A sintering trolley wheel online oiling robot device and method

Abstract

The present invention discloses a robot device and method for online oiling of sintering trolley wheels, comprising a reciprocating flexible oiling device, a tactile sensor, a working environment temperature sensor, and a computer intelligent control system. The tactile sensor is arranged on the outside of the trolley running track on one side of each reciprocating flexible oiling device, and the working environment temperature sensor is located at the side front end of the oil filling port of the reciprocating flexible oiling device. The reciprocating flexible oiling device, the tactile sensor, and the working environment temperature sensor are all connected to the computer intelligent control system by signal. The present invention drives the swinging cam by a swinging cylinder to realize the reciprocating swing of the oiling device and the accompanying online oiling of the production. The intelligent control ensures the full lubrication requirements of the wheels, and the flexible oiling device can realize the deviation, tilt, and twist tolerance functions of hundreds of oil receiving holes. The overall flexible oiling function can be met without wearing the oiling nozzle mechanism, ensuring zero leakage during oiling.

Description

Technical Field

[0001] The present invention relates to the technical field of refueling robots, and in particular to an online refueling robot device and method for sintering trolley wheels. Background Art

[0002] In order to improve efficiency and reduce carbon consumption, modern steel production must ensure that the iron ore raw materials entering the furnace have stable composition, good strength and good air permeability. Therefore, various iron ore powders and solvents are first mixed evenly in a certain proportion and then fired into sintered ore and pelletized ore, which are then supplied to the blast furnace for ironmaking, that is, clinker is put into the furnace.

[0003] In order to ensure efficient operation, modern large-scale sintering and ductile iron production all adopt a chain trolley circulation operation structure. The trolley is the main operating equipment of the sintering and ductile iron machine. The trolley consists of a trolley body, wheels, sealing devices, grates, baffles, and thermal insulation pads. The trolley is also the main vulnerable equipment of the sintering machine. Large-scale sintering and pellet roasting machines are equipped with nearly 200 trolleys. The running speed of the trolley is 1.2 to 3.8 meters per minute, and the running time is about 100 minutes. Each trolley is equipped with 4 wheels. The lubrication of the wheels is directly related to the life of the trolley and the operation rate of the equipment.

[0004] After searching, Chinese patent number CN201910018696 discloses an automatic capture and refueling device for sintering trolley wheels, which belongs to the technical field of auxiliary refueling equipment for sintering trolleys. The present invention includes a refueling gun and a claw support sleeve, one side of the claw support sleeve is evenly distributed with claws, the middle part of the claw is connected to a claw connecting rod, the other end of the claw connecting rod is connected to a claw driving sleeve, the right end of the claw support sleeve is connected to a telescopic sleeve, the right end face of the telescopic sleeve is installed with a linear bearing, a guide rod is installed in the linear bearing, one side of the telescopic sleeve is provided with a claw driving cylinder, and the right side of the telescopic sleeve is provided with a telescopic sleeve driving cylinder. The claws, claw connecting rods, claw driving collars, claw driving sleeves and other supporting devices of the automatic capture device in this case are extremely complex in structure and the accumulated wear quickly leads to positioning deviation, and the reciprocating linear movement cannot adapt to the annular trolley.

[0005] Chinese Patent No. CN201920832086 discloses an automatic lubrication device for sintering trolley wheels. The device comprises a guide rail bracket; a plurality of support legs are provided at the bottom of the guide rail bracket, with guide rails and a platform drive cylinder provided on the left and right sides of the upper surface, respectively. A slider is provided on the guide rail, and a movable platform is provided on the slider. A follower device and an automatic lubricating device are provided on the left and right sides of the upper surface of the movable platform, respectively. The right side of the follower device is connected to the piston rod of the platform drive cylinder. The automatic lubricating device includes a lubricating gun and a gun drive cylinder. The lubricating gun is a tubular structure, mounted on the movable platform via a gun sleeve. Its rear end is connected to a rotary joint, the other end of which is connected to the piston rod of the drive cylinder. A dry oil hose is also connected to the rotary joint, the other end of which is connected to a dry oil pump. This device enables online automatic lubrication of the sintering trolley wheels. The follower device in this case has rollers and a gear lever. After a period of operation, the center position shifts due to wear of the trolley wheels and rollers. Moreover, the positions of the fuel gun and the gear lever are fixed, and the position deviation caused by operational wear cannot be compensated; and the linear moving platform and the flexible chain belt have poor fit and are prone to oil leakage.

[0006] Chinese Patent No. CN201910018703 discloses a dual-eccentric ring automatic centering oil gun, belonging to the technical field of sintering trolley refueling equipment. The invention comprises a lubricating oil conduit, one end of which is provided with an oil gun guide sleeve, the inner side of which is provided with an oil nozzle, and the outer side of the lubricating oil conduit is provided with an oil gun sleeve. A first inner eccentric ring, a first inner bearing, a first outer eccentric ring, and a first outer bearing are sequentially arranged between the left end of the lubricating oil conduit and the inner wall of the oil gun sleeve. A second inner eccentric ring, a second inner bearing, a second outer eccentric ring, and a second outer bearing are sequentially arranged between the right end of the lubricating oil conduit and the inner wall of the oil gun sleeve. The oil nozzle can automatically adjust the position of the oil cup according to the position error of the wheel end face of the sintering trolley wheel, and is a key component for achieving automatic lubrication of the trolley wheel. The components include a wheel oil cup 1, a guide cone sleeve, an oil nozzle, and an oil gun guide sleeve. The automatic self-aligning oiling gun in this case is equipped with positioning guide cone sleeves on the trolley wheels. It is necessary to modify all hundreds of existing trolley wheels of the sintering machine using this oiling gun, that is, to add positioning guide cone sleeves, which is difficult to match with the thousands of sintering machines currently in operation.

[0007] Manual oiling is a repetitive labor with high risks, poor environment and high load. It meets the goal of intelligent manufacturing that 3D positions need robots to replace each other. Moreover, manual oiling is repeated hundreds of times over a long period of time. Just one missed oiling or insufficient oiling will cause a single wheel failure, and its short-board effect will cause the entire production line to shut down. Summary of the Invention

[0008] The purpose of the present invention is to provide an online oiling robot device and method for sintering table wheels, which replaces manual shutdown and maintenance oiling with intelligent accompanying oiling to improve production operation rate. By setting up a three-way ring oil supply circuit, the oil supply pressure and oil volume are guaranteed, and the lubrication of the wheels is more accurate and sufficient, avoiding production line shutdowns due to oil shortage and damage of individual wheel bearings, and eliminating the wheel failure rate due to insufficient lubrication. At the same time, the oiling operation can be completed at any time according to the specified cycle, ensuring sufficient and timely lubrication of the wheel bearings. The design of the oiling device structure also ensures the stability of the lubrication process, solving the problems raised in the above background technology.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A sintering trolley wheel online oiling robot device includes a reciprocating flexible oiling device, a tactile sensor, a working environment temperature sensor and a computer intelligent control system. The reciprocating flexible oiling device is arranged on both sides of a sintering machine or a pellet belt baking machine or an annular cooler or a belt cooler. The tactile sensors are arranged in groups of three on the outside of the trolley running track on one side of each reciprocating flexible oiling device. The working environment temperature sensor is located at the side front end of the oil filling port of the reciprocating flexible oiling device. The reciprocating flexible oiling device, the tactile sensor and the working environment temperature sensor are all connected to the computer intelligent control system signal.

[0011] Preferably, the reciprocating oscillating flexible oil injection device includes a reciprocating oscillating device and a flexible oil injection device, and the flexible oil injection device is installed on a side of the reciprocating oscillating device close to the trolley wheel.

[0012] Preferably, the reciprocating swing device includes a base, a mounting frame, a swing mechanism and a feed mechanism, the bottom of the mounting frame is mounted on the base by five sets of screws and washers, the mounting frame is connected to the swing mechanism, and the swing mechanism is connected to the feed mechanism.

[0013] Preferably, the reciprocating swinging working trajectory "("")" of the flexible oil filling device can be intelligently and arbitrarily combined with the different motion trajectories "|""("")" of the trolley wheels to meet the oiling requirements.

[0014] Preferably, the swing mechanism includes a cylinder tailstock, a swing cylinder, a swing cam, a swing rod pin, a swing shaft, a swing shaft pressure pad and a brass shaft; the cylinder tailstock is fixed to the middle of the mounting frame by six screws, and the swing cylinder is fixed to the top of the mounting frame by two sets of screws and washers;

[0015] The rotating shaft in the middle of the bottom of the swing cylinder is connected to the swing cam by eight hexagonal screws. The protruding ends of the swing cam are symmetrically penetrated by swing rod pins. The top ends of the two swing rod pins are fixed by nuts, washers and swing cam.

[0016] Preferably, the feeding mechanism includes a feeding cylinder and a cylinder seat; the feeding cylinder is mounted on the center of the cylinder seat near the swing shaft by screws, the output shaft of the feeding cylinder is inserted into one end of the flexible oil injection device, and the flexible oil injection device is engaged and slidably connected with the upper and lower symmetrical protruding rails provided on the cylinder seat;

[0017] Two symmetrical horizontal plates are respectively provided on the tail seat of the cylinder and the opposite sides of the cylinder seat. The pendulum shaft is rotatably connected to the horizontal plate through a brass shaft. One horizontal plate, two brass shafts and one pendulum shaft pressure pad form a locking structure. There are four sets of locking structures in total. The brass shaft passes through the rotating groove at the end point of the pendulum shaft, and the tail end of the brass shaft is inserted into the rotating groove on both sides of the horizontal plate. The top surface of the brass shaft is against the pendulum shaft pressure pad installed in the middle of the horizontal plate; there is a pendulum rod pin on each side of the pendulum shaft that can push the pendulum shaft to rotate horizontally.

[0018] Preferably, the flexible oil injection device includes an oil injection channel mechanism and an oil injection flexible mechanism, the oil injection channel mechanism is covered with an oil injection flexible mechanism, the oil injection channel mechanism includes a nozzle seat, a nozzle seat guide sleeve seat, a polymer material nozzle, a nozzle nut, a fixing nut, a washer and a screw; a circular slot is provided in the center of the nozzle seat guide sleeve seat close to the swing sleeve, and the locking structures at both ends of the connecting shaft are respectively engaged in the circular slots of the swing sleeve and the nozzle seat guide sleeve seat; six compression springs are arranged around the connecting shaft, and the nozzle seat guide sleeve seat is connected to the connecting shaft and the compression spring and the swing sleeve. The cam is connected to the movable sleeve; the oil nozzle seat is provided on the side of the oil nozzle seat guide sleeve seat close to the trolley, the oil nozzle seat and the oil nozzle seat guide sleeve seat are located on the same central axis, an oil channel is provided in the oil nozzle seat and is connected to the oil channel of the oil nozzle seat guide sleeve seat, a washer is sleeved on the outer side of one end of the oil nozzle seat close to the oil nozzle seat guide sleeve seat, a fixing nut is sleeved on the end of the oil nozzle seat with the washer and is connected by clamping with the oil nozzle seat, and one end of the fixing nut rests on the washer; a polymer material oil nozzle is embedded in the oil channel at the end of the oil nozzle seat away from the oil nozzle seat guide sleeve seat, and the oil nozzle nut is sleeved on the outside of the polymer material oil nozzle and is threadedly connected to the polymer material oil nozzle;

[0019] The flexible oil injection mechanism includes an inner sleeve of the oil nozzle seat, an outer sleeve of the oil nozzle seat, a guide sleeve of the oil nozzle seat, a plane bearing, an elastic pad, an outer spring and an O-ring; the end of the oil nozzle seat away from the oil nozzle seat guide sleeve seat is covered with the inner sleeve of the oil nozzle seat, the end of the oil nozzle seat close to the oil nozzle seat guide sleeve seat is covered with the oil nozzle seat guide sleeve, one side of the oil nozzle seat guide sleeve contacts the oil nozzle seat guide sleeve seat and is inserted into the oil nozzle seat guide sleeve seat, an O-ring is embedded outside the oil nozzle seat guide sleeve seat, and the O-ring is fitted with the oil nozzle seat guide sleeve; the other side of the oil nozzle seat guide sleeve away from the oil nozzle seat guide sleeve seat is covered with an elastic pad, and the plane bearing is embedded between the elastic pad and the inner sleeve of the oil nozzle seat.

[0020] The present invention provides another technical solution: a method for online oiling a sintering pellet trolley wheel robot, comprising the following steps:

[0021] S1, the reciprocating swing of the swing cylinder, swing cam, swing rod pin and swing shaft is completed by remote air compression and computer intelligent control system;

[0022] S2. The feeding and retraction of the feed cylinder are completed by remote air compression and computer intelligent control system;

[0023] S3. The refueling of the flexible oil filling device is completed by a remote electric oil pump and a computer intelligent control system;

[0024] S4. The tactile sensor installed on the outside of the trolley running track confirms the instantaneous running speed and transmits the signal to the computer intelligent control system, which intelligently selects the refueling mode;

[0025] S5. The third tactile sensor confirms that the wheel has reached the refueling position and issues a refueling start instruction:

[0026] S6. After receiving the refueling instruction, the flexible oiling device swings back and forth to complete the refueling operation of one wheel, and returns to its original position to wait for the refueling instruction of the next wheel;

[0027] S7. Complete "number of wheels + 3" refueling operations per refueling cycle based on the number of wheels;

[0028] S8, after the refueling operation is completed, the system goes into sleep mode;

[0029] S9. Based on the working environment temperature and the refueling time, the computer intelligent control system intelligently selects to sleep for 4, 6, 8, 12, 24... hours, and then wakes up to carry out the next refueling operation.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The present invention drives the swinging cam through the swinging cylinder to realize the reciprocating swing of the oil filling device, and the on-line oiling replaces the manual oiling after maintenance, thereby improving the production operation rate.

[0032] 2. The present invention controls oil injection through a computer intelligent control system, which makes the lubrication of the wheels more accurate and sufficient, avoids production line shutdowns due to oil shortage and damage to individual wheel bearings, eliminates wheel failure rates due to insufficient lubrication, and reduces equipment repair costs.

[0033] 3. The present invention has intelligent selection of working modes such as 4 hours, 6 hours, 8 hours, 12 hours, and 24 hours through the refueling working cycle of the mechanical device, ensuring the lubrication requirements of various working conditions and high flexibility and maneuverability; the mechanical device can complete the refueling operation at any time according to the prescribed cycle, ensuring sufficient and timely lubrication of the wheel bearings, extending the service life of the wheels, and saving replacement and repair costs.

[0034] 4. The flexible oiling device provided in the present invention can realize the "tolerance to deviation" function for hundreds of oil-receiving holes; the plane bearing can make the nozzle seat and the nozzle seat guide sleeve rotate together with the running wheel during the oiling process, thereby realizing the "tolerance to tilt" function for the operation of hundreds of oil-receiving wheels; the joint bearing can slide and displace in the joint sliding seat, so that the two ends of the connecting shaft can move in the circular hollow groove, and at the same time cooperate with the deformation of the clamping spring and the outer sleeve spring to realize the "tolerance to twist" function of the operation of hundreds of oil-receiving axles. The overall oiling nozzle mechanism can meet the flexible oiling function and ensure zero leakage and sealing requirements during the oiling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is an axonometric diagram of the overall structure of the reciprocating swing flexible oil injection device of the present invention;

[0036] Figure 2 This is a left side view of the overall structure of the reciprocating swing flexible oil injection device of the present invention;

[0037] Figure 3 This is a front view of the overall structure of the reciprocating swing flexible oil injection device of the present invention;

[0038] Figure 4 A top view of the overall structure of the reciprocating swing flexible oil injection device of the present invention;

[0039] Figure 5 This is a diagram showing the connection relationship between the pendulum shaft pressure pad, the brass shaft and the horizontal plate of the present invention;

[0040] Figure 6 is an axonometric view of the base of the present invention;

[0041] Figure 7 is an axonometric view of the mounting bracket of the present invention;

[0042] Figure 8 is a cross-sectional view of the mounting frame of the present invention;

[0043] Figure 9 This is an axonometric diagram of the connection relationship between the swing cylinder, the swing cam and the swing pin of the present invention;

[0044] Figure 10 It is an axonometric view of the cylinder tailstock of the present invention;

[0045] Figure 11 It is an axonometric view of the cylinder block of the present invention;

[0046] Figure 12 It is an axonometric drawing of the pendulum shaft of the present invention;

[0047] Figure 13 It is an axonometric view of the pendulum shaft pressure pad of the present invention;

[0048] Figure 14 It is an axonometric view of the brass shaft of the present invention;

[0049] Figure 15 This is a working diagram of the refueling robot of the present invention;

[0050] Figure 16 is a position relationship diagram of the tactile sensor of the present invention;

[0051] Figure 17 This is a working diagram of the refueling robot of the present invention;

[0052] Figure 18 It is a cross-sectional view of the flexible oil injection device of the present invention.

[0053] In the figure: 1. reciprocating swing flexible oil injection device; 12. base; 13. mounting bracket; 14. cylinder tailstock; 15. swing cylinder; 16. swing cam; 17. rocker pin; 18. rocker shaft; 19. rocker shaft pressure pad; 20. brass shaft; 21. feed cylinder; 22. cylinder seat; 22a. protruding rail; 23. cross plate; 2. tactile sensor; 4. flexible oil injection device; 41. nozzle seat; 42. nozzle seat guide sleeve seat; 43. polymer material nozzle; 44. nozzle nut; 45. fixing nut; 46. washer; 47. screw; 48. nozzle seat inner sleeve; 49. nozzle seat outer sleeve; 410. nozzle seat guide sleeve; 411. plane bearing; 412. elastic pad; 413. outer spring; 414. O-ring. DETAILED DESCRIPTION

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0055] In order to solve the problems of manual lubrication requiring downtime for maintenance, low production efficiency, insufficient and inaccurate lubrication, high failure rate, inflexible refueling cycle, and wheels not being lubricated in time, which shortens their service life, please refer to Figure 1-18 , this embodiment provides the following technical solutions:

[0056] A sintering pellet trolley online oiling robot device includes a reciprocating flexible oiling device 1, a tactile sensor 2, a working environment temperature sensor and a computer intelligent control system. The reciprocating flexible oiling device 1 is arranged on both sides of equipment such as a sintering machine, a pellet belt roasting machine, an annular cooler, and a belt cooler. The tactile sensors 2 are arranged in groups of three on the outside of the trolley running track on one side of each reciprocating flexible oiling device 1. The working environment temperature sensor is located on the side front end of the oil filling port of the reciprocating flexible oiling device 1. The reciprocating flexible oiling device 1, the tactile sensor 2 and the working environment temperature sensor are all connected to the computer intelligent control system signal.

[0057] Specifically, the specific implementation and operation of the reciprocating flexible oil injection device 1 and the tactile sensor 2 are as follows:

[0058] Step 1: Install a set of three tactile sensors 2 on the outer side of the trolley running track on one side of each reciprocating flexible oil injection device 1;

[0059] Step 2: The distance between the three tactile sensors 2 is equal to L;

[0060] Step 3: To prevent interference from other wheels, L = trolley wheel spacing - (100-300mm);

[0061] Step 4: The time it takes for the trolley wheel to pass through the tactile sensors 1# to 2# is T;

[0062] Step 5: The real-time running speed of the trolley wheel Vrealtime=L / T can be calculated. The detected real-time running speed of the trolley wheel, Vrealtime, satisfies any scenario of the production process that ends dormancy and restarts;

[0063] Step 6: The flexible oil injection device 1 swings back and forth with a swing stroke of l swing;

[0064] Step 7: The flexible oil injection device 1 is reciprocated and the total swing time Ttotal=1 / V;

[0065] Step 8: The reciprocating flexible oiling device 1 is refueled with a travel time T travel = T total - T wait (T wait ≧ 1 second);

[0066] Step 9: Refueling time of the reciprocating flexible oiling device 1 is T oiling = T travel - T compaction - T return; (T compaction ≧ 1 second, T return ≧ 1 second):

[0067] Running track "|(" mode T refueling ≥ 3 seconds;

[0068] Running track ")(" mode T refueling ≥ 2 seconds;

[0069] Running track "((" mode T refueling ≥ 4 seconds;

[0070] The swing stroke of the reciprocating swing flexible oil injection device 1 is 1, which must meet the maximum operating speed requirements of sintering 2.1 meters / minute and pelletizing 3.6 meters / minute;

[0071] Step 10: When the refueling robot ends its sleep cycle, refuel:

[0072] The reciprocating swing flexible oil filling device 1 has an oil filling time T oil ≤ 2 seconds, and an oil filling dormancy period M oil hours = 4 hours;

[0073] The reciprocating swing flexible oil filling device 1 has an oil filling time T oil ≤ 4 seconds, and an oil filling dormancy period M oil hours = 6 hours;

[0074] The reciprocating swing flexible oil filling device 1 has an oil filling time T oil ≤ 6 seconds, and an oil filling dormancy period M oil hours = 8 hours;

[0075] The reciprocating swing flexible oil filling device 1 has an oil filling time T oil ≤ 8 seconds, and an oil filling dormancy period M oil hours = 12 hours;

[0076] The reciprocating swing flexible oil filling device 1 has an oil filling time T oil ≤ 10 seconds, and an oil filling dormancy period M oil time = 24 hours;

[0077] Step 11: A working environment temperature sensor is installed at the front end of the reciprocating flexible oiling device 1 to identify the working environment temperature W of the trolley wheel;

[0078] Step 12: When the refueling robot ends its sleep cycle and reaches M temperature, the working environment temperature of the trolley wheel detected by the working environment temperature sensor is:

[0079] The working environment temperature of the trolley wheel Wenvironment ≥ 60℃, and the refueling dormancy period Mwentime = 4 hours;

[0080] The working environment temperature of the trolley wheel Wenvironment ≥ 50℃, the refueling dormancy period Mwentime = 6 hours;

[0081] The working environment temperature of the trolley wheel Wenvironment ≥ 40℃, and the refueling dormancy period Mwentime = 8 hours;

[0082] The working environment temperature of the trolley wheel Wenvironment ≥ 30℃, the refueling dormancy period Mwentime = 12 hours;

[0083] The working environment temperature of the trolley wheel Wenvironment ≥ 20℃, the refueling dormancy period Mwentime = 24 hours;

[0084] Step 13: The computer intelligent control system selects the best refueling cycle and recovers after the dormant period M. The minimum period of M oil time and M temperature time is: M intelligence = (M oil time, M temperature time) min.

[0085] The reciprocating oscillating flexible oil injection device 1 comprises a reciprocating oscillating device and a flexible oil injection device 4 . The flexible oil injection device 4 is installed on a side of the reciprocating oscillating device close to the trolley wheel.

[0086] The reciprocating swing device includes a base 12, a mounting frame 13, a swing mechanism and a feeding mechanism. The bottom of the mounting frame 13 is mounted on the base 12 by five sets of screws and washers. The mounting frame 13 is connected to the swing mechanism, and the swing mechanism is connected to the feeding mechanism.

[0087] The swing mechanism includes a cylinder tailstock 14, a swing cylinder 15, a swing cam 16, a swing arm pin 17, a swing shaft 18, a swing shaft pressure pad 19, and a brass shaft 20. The cylinder tailstock 14 is fixed to the middle of the mounting bracket 13 by six screws, and the swing cylinder 15 is fixed to the top of the mounting bracket 13 by two sets of screws and washers.

[0088] The rotating shaft in the middle of the bottom of the swing cylinder 15 is connected to the swing cam 16 through eight hexagonal screws. The protruding ends of the swing cam 16 are symmetrically penetrated by swing rod pins 17. The top ends of the two swing rod pins 17 are fixed by nuts, washers and the swing cam 16.

[0089] The feed mechanism includes a feed cylinder 21 and a cylinder base 22; the feed cylinder 21 is screwed to the center of the cylinder base 22 near the swing shaft 18. The output shaft of the feed cylinder 21 is inserted into one end of the flexible oil injection device 4. The flexible oil injection device 4 is engaged and slidably connected with the upper and lower symmetrical protruding rails 22a provided on the cylinder base 22;

[0090] Two vertically symmetrical transverse plates 23 are respectively provided on the opposite sides of the cylinder tailstock 14 and the cylinder base 22. The swing shaft 18 is rotatably connected to the transverse plates 23 via a brass shaft 20. One transverse plate 23, two brass shafts 20, and one swing shaft pressure pad 19 form a locking structure. There are four sets of locking structures in total. The brass shaft 20 passes through the rotation grooves provided at the end points of the swing shaft 18. The tail end of the brass shaft 20 is inserted into the rotation grooves on both sides of the transverse plate 23. The top surface of the brass shaft 20 abuts against the swing shaft pressure pad 19 installed in the middle of the transverse plate 23.

[0091] A rocker pin 17 is disposed on each side of the rocker shaft 18 to push the rocker shaft 18 to rotate laterally.

[0092] In the above embodiment, the flexible oil injection device 4 includes an oil injection channel mechanism and an oil injection flexible mechanism. The oil injection channel mechanism is covered with an oil injection flexible mechanism. The oil injection channel mechanism includes a nozzle seat 41, a nozzle seat guide sleeve seat 42, a polymer material nozzle 43, a nozzle nut 44, a fixing nut 45, a washer 46 and a screw 47; a circular groove is provided in the center of the side of the nozzle seat guide sleeve seat 42 close to the swing sleeve 1, and the locking structures at both ends of the connecting shaft 21 are respectively engaged in the circular grooves of the swing sleeve 1 and the nozzle seat guide sleeve seat 42; the connecting shaft 2 1 is surrounded by six compression springs 3, and the nozzle seat guide sleeve seat 42 is connected to the swing sleeve 1 through the connecting shaft 21 and the compression spring 3; the nozzle seat guide sleeve seat 42 is provided with a nozzle seat 41 on the side close to the trolley, and the nozzle seat 41 and the nozzle seat guide sleeve seat 42 are located on the same central axis. An oil channel is provided in the nozzle seat 41 and communicates with the oil channel of the nozzle seat guide sleeve seat 42. A washer 46 is provided on the outer side of the end of the nozzle seat 41 close to the nozzle seat guide sleeve seat 42, and a fixing nut 45 is sleeved on the end of the nozzle seat 41 with the washer 46 and is fixed to the nozzle The seat 41 is snap-fitted and connected, and one end of the fixing nut 45 rests on the washer 46; a polymer material oil nozzle 43 is embedded in the oil passage at one end of the oil nozzle seat 41 away from the oil nozzle seat guide sleeve seat 42, and the oil nozzle nut 44 is sleeved on the outside of the polymer material oil nozzle 43 and is threadedly connected to the polymer material oil nozzle 43; the flexible oil injection mechanism includes an inner sleeve 48 of the oil nozzle seat, an outer sleeve 49 of the oil nozzle seat, a guide sleeve 410 of the oil nozzle seat, a plane bearing 411, an elastic pad 412, an outer spring 413 and an O-ring 414; the oil nozzle seat 41 is away from the oil nozzle seat guide sleeve seat 42 One end of the nozzle seat is sleeved with an inner sleeve 48 of the nozzle seat, and the end of the nozzle seat 41 close to the nozzle seat guide sleeve seat 42 is sleeved with a nozzle seat guide sleeve 410, one side of the nozzle seat guide sleeve 410 is in contact with the nozzle seat guide sleeve seat 42 and inserted into the nozzle seat guide sleeve seat 42, and an O-ring 414 is embedded in the outside of the nozzle seat guide sleeve seat 42, and the O-ring 414 fits with the nozzle seat guide sleeve 410; the other side of the nozzle seat guide sleeve 410 away from the nozzle seat guide sleeve seat 42 is sleeved with an elastic pad 412, and a plane bearing 411 is embedded between the elastic pad 412 and the inner sleeve 48 of the nozzle seat.

[0093] In order to further better explain the embodiment of the present invention, a method for online oiling a sintering pellet trolley wheel robot is also provided, comprising the following steps:

[0094] Step 1: The reciprocating swing of the swing cylinder 15, the swing cam 16, the swing rod pin 17 and the swing shaft 18 is completed by remote air compression and computer intelligent control system;

[0095] Step 2: The feeding and retraction of the feeding cylinder 21 are completed by remote air compression and computer intelligent control system;

[0096] Step 3: The refueling of the flexible oil filling device 4 is completed by the remote electric oil pump and the computer intelligent control system;

[0097] Step 4: The tactile sensor 2 installed on the outside of the trolley running track confirms the instantaneous running speed and transmits the signal to the computer intelligent control system, which intelligently selects the refueling mode;

[0098] Step 5: The third tactile sensor 2 confirms that the wheel has reached the refueling position, and the computer intelligent control system gives the command to start refueling:

[0099] Step 6: After receiving the refueling instruction, the flexible oiling device 1 swings back and forth to complete the refueling operation of one wheel, and returns to its original position to wait for the refueling instruction of the next wheel;

[0100] Step 7: Complete "number of wheels + 3" refueling operations per refueling cycle based on the number of wheels;

[0101] Step 8: After the refueling operation is completed, the system automatically goes into sleep mode;

[0102] Step 9: Based on the working environment temperature and the refueling time, the computer intelligent control system will intelligently select to sleep for 4, 6, 8, 12, 24 hours... and then wake up to perform the next refueling operation.

[0103] Specifically, the reciprocating function is realized by the swing cylinder 15, the swing cam 16, the rocker pin 17 and the rocker shaft 18: the swing cylinder 15 drives the rocker cam 16 to realize reciprocating swing, and the air intake amount during accompaniment is 1 / 5 to 1 / 2 of the normal air intake amount, the swing angle of the rocker cam 16 is 60° to 120°, and the reciprocating swing time is 8 to 20 seconds. The rocker cam 16 is connected to the cylinder seat 22 through the rocker shaft 18 to drive the reciprocating swing of the flexible oil injection device 4. After the accompaniment ends, the normal air supply of the intake valve quickly returns to the initial position to wait for the next wheel to be oiled. Accompanying refueling replaces manual shutdown for maintenance and refueling, thereby improving production operation rate; it adopts cylinder drive, and since gas is a compressible medium, when the flexible oil injection device 4 accompanies the running trolley, the feed cylinder 21 drives and cooperates with the friction thrust of the trolley to ensure the accuracy and stability of the flexible oil injection device 4.

[0104] The feeding and clamping function of the flexible oil filling device 4 is realized by the feeding cylinder 21: when receiving the feeding command, the feeding cylinder 21 supplies air to quickly push the flexible oil filling device 4 to the end of the wheel that needs oiling and fits it with the running wheel. When the oiling of the oiled wheel is completed, the feeding cylinder 21 supplies air to quickly retreat.

[0105] The reciprocating oscillating flexible oiling device 1 is installed in the low-temperature area of ​​the belt production line, and its center height is the same as the center height of the wheel. A tactile sensor 2 is installed on the outside of the trolley running track corresponding to the reciprocating oscillating flexible oiling device 1. The contact position between the tactile sensor 2 and the bottom of the circular wheel is also the exact position of the center oiling hole; the tactile sensor 2 contacts the bottom of the circular wheel, which is suitable for different production lines, wheels of different diameters, and wheels of different wear on the same production line; the tactile sensor 2 contacts the bottom of the circular wheel, which is not only suitable for straight-running trolley tracks, but also for circular-running trolley tracks.

[0106] When the tactile sensor 2 receives the arrival of a wheel, it gives a refueling instruction. After receiving the refueling instruction, the feed cylinder 21 feeds and pushes the flexible oiling device 4 onto the end cover of the moving trolley wheel and sticks it tightly. According to the production line operation speed scenario, the flexible oiling device 4 follows for 2 to 5 seconds, refuels for 3 to 10 seconds, stops refueling, and at the same time, the feed cylinder 21 retreats. After the feed cylinder 21 retreats for 1 second, the swing cylinder 15 swings back, and the swing cam 16 and the swing shaft 18 return to the initial position, waiting for the next wheel to arrive and receive a new refueling instruction; according to the number of trolley wheels on the production line, the number of reciprocating operations in each refueling cycle is set to N = (number of wheels + 3) times.

[0107] Working principle: When the tactile sensor 2 receives the arrival of the wheel, it gives a refueling instruction. After receiving the refueling instruction, the feed cylinder 21 feeds, pushes the flexible oiling device 4 onto the end cover of the moving trolley wheel and further presses it to achieve close contact with the wheel sealing oiling nozzle; according to the production line operation speed scenario, the flexible oiling device 4 travels for 2 to 5 seconds, refuels for 3 to 10 seconds, stops refueling, and at the same time the feed cylinder 21 retreats. After the feed cylinder 21 retreats for 1 second, the swing cylinder 15 swings back, the swing protrusion 16 and the swing shaft 18 return to the initial position, waiting for the next wheel to arrive and receive a new refueling instruction.

[0108] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0109] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A sintering trolley wheel online oiling robot device, comprising a reciprocating swing flexible oiling device (1), a tactile sensor (2), a working environment temperature sensor and a computer intelligent control system, characterized in that: The reciprocating oscillating flexible oil injection device (1) is arranged on both sides of the sintering machine or the pelletizing belt baking machine or the annular cooler or the belt cooler equipment, and the tactile sensors (2) are arranged in groups of three on the outside of the trolley running track on one side of each reciprocating oscillating flexible oil injection device (1). The working environment temperature sensor is located at the side front end of the oil injection port of the reciprocating oscillating flexible oil injection device (1). The reciprocating oscillating flexible oil injection device (1), the tactile sensor (2) and the working environment temperature sensor are all connected to the computer intelligent control system signal; the reciprocating oscillating device includes a base (12), a mounting frame (13), an oscillating mechanism and a feeding mechanism, the bottom of the mounting frame (13) is mounted on the base (12) by five groups of screws and washers, the mounting frame (13) is connected to the oscillating mechanism, and the oscillating mechanism is connected to the feeding mechanism; The swing mechanism comprises a cylinder tailstock (14), a swing cylinder (15), a swing cam (16), a rocker pin (17), a rocker shaft (18), a rocker shaft pressure pad (19) and a brass shaft (20); the cylinder tailstock (14) is fixed to the middle of the mounting frame (13) by six screws, and the swing cylinder (15) is fixed to the top of the mounting frame (13) by two sets of screws and washers; the rotating shaft in the middle of the bottom of the swing cylinder (15) is connected to the swing cam (16) by eight hexagon socket screws, and the two protruding ends of the swing cam (16) are symmetrically penetrated by rocker pins (17), and the top ends of the two rocker pins (17) are fixed by nuts, washers and the swing cam (16); The feeding mechanism includes a feeding cylinder (21) and a cylinder seat (22); the feeding cylinder (21) is mounted on the center of the cylinder seat (22) near the swing shaft (18) by screws, and the output shaft of the feeding cylinder (21) is inserted into one end of the flexible oil injection device (4), and the flexible oil injection device (4) is engaged with and slidably connected to the upper and lower symmetrical protruding rails (22a) provided on the cylinder seat (22); Two vertically symmetrical transverse plates (23) are respectively provided on the opposite sides of the cylinder tail seat (14) and the cylinder seat (22). The swing shaft (18) is rotatably connected to the transverse plate (23) through the brass shaft (20). One transverse plate (23), two brass shafts (20) and one swing shaft pressure pad (19) form a set of locking structures. There are four sets of locking structures in total. The brass shaft (20) passes through the rotation groove provided at the end point of the swing shaft (18). The tail end of the brass shaft (20) is inserted into the rotation groove on both sides of the transverse plate (23). The top surface of the brass shaft (20) is against the swing shaft pressure pad (19) installed in the middle of the transverse plate (23). A swing rod pin (17) is distributed on each side of the swing shaft (18) to push the swing shaft (18) to rotate horizontally.

2. The on-line oiling robot device for sintering trolley wheels according to claim 1, characterized in that: The reciprocating oscillating flexible oil injection device (1) comprises a reciprocating oscillating device and a flexible oil injection device (4), wherein the flexible oil injection device (4) is installed on a side of the reciprocating oscillating device close to the trolley wheel.

3. The on-line oiling robot device for sintering trolley wheels according to claim 1, characterized in that: The flexible oil injection device (4) includes an oil injection channel mechanism and an oil injection flexible mechanism. The oil injection channel mechanism is covered with the oil injection flexible mechanism. The oil injection channel mechanism includes an oil nozzle seat (41), an oil nozzle seat guide sleeve seat (42), a polymer oil nozzle (43), an oil nozzle nut (44), a fixing nut (45), a washer (46) and a screw (47); a circular hollow groove is provided at the center of one side of the oil nozzle seat guide sleeve seat (42) close to the swing sleeve (1), and the locking structures at both ends of the connecting shaft (21) are respectively engaged in the circular hollow grooves of the swing sleeve (1) and the oil nozzle seat guide sleeve seat (42); six compression springs (3) are arranged around the connecting shaft (21), and the oil nozzle seat guide sleeve seat (42) is connected to the swing sleeve (1) through the connecting shaft (21) and the compression springs (3); the oil A nozzle seat (41) is provided on the side of the nozzle seat guide sleeve seat (42) close to the trolley. The nozzle seat (41) and the nozzle seat guide sleeve seat (42) are located on the same central axis. An oil passage is provided in the nozzle seat (41) and communicates with the oil passage of the nozzle seat guide sleeve seat (42). A washer (46) is sleeved on the outer side of one end of the nozzle seat (41) close to the nozzle seat guide sleeve seat (42). A fixing nut (45) is sleeved on one end of the nozzle seat (41) with the washer (46) and is engaged with the nozzle seat (41). One end of the fixing nut (45) rests on the washer (46); a polymer material nozzle (43) is embedded in the oil passage of one end of the nozzle seat (41) away from the nozzle seat guide sleeve seat (42). The nozzle nut (44) is sleeved on the outside of the polymer material nozzle (43) and is threadedly connected to the polymer material nozzle (43). The flexible oil injection mechanism comprises an inner sleeve (48) of the oil nozzle seat, an outer sleeve (49) of the oil nozzle seat, a guide sleeve (410) of the oil nozzle seat, a plane bearing (411), an elastic pad (412), an outer sleeve spring (413) and an O-ring (414); an end of the oil nozzle seat (41) away from the guide sleeve seat (42) is covered with the inner sleeve (48) of the oil nozzle seat, and an end of the oil nozzle seat (41) close to the guide sleeve seat (42) is covered with the guide sleeve (410) of the oil nozzle seat. One side of the guide sleeve (410) contacts the nozzle seat guide sleeve seat (42) and is inserted into the nozzle seat guide sleeve seat (42). An O-shaped sealing ring (414) is embedded outside the nozzle seat guide sleeve seat (42), and the O-shaped sealing ring (414) fits with the nozzle seat guide sleeve (410); an elastic pad (412) is sleeved on the other side of the nozzle seat guide sleeve (410) away from the nozzle seat guide sleeve seat (42), and a plane bearing (411) is embedded between the elastic pad (412) and the inner sleeve (48) of the nozzle seat.

4. A method for an online oiling robot device for sintering trolley wheels according to claim 1, characterized in that: The following steps are involved: The reciprocating swing of S1, the swing cylinder (15), the swing cam (16), the swing rod pin (17) and the swing shaft (18) is completed by a remote air compression and computer intelligent control system; S2, the feeding and retraction of the feeding cylinder (21) are completed by remote air compression and computer intelligent control system; S3, the refueling of the flexible oil filling device (4) is completed by a remote electric oil pump and a computer intelligent control system; S4, the tactile sensor (2) installed on the outer side of the trolley running track confirms the instantaneous running speed and transmits the signal to the computer intelligent control system, and the computer intelligent control system intelligently selects the refueling mode; S5. The third tactile sensor (2) confirms that the wheel has reached the refueling position, and the computer intelligent control system gives the command to start refueling: S6, after receiving the refueling instruction, the flexible oiling device (1) swings back and forth to complete the refueling operation of one wheel, and returns to its original position to wait for the refueling instruction of the next wheel; S7. Complete "number of wheels + 3" refueling operations per refueling cycle based on the number of wheels; S8. After the refueling operation is completed, the intelligent system automatically goes into sleep mode; S9. Based on the working environment temperature and the refueling time, the computer intelligent control system intelligently chooses to sleep for 4, 6, 8, 12, 24... hours, and then wakes up to carry out the next refueling operation.

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