby reconstructing the geometric features and position, such as Figure 4As shown in the figure, the specific reconstruction steps can be divided into five parts: image acquisition, camera calibration, stereo matching and 3D reconstruction. Finally, the geometric features of the wheel core oiling nozzle and the multiple specific positions corresponding to the geometric features are obtained, so that the device can accurately oil multiple wheel core oiling nozzles at the same time.

[0024] The beneficial effects of the present invention are as follows: the present invention has the characteristics of precise control, good economic effect, convenient use, safety and reliability. It adopts a binocular camera with a visual digital image acquisition and matching system to collect images and realizes precise refueling positioning of the refueling gun through image processing technology. It adopts a PLC control device and a servo motor to realize automatic tracking of the roller refueling port of the sintering ring cooler for precise oiling and continuous oiling of multiple rollers during operation, replacing manual oiling work, realizing automatic oiling, and improving the quality of lubrication of the rollers of the ring cooler, thereby increasing the service life of the wheels, reducing the failure rate of the ring cooler equipment, and realizing high-precision positioning of the refueling gun in three directions. The positioning accuracy is less than 1mm, and the accuracy of identifying the oiling position is more than 98%. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the present invention;

[0026] Figure 2 This is a structural diagram of the lifting platform and the follow-up refueling support platform of the present invention;

[0027] Figure 3 This invention Figure 2 Schematic diagram of the structure viewed from above;

[0028] Figure 4 It is a structural schematic diagram of the guide device of the present invention;

[0029] Figure 5 It is a flow chart of the binocular camera stereo vision processing method of the present invention.

[0030] 1. Oil gun; 101. Roller; 102. Annular guide chute; 103. Guide block support frame; 104. Wheel core oiling nozzle; 2. Oil gun holder; 3. Lifting platform; 31. First connecting rod; 32. Second connecting rod; 33. Fixed rod; 341. Upper chute holder; 342. Lower chute holder; 35. Sliding rod; 36. Ball screw base; 37. Ball screw; 38. First servo motor; 39. Connecting block; 40. Center connecting rod; 4. Follow-up oiling support platform ; 41. First sliding base; 42. Second slide rail; 43. Second sliding base; 44. Rack seat; 45. First rack; 46. Servo motor bracket; 47. Third servo motor; 48. Second servo motor; 49. Gear; 50. Drive gear; 5. Support base; 51. First slide rail; 52. Second rack; 6. Control junction box; 7. Oil pipe; 8. Dry oil pump; 9. PLC controller; 10. Circular cooler trolley; 15. Industrial camera. DETAILED DESCRIPTION

[0031] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0032] In order to achieve the above object, the present invention provides the following specific implementation methods:

[0033] Example 1: Figure 1-3 As shown, a follow-up oiling device for a steel sintering ring cooler trolley includes a support base 5 arranged on one side of multiple rollers 101 of the ring cooler trolley 10 and a oiling gun 1 for oiling the rollers. The oiling gun 1 is installed on a lifting platform 3 for adjusting the setting height of the oiling gun 1 through an oil gun seat 2. The lifting platform 3 is installed on a follow-up oiling support platform 4. The follow-up oiling support platform 4 is slidably arranged in the length extension direction of the support base 5. The follow-up oiling support platform 4 is used to drive the oiling gun 1 to move in the direction of movement of the rollers of the ring cooler trolley; the oiling gun 1 is connected to a dry oil pump 8 through an oil pipe 7, and the dry oil pump 8 is used to oil the oiling gun 1;

[0034] The lifting platform 3 includes a pair of first connecting rods 31 and a pair of second connecting rods 32. The corresponding ends of the first connecting rods 31 and the second connecting rods 32 are respectively mounted on a pair of upper slide groove seats 341 and a pair of lower slide groove seats 342 through a pair of fixing rods 33. The slide grooves of the pair of upper slide groove seats 341 and the slide grooves of the pair of lower slide groove seats 342 are arranged opposite to each other. The corresponding other ends of the first connecting rods 31 and the second connecting rods 32 are respectively slidably arranged in the slide grooves of the pair of upper slide groove seats 341 and the pair of lower slide groove seats 342 through a pair of sliding rods 35. The centers of the first connecting rods 31 and the second connecting rods 32 are cross-hinged with each other, so that an X-shaped connecting rod correspondingly arranged is formed between the two pairs of slide groove seats.

[0035] The lifting platform 3 has a driving device, including a ball screw base 36 arranged parallel to a pair of lower slide groove seats 342, a ball screw 37 and a first servo motor 38 for driving the ball screw to move, which are arranged on the ball screw base 36, and a connecting block 39 is provided on the moving nut of the ball screw 37, and a sliding rod 35 sliding on a pair of lower slide groove seats 342 is passed through a connecting hole provided on the connecting block 39. The connecting block 39 is used to drive the pair of sliding rods 35 to move in the slide grooves of a pair of upper slide groove seats 341 and a pair of lower slide groove seats 342 respectively when the nut of the ball screw 36 moves; the first servo motor 38 is electrically connected to the PLC controller 9, and under the control of the PLC controller 9, the first servo motor 38 drives the pair of sliding rods 35 to make a pair of X-shaped connecting rods drive a pair of upper slide groove seats 341 to move up and down, thereby realizing the up and down movement of the refueling gun 1 on the pair of upper slide groove seats 341. A central connecting hole is provided at the intersection of the first connecting rod 31 and the second connecting rod 32 , and the central connecting rod 40 is movably inserted into the central connecting hole. The central connecting rod 38 is used to strengthen the supporting strength of the X-shaped connecting rod.

[0036] The follow-up refueling support platform 4 includes a first sliding base 41, a slide groove is provided at the bottom of the first sliding base 41, and a first slide rail 51 is provided on the support base 5. The first sliding base 41 is installed on the support base 5 through the sliding fit between the slide groove and the first slide rail 51;

[0037] The follow-up refueling support platform 4 has a driving device, including a second servo motor 48 fixedly mounted on the support base 5 below the first sliding base 41 and a second rack 52 arranged in the length direction of the support base 5. A driving gear 50 is provided on the output shaft of the second servo motor 48. The driving gear 50 cooperates with the second rack 52 to realize the movement of the first sliding base 41 on the support base 5; the second servo motor 48 is electrically connected to the PLC controller 9, and the second servo motor 48 is used to drive the first sliding base 41 under the control of the PLC controller 9 to drive the refueling gun 1 to move in the same direction or opposite direction as the roller of the ring cooler trolley moves.

[0038] The second sliding base 41 is provided with a second sliding rail 42, and the second sliding base 43 is slidably arranged on the second sliding rail 42 through a sliding groove, and the sliding axis of the second sliding base 43 is perpendicular to the sliding axis of the first sliding base 41;

[0039] The driving device of the follow-up refueling support platform 4 also includes a rack seat 44 provided on the first sliding base 41 parallel to the second slide rail 42, a rack 45 provided on the rack seat 44, a servo motor bracket 46 provided on the second sliding base 43, a third servo motor 47 mounted on the servo motor bracket 46, and a gear 49 that cooperates with the rack 45 provided on the power output shaft of the third servo motor 47. The third servo motor 47 is used to drive the meshing movement of the gear 49 and the rack 45, thereby driving the second sliding base 43 to slide along the second slide rail 42;

[0040] The lifting platform 3 is installed on the second sliding base 43, and the third servo motor 47 is electrically connected to the PLC controller 9. The third servo motor 47 drives the second sliding base 43 to move under the control of the PLC controller 9, thereby driving the refueling gun 1 to be close to the roller of the ring cooler trolley when refueling, and away from the roller of the ring cooler trolley when refueling is completed.

[0041] A guide device for accurately refueling the refueling gun 1 is provided at the wheel core oiling nozzle 104 of multiple rollers 101, and the guide device includes a guide block support frame 103 fixedly connected to the roller hub on one side of the wheel core oiling nozzle 104, and a ring-shaped guide groove 102 surrounding the wheel core oiling nozzle 104 is provided on the corresponding guide block support frame 103 on the wheel core oiling nozzle 104. The inner side surface of the ring-shaped guide groove 102 is a slope, and the end section of the refueling gun nozzle 11 of the refueling gun 1 is arc-shaped. The cooperation between the end of the oil gun nozzle and the annular groove makes it easy for the refueling gun nozzle 11 to slide into the annular guide groove 102 and smoothly contact the refueling port for refueling.

[0042] An industrial camera 15 and a PLC controller 9 electrically connected to the industrial camera 15 are also provided on the follow-up refueling support platform 4. The industrial camera 15 is used to determine the positions of multiple wheel core oiling nozzles 104 in motion, and feed back the dynamically tracked wheel core oiling nozzles 104 position information to the PLC controller 9; the driving devices of the follow-up refueling support platform 4 and the lifting platform 3 are also electrically connected to the PLC controller 9 respectively, and the PLC controller 9 is used to synchronously control the follow-up refueling support platform 4 and the lifting platform 3 to adjust the position of the refueling gun 1 according to the dynamic tracking information, so that the refueling gun 1 can continuously or intermittently refuel the multiple rollers 101 at the corresponding positions of the support base 5 during the movement of the ring cooler trolley 10, thereby realizing continuous and precise refueling action of the refueling gun 1; at the same time, the PLC controller 9 is also electrically connected to the dry oil pump 8 for synchronously controlling the dry oil pump 8 to supply oil to the refueling gun 1.

[0043] The industrial camera 15 is a German BASLE acA1300-75gm / gc binocular camera equipped with a visual digital image acquisition and matching system, which is used to dynamically track and locate the wheel grease nozzle 104 for precise greasing. The image matching performed by the industrial camera 15 is performed between the refueling nozzle 11 of the refueling gun 1 and the three-dimensional images of the positions of the multiple wheel grease nozzles 104.

[0044] According to the description of the German BASLE acA1300-75gm / gc binocular camera, it can be obtained that after the camera is applied to the present invention, the industrial camera 15 obtains the accurate position of the wheel core oiling nozzle 104 through the following steps:

[0045] First, the industrial camera 15 measures the wheel core greasing nozzle 104 at different angles to acquire two images of the wheel core greasing nozzle 104, obtains image feature points of the wheel core greasing nozzle 104, and simultaneously calibrates the image feature points at multiple positions of the wheel core greasing nozzle 104 to establish three-dimensional feature points of the multiple position feature points;

[0046] Secondly, the industrial camera 15 stereo matches the three-dimensional feature points of the fuel nozzle 11 of the fuel gun 1 and the wheel core oiling nozzle 104, and calculates the matching parallax;

[0047] Finally, the three-dimensional feature points of multiple positions of the wheel core oiling nozzle 104 are reconstructed in three dimensions according to the matching parallax, so as to obtain the actual geometric feature points of the wheel core oiling nozzle 104 and multiple specific positions corresponding to the geometric feature points.

[0048] It also includes a control junction box 6, and the driving devices of the follow-up refueling support platform 4 and the lifting platform 3 and the industrial camera 15 are electrically connected to the control junction box 6 respectively, and the control junction box 6 is further electrically connected to the PLC controller 9.

[0049] The speed of the ring cooler trolley 10 is 1.6-2.5m / min, and the oiling time of a single roller 101 is 6-8s.

[0050] like Figure 1-3As shown, the device provided by the present invention consists of three parts: a follow-up oiling mechanism, an oiling part and a control part. The lifting platform 3 is arranged on the oiling work platform, and the first servo motor 38 drives the screw to rotate forward and reverse to drive the lifting platform 3 up and down, and the movement direction is defined as the Z-axial movement of the oiling gun 1; the third servo motor 47 drives the gear 49 to move back and forth linearly in front of and behind the rack 45, and the movement direction is defined as the Y-axial movement of the oiling gun 1; the oiling gun 1 clamps the guide block 102 and the wheel core oiling nozzle 104, and oiling is carried out as the annular cooler trolley moves. After the oiling is completed, the first servo motor 38 drives the gear 50 to reciprocate left and right on the first slide rail 51, and the movement direction is the X-axial movement of the oiling gun 1; the control part sets a PLC controller 9 to control parameters and control the oiling time of the dry oil pump 8. By controlling the junction box 6 and the industrial camera 15, the automatic identification and positioning of the roller wheel core position of the online annular cooler can be realized, and automatic and accurate oiling is performed through the oiling guide device. The device of the present invention realizes high-precision positioning of the refueling gun 1 in the X, Y, and Z directions. Due to the use of a binocular camera, a positioning accuracy of less than 1 mm is also achieved, that is, accurate refueling of multiple rollers of the moving ring cooler trolley 10 is realized, which greatly improves the refueling efficiency and increases the service life of the wheels.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A trolley follow-up oiling device for steel sintering ring cooler, characterized in that: The invention comprises a support base (5) arranged on one side of a plurality of rollers (101) of a ring cooler trolley (10) and a refueling gun (1) for refueling the rollers, wherein the refueling gun (1) is installed on a lifting platform (3) for adjusting the setting height of the refueling gun (1) through an oil gun seat (2), and the lifting platform (3) is installed on a follow-up refueling support platform (4), and the follow-up refueling support platform (4) is slidably arranged in the length extension direction of the support base (5), and the follow-up refueling support platform (4) is used to drive the refueling gun (1) to move in the direction of movement of the rollers of the ring cooler trolley; the refueling gun (1) is connected to a dry oil pump (8) through an oil pipe (7), and the dry oil pump (8) is used to refuel the refueling gun (1); An industrial camera (15) and a PLC controller (9) electrically connected to the industrial camera (15) are also provided on the follow-up oiling support platform (4). The industrial camera (15) is used to determine the positions of multiple wheel core oiling nozzles (104) in motion and feed back the position information of the dynamically tracked wheel core oiling nozzles (104) to the PLC controller (9). The driving devices of the follow-up oiling support platform (4) and the lifting platform (3) are also electrically connected to the PLC controller (9). The PLC controller (9) is used to synchronously control the follow-up refueling support platform (4) and the lifting platform (3) to adjust the position of the refueling gun (1) according to the dynamic tracking position information, so that the refueling gun (1) can refuel the multiple rollers (101) at the corresponding positions of the support chassis (5) in sequence, continuously or intermittently, during the movement of the ring cooler trolley (10), thereby realizing the continuous and accurate refueling action of the refueling gun (1); at the same time, the PLC controller (9) is also electrically connected to the dry oil pump (8) for synchronously controlling the dry oil pump (8) to supply oil to the refueling gun (1); The industrial camera (15) is a binocular camera of German BASLE acA1300-75gm / gc, which has a visual digital image acquisition and matching system for dynamically tracking and matching the position of the wheel core oiling nozzle (104) to achieve accurate oiling; The lifting platform (3) includes a pair of first connecting rods (31) and a pair of second connecting rods (32), and the corresponding ends of the first connecting rod (31) and the second connecting rod (32) are respectively installed on a pair of upper sliding groove seats (341) and a pair of lower sliding groove seats (342) through a pair of fixing rods (33), and the sliding grooves of the pair of upper sliding groove seats (341) and the sliding grooves of the pair of lower sliding groove seats (342) are relatively arranged, and the corresponding other ends of the first connecting rod (31) and the second connecting rod (32) are respectively slidably arranged in the sliding grooves of the pair of upper sliding groove seats (341) and the pair of lower sliding groove seats (342) through a pair of sliding rods (35); the first connecting rod (31) and the second connecting rod (32) are cross-hinged with each other at the center, so that a corresponding X-shaped connecting rod is formed between the two pairs of sliding groove seats; The lifting platform (3) also includes a driving device, including a ball screw base (36) arranged in parallel with the pair of sliding groove seats (342), a ball screw (37) and a first servo motor (38) for driving the ball screw to move are arranged on the ball screw base (36), a connecting block (39) is provided on the moving nut of the ball screw (37), a sliding rod (35) slidably arranged on the pair of sliding groove seats (342) is passed through a connecting hole provided on the connecting block (39), and the connecting block (39) is used to When the nut of the ball screw (36) moves, it drives a pair of sliding rods (35) to move in the slide grooves of a pair of upper slide groove seats (341) and a pair of lower slide groove seats (342) respectively; the first servo motor (38) is electrically connected to the PLC controller (9), and under the control of the PLC controller (9), the first servo motor (38) drives the pair of sliding rods (35) to make a pair of X-shaped connecting rods drive the pair of upper slide groove seats (341) to move up and down, thereby realizing the up and down movement of the refueling gun (1) on the pair of upper slide groove seats (341).

2. The trolley follow-up oiling device for steel sintering ring cooler according to claim 1, characterized in that: A guide device for accurately refueling the refueling gun (1) is provided at the wheel core oiling nozzle (104) of the plurality of rollers (101), the guide device comprising a guide block support frame (103) fixedly connected to the roller hub on one side of the wheel core oiling nozzle (104), an annular guide slot (102) surrounding the wheel core oiling nozzle (104) is provided on the corresponding guide block support frame (103) on the wheel core oiling nozzle (104), the inner side surface of the annular guide slot (102) is an inclined surface, the end section of the refueling gun nozzle (11) of the refueling gun (1) is arc-shaped, and the cooperation between the end of the refueling gun nozzle and the annular slot enables the refueling gun nozzle (11) to easily slide into the annular guide slot (102) and smoothly contact the refueling port for refueling.

3. The trolley follow-up oiling device for steel sintering ring cooler according to claim 1, characterized in that: The image matching of the industrial camera (15) is: matching of the three-dimensional images of the positions of the refueling nozzle (11) of the refueling gun (1) and a plurality of wheel core oiling nozzles (104).

4. The trolley follow-up oiling device for steel sintering ring cooler according to claim 1, characterized in that: A central connecting hole is provided at the intersection of the first connecting rod (31) and the second connecting rod (32), and the central connecting rod (40) is movably inserted into the central connecting hole. The central connecting rod (38) is used to strengthen the supporting strength of the X-shaped connecting rod.

5. The trolley follow-up oiling device for steel sintering ring cooler according to claim 1, characterized in that: The follow-up refueling support platform (4) includes a first sliding base (41), a slide groove is provided at the bottom of the first sliding base (41), a first slide rail (51) is provided on the support base (5), and the first sliding base (41) is installed on the support base (5) through the sliding cooperation between the slide groove and the first slide rail (51); It also includes a driving device for the follow-up refueling support platform (4), including a second servo motor (48) fixedly installed on the support base (5) below the first sliding base (41) and a second rack (52) arranged in the length direction of the support base (5), a driving gear (50) is provided on the output shaft of the second servo motor (48), and the driving gear (50) cooperates with the second rack (52) to realize the movement of the first sliding base (41) on the support base (5); the second servo motor (48) is electrically connected to the PLC controller (9), and the second servo motor (48) is used to drive the first sliding base (41) under the control of the PLC controller (9) to drive the refueling gun (1) to move in the same direction or opposite direction as the direction of movement of the roller of the ring cooler trolley.

6. The trolley follow-up oiling device for steel sintering ring cooler according to claim 5, characterized in that: The second sliding base (43) is provided on the first sliding base (41) and is slidably arranged on the second sliding rail (42) through a sliding groove, and the sliding axis of the second sliding base (43) is arranged perpendicular to the sliding axis of the first sliding base (41); The driving device of the follow-up refueling support platform (4) also includes: a rack seat (44) is provided on the first sliding base (41) parallel to the second slide rail (42), a rack (45) is provided on the rack seat (44), a servo motor bracket (46) is provided on the second sliding base (43), a third servo motor (47) is installed on the servo motor bracket (46), and a gear (49) matched with the rack (45) is provided on the power output shaft of the third servo motor (47), and the third servo motor (47) is used to drive the meshing movement of the gear (49) and the rack (45) to drive the second sliding base (43) to slide along the second slide rail (42); The lifting platform (3) is mounted on the second sliding base (43), and the third servo motor (47) is electrically connected to the PLC controller (9). The third servo motor (47) drives the second sliding base (43) to move under the control of the PLC controller (9), thereby driving the refueling gun (1) to be close to the roller of the ring cooler trolley when refueling, and to be away from the roller of the ring cooler trolley when refueling is completed.

7. The trolley follow-up oiling device for steel sintering ring cooler according to claim 1, characterized in that: It also includes a control junction box (6), wherein the driving devices of the follow-up refueling support platform (4) and the lifting platform (3) and the industrial camera (15) are electrically connected to the control junction box (6) respectively, and the control junction box (6) is further electrically connected to the PLC controller (9).

8. The trolley follow-up oiling device for steel sintering ring cooler according to any one of claims 1 to 7, characterized in that: The speed of the ring cooler trolley (10) is 1.6-2.5 m / min, and the oiling time of a single roller (101) is 6-8 s.

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