A multi-degree-of-freedom flexible refueling gun device for an intelligent online refueling robot

Abstract

The present invention relates to equipment for oiling the wheels of sintering trolleys, specifically a multi-degree-of-freedom flexible oiling gun device for an intelligent online oiling robot, one end of a flange is used to connect to the robot, a locking cylinder is installed on the other end of the flange, a linear guide mechanism is installed on the locking cylinder, an intermediate positioning plate is connected to the linear guide mechanism through the locking mechanism, and the linear guide mechanism realizes the freedom of horizontal sliding of the intermediate positioning plate. A sliding reset device for resetting the linear guide mechanism after sliding horizontally is also installed on the intermediate positioning plate. The locking mechanism limits the freedom of vertical swing of the intermediate positioning plate under the action of the locking cylinder; the ejection cylinder is fixed to the intermediate positioning plate, and the output end is connected to the flexible oiling gun head mechanism through a spring buffer mechanism. The present invention has a compact structure and liberates the degrees of freedom in all directions to achieve flexibility, so that it can cooperate more closely with the wheel oiling port to ensure the sealing of the oiling process.

Description

Technical Field

[0001] The invention relates to equipment for oiling wheels of a sintering trolley, in particular to a multi-freedom flexible oiling gun device for an intelligent online oiling robot. Background Art

[0002] A single sintering trolley is nearly 6 meters long and 1.5 meters wide. Each trolley has two wheels on either side, with a wheel diameter of 360 mm and a wheel spacing of 750 mm. The sintering trolley system consists of 140 trolleys, which are connected in sequence and run smoothly along the track to transport the sintering material in a continuous cycle. The wheels of the sintering trolleys consist of a wheel body, bearings, and axles. The wheel body is mounted on the axle via bearings. Due to the high temperatures during sintering machine operation, the wheel bearings require regular lubrication to maintain good operating condition.

[0003] Currently, the factory uses manual lubrication to regularly re-lubricate the wheels of sintering carts. This is accomplished by workers using a handheld refueling gun. This operation poses a significant risk of danger to workers who are physically close to the moving wheels. Furthermore, the high temperatures, noise levels, and dust levels around the wheels severely impact both the efficiency and quality of manual refueling. Furthermore, since the wheels are still moving during the refueling process, they experience vibrations, and the existing refueling guns and the oiling nozzles of the moving wheels do not fit tightly together, leading to oil leaks. Therefore, the development of a refueling gun device capable of robotically driven refueling is urgently needed to address the current challenges of manual refueling. Summary of the Invention

[0004] In order to solve the above-mentioned problems existing in oiling the wheels of a sintering trolley with a manual handheld oiling gun, the object of the present invention is to provide a multi-degree-of-freedom flexible oiling gun device for an intelligent online oiling robot.

[0005] The object of the present invention is achieved through the following technical solutions:

[0006] The present invention includes a flange, a locking cylinder, a linear guide mechanism, a locking mechanism, an intermediate positioning plate, an ejection cylinder, a spring buffer mechanism and a flexible oiling gun head mechanism, wherein one end of the flange is used to connect with the robot, and the locking cylinder is installed on the other end of the flange; the locking cylinder is installed with a linear guide mechanism, the intermediate positioning plate is connected to the linear guide mechanism through the locking mechanism, and the freedom of the intermediate positioning plate to slide horizontally is realized through the linear guide mechanism, and the intermediate positioning plate is also installed with a sliding reset device for resetting the linear guide mechanism after sliding horizontally; the locking mechanism limits the freedom of the intermediate positioning plate to swing vertically under the action of the locking cylinder; the ejection cylinder is fixed on the intermediate positioning plate, and the output end is connected to the flexible oiling gun head mechanism through the spring buffer mechanism; the flexible oiling gun head mechanism is connected to the air source and the oil valve system through the air pipe and the oil pipe in the oil pipe; the locking cylinder and the ejection cylinder are connected to the air source and the oil valve system through the air pipe and the air pipe in the oil pipe; the sensor on the locking cylinder and the sensor on the ejection cylinder are respectively connected to the control system.

[0007] Wherein: the linear guide mechanism includes a sliding plate, a linear guide and a guide fixing plate; the fixed side of the linear guide is fixedly connected to the locking cylinder through the guide fixing plate; the guide side of the linear guide is connected to a sliding plate for connecting to the locking mechanism; the output end of the locking cylinder passes through the guide fixing plate and the sliding plate to lock the locking mechanism.

[0008] The sliding reset device includes a limit cylinder, a limit block A and a limit block B. One side of the guide rail fixing plate is connected to the fixed side of the linear guide rail, and the upper and lower ends of the other side are fixedly connected to the limit cylinder. The upper end of the sliding plate is connected to the limit block A and the lower end is connected to the limit block B. The limit blocks A and B respectively contact the upper and lower limit cylinders to limit the sliding stroke when sliding left and right with the sliding plate, thereby playing a buffering role. After the external force applied to the flexible oiling gun head mechanism disappears, the linear guide mechanism is restored to its original position through the limit cylinder; the sensor on the limit cylinder is connected to the control system.

[0009] The locking mechanism includes a tapered locating pin, a bearing seat and a tapered locating sleeve. One end of the bearing seat is connected to the linear guide mechanism, and the other end of the bearing seat is rotatably connected to the tapered locating sleeve. The rotation direction of the tapered locating sleeve is vertical, and the intermediate locating plate is fixed to the tapered locating sleeve; the tapered locating pin is connected to the output end of the locking cylinder, and the locking cylinder drives the tapered locating pin to pass through the linear guide mechanism and then insert it into the tapered locating sleeve to achieve locking, thereby limiting the vertical swing freedom of the flexible oiling gun head mechanism.

[0010] A swing reset device is provided between the intermediate positioning plate and the linear guide mechanism. The swing reset device is a plurality of tension springs. One end of each tension spring is connected to the intermediate positioning plate, and the other end of each tension spring is connected to the linear guide mechanism.

[0011] The spring buffer mechanism includes a buffer spring guide rod, a buffer plate and a compression spring. The output end of the ejection cylinder is connected to a right-angle ejection plate. The buffer plate is relatively movably connected to the right-angle ejection plate through the buffer spring guide rod. A compression spring is sleeved on the buffer spring guide rod. The two ends of the compression spring are respectively in contact with the buffer plate and the right-angle ejection plate; an electromagnetic valve is installed on the right-angle ejection plate, and the electromagnetic valve is connected to the flexible oil filling gun head mechanism through an oil filling pipe, and the electromagnetic valve is connected to the air source and the oil valve system through the oil pipe in the air pipe and the oil pipe.

[0012] A laser distance measuring sensor for measuring the compression amount of the compression spring is also installed on the right-angle push-out plate, and the laser distance measuring sensor is connected to the control system.

[0013] The flexible oil filling gun head mechanism includes an oil outlet, a bearing sleeve, a self-aligning bearing, an O-ring and an O-ring damper. The bearing sleeve is installed on a spring buffer mechanism. The self-aligning bearing and the O-ring damper are respectively installed in the bearing sleeve. One end of the oil outlet is connected to one end of the O-ring damper, and the other end of the O-ring damper is connected to the bearing sleeve through the self-aligning bearing. The inner hole at the other end of the oil outlet is provided with a conical contact surface, and the conical contact surface is used to achieve automatic centering with the conical wheel oil filling port, and sealing is achieved by the O-ring built into the end of the inner hole at the other end of the oil outlet.

[0014] The advantages and positive effects of the present invention are:

[0015] 1. The present invention has a compact structure and liberates the degrees of freedom in all directions to achieve flexibility, so that it can cooperate more closely with the wheel oil filling port to ensure the sealing during the refueling process.

[0016] 2. The present invention can adapt to the fluctuation of the sintering trolley wheels during the oiling process, realize online oiling without stopping the machine, has high efficiency and can accurately control the oiling amount, ensuring regular lubrication of the sintering trolley wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 for Figure 1 Cross-sectional view of the internal structure of the oil outlet and bearing sleeve;

[0019] Figure 3This is a schematic structural diagram of the present invention when oiling the wheels of a sintering trolley;

[0020] Figure 4 for Figure 3 Schematic diagram of the structure of the wheel speed measurement and following positioning system and the wheel posture detection system;

[0021] Among them: 1 is a flexible refueling gun device, 101 is an oil outlet, 102 is a bearing sleeve, 103 is a buffer spring guide rod, 104 is a buffer plate, 105 is a solenoid valve, 106 is a linear guide rod, 107 is a tension spring, 108 is an intermediate positioning plate, 109 is a bearing, 110 is a bolt, 111 is a sliding plate, 112 is a linear guide rail, 113 is a limit block A, 114 is a locking cylinder, 115 is a cylinder fixing plate, 116 is a flange, 117 is Limit cylinder, 118 is limit block B, 119 is guide rail fixing plate, 120 is tapered locating pin, 121 is bearing seat, 122 is tapered locating sleeve, 123 is guide rod seat, 124 is ejection cylinder, 125 is laser ranging sensor, 126 is right-angle ejection plate, 127 is compression spring, 128 is oil filling pipe, 129 is self-aligning bearing, 130 is connecting plate, 131 is O-ring, 132 is O-ring damper, 133 is tapered contact surface;

[0022] 2 is the wheel posture detection system, 201 is the distance sensor A, 202 is the distance sensor B, 203 is the distance sensor C, 204 is the fixed base plate, and 205 is the sensor fixing vertical beam;

[0023] 3 is a robot;

[0024] 4 is the wheel speed measurement and following positioning system, 401 is the photoelectric switch A, 402 is the photoelectric switch B, 403 is the photoelectric switch C, 404 is the right-angle connector, 405 is the crossbeam bracket, and 406 is the ground fixing plate;

[0025] 5 is the air source and oil valve system, 501 is the placement rack, 502 is the booster cylinder, 503 is the air source control valve group, 504 is the filter, and 505 is the lubricating oil valve group box;

[0026] 6 is the control system, 601 is the PLC control cabinet, and 602 is the robot control cabinet;

[0027] 7 is the air pipe and oil pipe, and 8 is the wheel oil filling port. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] like Figures 1 to 3As shown, the present invention includes a flange 116, a locking cylinder 114, a linear guide mechanism, a locking mechanism, an intermediate positioning plate 108, an ejection cylinder 124, a spring buffer mechanism and a flexible oiling gun head mechanism. One end of the flange 116 is used to be connected to the load end of the robot 3, and the other end of the flange 416 is fixedly connected to the cylinder fixing plate 115, and the locking cylinder 114 is installed on the cylinder fixing plate 115. A linear guide mechanism is installed on the locking cylinder 114, and the intermediate positioning plate 108 is connected to the linear guide mechanism through the locking mechanism. The freedom of the intermediate positioning plate 108 to slide horizontally is realized through the linear guide mechanism. The intermediate positioning plate 108 is also equipped with a sliding reset device for resetting the linear guide mechanism after sliding horizontally. The locking mechanism limits the freedom of the intermediate positioning plate 108 to swing vertically under the action of the locking cylinder 114; the pushing cylinder 124 is fixed on the intermediate positioning plate 108, and the output end is connected to the flexible oiling gun head mechanism through a spring buffer mechanism. The flexible oiling gun head mechanism is connected to the air source and the oil valve system 5 through the oil pipe in the air pipe and the oil pipe 7. The locking cylinder 114 and the pushing cylinder 124 are connected to the air source and the oil valve system 5 through the air pipe in the air pipe and the oil pipe 7. The sensor on the locking cylinder 114 and the sensor on the pushing cylinder 124 are respectively connected to the control system 6.

[0030] The freedom of horizontal movement of the present invention is achieved by a linear guide mechanism. The linear guide mechanism liberates the horizontal freedom of the flexible fueling gun device 1, allowing the fueling gun head of the flexible fueling gun device 1 to move within a set range in the horizontal direction. The sliding reset device of this embodiment includes a limit cylinder 117, a limit block A113, and a limit block B118. The linear guide mechanism of this embodiment includes a sliding plate 111, a linear guide 112, and a guide rail fixing plate 119. The fixed side of the linear guide 112 is fixedly connected to the locking cylinder 114 via the guide rail fixing plate 119. The guide rail side of the linear guide 112 is connected to the sliding plate 111 for connecting to the locking mechanism. One side of the guide rail fixing plate 119 is connected to the fixed side of the linear guide rail 112, and the upper and lower ends of the other side are fixedly connected to the limit cylinder 117. The upper and lower limit cylinders 117 are respectively located at the upper and lower ends of the locking cylinder 114 and are symmetrically arranged. The upper end of the sliding plate 111 is connected to the limit block A113, and the lower end is connected to the limit block B118. When the sliding plate 111 slides left and right, the limit block A113 and the limit block B117 contact the upper and lower limit cylinders 117 respectively to limit the sliding stroke. At the same time, the buffer of the limit cylinder 117 also plays a protective role. After the external force on the flexible oiling gun head mechanism disappears, the limit cylinder 117 is used to realize the linear guide mechanism to return to its original position. Specifically, the upper and lower limit cylinders 117 are both extended in the normal state. At this time, the oiling gun is in the middle position, which is a balanced state. If an external force to the left or right is applied, and the external force is greater than the thrust of the limit cylinder 117, one of the limit cylinders 117 is compressed. If the external force is cancelled, the compressed limit cylinder 117 will make the flexible oiling gun head mechanism return to its original position, that is, the above-mentioned balanced state, and the linear guide mechanism returns to its original position. The sensors on the two limit cylinders 117 are respectively connected to the control system 6.

[0031] The locking mechanism can lock the vertical swing freedom of the fueling nozzle head of the flexible fueling nozzle device 1. The locking mechanism of this embodiment includes a tapered locating pin 120, a bearing 109, a bearing seat 121, and a tapered locating sleeve 122. One end of the bearing seat 121 is fixed to the sliding plate 111, and the other end of the bearing seat 121 is rotatably connected to the tapered locating sleeve 122 via the bearing 109. The tapered locating sleeve 122 rotates in the vertical direction. The intermediate locating plate 108 and the tapered locating sleeve 122 are fixed together. In this embodiment, a swing reset device is provided between the intermediate positioning plate 108 and the linear guide mechanism. The swing reset device is a plurality of tension springs 107. One end of each tension spring 107 is connected to the intermediate positioning plate 108 by a bolt 110, and the other end of each tension spring 107 is connected to the sliding plate 111 by a bolt 110; when the conical positioning sleeve 122 swings in the vertical direction through the bearing 109, the tension spring 107 is further stretched to generate tension, which plays a certain buffering role, and after the external force disappears, the elastic force of the tension spring 107 is used to restore the swing of the conical positioning sleeve 122 to its original position. The tapered locating pin 120 is connected to the output end (i.e., the cylinder rod) of the locking cylinder 114. The locking cylinder 114 pushes the tapered locating pin 120 through the guide rail fixing plate 119 and the sliding plate 111, and then into the tapered locating sleeve 122. This engages the tapered surface of the tapered locating sleeve 122, locking the pin 120 and thereby restricting the vertical swinging freedom of the flexible fueling gun device 1. When the tapered locating pin 120 disengages from the tapered locating sleeve 122, the tapered lock is released, freeing the flexible fueling gun device 1. The locking cylinder 114 is connected to the control system 6.

[0032] The front end of the flexible refueling gun device 1 as a whole (i.e., the spring buffer mechanism, the flexible oiling gun head mechanism) is connected to the sliding plate 111 to achieve horizontal movement. The spring buffer mechanism plays a buffering role when the oil outlet 101 cooperates with the wheel oil filling port 8, and at the same time generates a pressing force to make the two fit tightly together. The spring buffer mechanism of this embodiment includes a buffer spring guide rod 103, a buffer plate 104, a linear guide rod 106, a guide rod seat 123 and a compression spring 127. The output end of the push-out cylinder 124 (i.e., the cylinder rod) is connected to a right-angle push-out plate 126. The push-out cylinder 124 drives the oil outlet 101 at the front end of the flexible refueling gun device 1 to cooperate with the wheel oil filling port 8. After the oil filling is completed, the cylinder rod of the push-out cylinder 124 is retracted. One right-angled surface of the right-angled push plate 126 is connected to the cylinder rod of the push cylinder 124. The buffer plate 104 is connected to the other right-angled surface of the right-angled push plate 126 via multiple buffer spring guide rods 103, allowing relative movement. Each buffer spring guide rod 103 is sleeved with a compression spring 127, the ends of which respectively abut the buffer plate 104 and the right-angled push plate 126. When the robot 3 drives the flexible fueling gun device 1 to engage the wheel oil filling port 8, the compression spring 127 acts as a buffer. At the same time, the pressure generated by the compression spring 127 ensures that the oil outlet 101 and the wheel oil filling port 8 are tightly engaged. Multiple guide rod seats 123 are mounted on the intermediate positioning plate 108. Each guide rod seat 123 is penetrated by a linear guide rod 106. Each linear guide rod 106 is connected to a right-angled surface of the right-angled push plate 126. When the push cylinder 124 pushes the spring buffer mechanism out, the linear guide rod 106 and the guide rod seat 123 act as a guide. A laser ranging sensor 125 is also installed on the other right-angled surface of the right-angled ejection plate 126. The laser ranging sensor 125 emits a laser that shines on the buffer plate 104 to measure the compression amount of the compression spring 127. The laser ranging sensor 125 is connected to the control system 6.

[0033] The flexible oiling gun head mechanism can cooperate with the wheel oiling port 8 for oiling. The O-ring damper therein has a flexible degree of freedom to adapt to the situation where the axis of the oil outlet 101 and the wheel oiling port 8 do not coincide. The flexible oiling gun head mechanism of this embodiment includes the oil outlet 101, the bearing sleeve 102, the self-aligning bearing 129, the O-ring 131, and the O-ring damper 132. The bearing sleeve 102 is fixed to the buffer plate 104. The self-aligning bearing 129 and the O-ring damper 132 are respectively installed in the bearing sleeve 102. The outer ring of the self-aligning bearing 129 is fixed to the bearing sleeve 102. One end of the oil outlet 101 is connected to one end of the O-ring damper 132. The other end of the O-ring damper 132 is fixed to the inner ring of the self-aligning bearing 129 via the connecting plate 130. During the operation of the sintering trolley wheel, if the position of the oil outlet 101 fluctuates slightly, the self-aligning bearing 129 can adjust to accommodate this change, thereby ensuring a sealed fit between the oil outlet 101 and the wheel oil filling port 8. A conical contact surface 133 is provided within the inner bore of the other end of the oil outlet 101. This conical contact surface 133 automatically aligns with the tapered wheel oil filling port 8, and seals the oil with an O-ring 131 built into the inner bore of the other end of the oil outlet 101. When the oil outlet 101 oscillates, the O-ring damper 132 can move within a certain range to ensure proper fit with the oil filling port 8 and provide cushioning. The O-ring damper 132 of this embodiment is prior art and will not be described in detail here. A solenoid valve 105 is mounted on the right-angle push-out plate 126. The oil outlet 101 is connected to the solenoid valve 105 via the oil filling pipe 128. The solenoid valve 105 is in turn connected to the air source and oil valve system 5 via the oil pipe in the air pipe and oil pipe 7.

[0034] like Figure 3 As shown, the two sides of the sintering trolley are configured identically, with each side being respectively provided with a wheel posture detection system 2 connected to a control system 6, a robot 3, a wheel speed measurement and following positioning system 4, and an air source and oil valve system 5. The wheel speed measurement and following positioning system 4 and the wheel posture detection system 2 are placed at the front end to complete the measurement of the sintering trolley wheel speed and the detection of the wheel posture; the robot 3 is connected to and drives the flexible refueling gun device 1 to cooperate with the wheel oil filling port 8 to complete the following oiling action; the air source and oil valve system 5 ensures the supply of compressed air and lubricating oil; the control system 6 controls the actions of each system, and processes the information obtained from the wheel speed measurement and following system 4 and the wheel posture detection system 2, and controls the actions of the cylinder and the oil valve in the refueling gun.

[0035] like Figure 3 、 Figure 4As shown, the wheel posture detection system 2 of this embodiment detects the vertical inclination of the wheel and the height difference between each wheel axle before the sintering trolley passes through the wheel speed measurement and following positioning system 4. The wheel speed measurement and following positioning system 4 has a speed measurement start position, a speed measurement end position, a following start position and a following end position. The speed measurement end position and the following start position are in the same position. The wheel speed measurement and following positioning system 4 measures the speed of the wheel to be oiled between the speed measurement start position and the speed measurement end position. The flexible refueling gun device 1 is connected to the robot 3, and is driven by the robot 3 to follow the wheel at the following start position and the following end position to complete the oiling action.

[0036] The wheel speed measurement and following positioning system 4 of this embodiment includes a photoelectric switch A401, a photoelectric switch B402, a photoelectric switch C403, a crossbeam bracket 405 and a ground fixing plate 406. The crossbeam bracket 405 is fixed to the ground through the ground fixing plate 406. The photoelectric switch A401, the photoelectric switch B402 and the photoelectric switch C403 are installed on the crossbeam bracket 405 in sequence from front to back along the direction of travel of the sintering trolley through a right-angle connector 404. The installation position of the photoelectric switch A401 is the speed measurement starting position, and the photoelectric switch B402 and the photoelectric switch C403 are installed in the crossbeam bracket 405 in the direction of travel of the sintering trolley from front to back. The installation position of switch B402 is the speed measurement end position and also the following start position. The installation position of photoelectric switch C403 is the following end position. The wheel axle of each wheel passes under the photoelectric switch A401, photoelectric switch B402 and photoelectric switch C403, so that the photoelectric switch A401, photoelectric switch B402 and photoelectric switch C403 can detect the wheel axle position of each wheel vertically downward; the photoelectric switch A401, photoelectric switch B402 and photoelectric switch C403 are respectively connected to the control system 6.

[0037] The wheel posture detection system 2 of this embodiment includes a distance sensor A201, a distance sensor B202, a distance sensor C203, a fixed base plate 204 and a sensor fixed vertical beam 205. The distance sensor A201 is installed on the sensor fixed crossbeam to measure the vertical distance between the wheel axle of each wheel and the distance sensor A201; the sensor fixed crossbeam of this embodiment is the crossbeam bracket 405, and the distance sensor A201 is fixed on the crossbeam bracket 405 through a right-angle connector 404, and is located in front of the photoelectric switch A401. The wheel axle of each wheel passes under the distance sensor A201, so as to determine whether the horizontal height of each wheel is consistent. The bottom of the sensor-fixed vertical beam 205 of this embodiment is fixed to the ground through a fixed base plate 204, and the top is fixed to the crossbeam bracket 405. The distance measuring sensor B202 and the distance measuring sensor C203 are fixed to the sensor-fixed vertical beam 205 through a right-angle connector 404 and are arranged up and down. The distance between the distance measuring sensor B202, the distance measuring sensor C203 and the sintering trolley is greater than the distance between the distance measuring sensor A and the sintering trolley. The distance measuring sensor B202 and the distance measuring sensor C203 are used to measure the distance between the upper and lower measurement points on the end face of each wheel and the distance measuring sensor B202 and the distance measuring sensor C203. When the difference between the two distances is within a set range, the wheel posture is considered to be reasonable and meets the refueling conditions; when the distance between the two exceeds a threshold, it is determined that the wheel posture has a large deviation, the refueling action of the wheel is abandoned and a record is made; the distance measuring sensor A201, the distance measuring sensor B202, and the distance measuring sensor C203 are respectively connected to the control system 6.

[0038] The robot 3 of this embodiment is placed at the rear end of the wheel speed measurement and following system 4 and the wheel posture detection system 2. The robot 3 of this embodiment is a six-axis robot in the prior art, fixed to the ground with expansion bolts and connected to the control system 6. When installing the robot 3, it is necessary to ensure that it has the required space for movement and can move a sufficient distance to follow the sintering trolley wheels and complete the following refueling action.

[0039] The air source and oil valve system 5 of this embodiment is placed at the rear end of the robot 3. The air source and oil valve system 5 of this embodiment is the existing technology, including a placement rack 501 and a booster tank 502, an air source control valve group 503, a filter 504 and a lubricating oil valve group box 505 respectively installed on the placement rack 501. The booster tank 502 provides a stable air source, the filter 504 filters out oil and water vapor in the compressed air, and the lubricating oil valve group box 505 controls the opening and closing of the oil outlet 101; the lubricating oil valve group box 505 includes a grease filter, a pressure regulating valve, a pressure sensor, a flow meter and a solenoid valve. The valve group is connected to the oil outlet of the oil pipe, and quantitative refueling of the wheel is achieved through the flow meter and the solenoid valve. The air source is connected to each cylinder in the flexible refueling gun device 1 through the filter 504, the booster tank 502, and the air source control valve group 503 in sequence. The lubricating oil is connected to the oil pipes in the air pipe and oil pipe 7 through the lubricating oil valve group box 505 to control the opening and closing of the oil outlet 101 in the flexible refueling gun device 1. The extension and retraction of each cylinder is controlled by the air source control valve group 503.

[0040] The control system of this embodiment is based on existing technology, and includes a PLC control cabinet 601 and a robot control cabinet 602 , which are placed at the rear end of the air source and oil valve system 5 .

[0041] The working principle of the present invention is:

[0042] Photoelectric switches A401 and B402 calculate the sintering trolley wheel speed based on the distance between them and the time difference between their signals (this is prior art and will not be further described here). Distance sensors B202 and C203 in the wheel position detection system 2 are placed directly in front of the wheel to detect the horizontal distance between the wheel and distance sensors B202 and C203, thereby determining the vertical tilt of the wheel. Distance sensor A201 is placed directly above the wheel axle to detect the highest point of the wheel axle and record the height difference between each wheel axle. The wheel speed measurement and tracking positioning system 4 transmits the obtained sintering trolley wheel speed information and the position information obtained by the wheel position detection system 2 to the control system 6, which then controls the robot 3, cylinder, and valve assembly to coordinate the gun head oil outlet 101 with the wheel oil filling port 8 and the oil filling operation. The distance between photoelectric switches B402 and C403 is the range within which the oil filling robot system moves in parallel with the sintering trolley wheel, starting at the following start position and ending at the following end position.

[0043] When the sintering trolley runs continuously and enters the preparation area before the oiling area, the robot 3 drives the flexible refueling gun device 1 to run to the oiling starting point and starts waiting. When the wheel oiling port 8 runs to the position where the axis of the oil outlet 101 on the flexible refueling gun device 1 coincides, the control system 6 controls the robot 3 to start following the wheel in the same direction and speed according to the detected wheel speed information, and at the same time drives the flexible refueling gun device 1 close to the wheel to a set distance, and the pushing cylinder 124 drives the spring buffer mechanism and the oil outlet 101 to be pushed out, so that the oil outlet 101 and the wheel oiling port 8 are closely matched; after the refueling work is completed, the pushing cylinder 124 is retracted to release the match between the oil outlet 101 and the wheel oiling port 8, and the robot 3 retreats and runs to the starting point to wait for the next wheel to be refueled, and repeats the cycle.

[0044] The present invention measures the wheel speed of the sintering trolley through a photoelectric switch and uses a distance measuring sensor to detect the wheel posture of the sintering trolley, ensuring that the wheel being refueled meets the refueling conditions, avoiding oil leakage during the refueling process and damage to the flexible refueling gun device 1 or the robot 3 due to working conditions and other reasons; at the same time, through the design of the flexible refueling gun device 1, the flexible refueling gun device 1 has multiple degrees of freedom to ensure the close fit between the oil outlet 101 and the wheel oil filling port 8, and no oil leakage due to loose fit will occur during the refueling process; the elastic buffer mechanism on the flexible refueling gun device 1 plays a good protective role for the flexible refueling gun device 1, and at the same time generates a suitable pressing force to press and seal the oil outlet 101 and the wheel oil filling port 8.

[0045] The present invention uses a mechanical structure to ensure smooth alignment and fit when the fit is not tight during refueling and when there are position and posture errors in the oil outlet 101, thereby compensating for the errors in speed and posture measured by the sensor.

[0046] What is shown in the accompanying drawings is one of the preferred embodiments of the present invention, and the actual embodiment is not limited thereto. Therefore, without departing from the purpose of the invention, structural methods and embodiments similar to the technical solution designed without creativity should all fall within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom flexible refueling gun device for an intelligent online refueling robot, characterized by: The invention comprises a flange (116), a locking cylinder (114), a linear guide mechanism, a locking mechanism, an intermediate positioning plate (108), an ejection cylinder (124), a spring buffer mechanism and a flexible oiling gun head mechanism, wherein one end of the flange (116) is used to connect with the robot (3), the locking cylinder (114) is installed on the other end of the flange (116), a linear guide mechanism is installed on the locking cylinder (114), the intermediate positioning plate (108) is connected to the linear guide mechanism through the locking mechanism, and the intermediate positioning plate (108) is free to slide horizontally through the linear guide mechanism, and the intermediate positioning plate (108) is also equipped with a mechanism for the linear guide mechanism to slide horizontally. A sliding reset device for reset, wherein the locking mechanism limits the freedom of vertical swing of the intermediate positioning plate (108) under the action of the locking cylinder (114); the pushing cylinder (124) is fixed on the intermediate positioning plate (108), and the output end is connected to the flexible oiling gun head mechanism through the spring buffer mechanism, and the flexible oiling gun head mechanism is connected to the air source and the oil valve system (5) through the air pipe and the oil pipe in the oil pipe (7), and the locking cylinder (114) and the pushing cylinder (124) are connected to the air source and the oil valve system (5) through the air pipe and the air pipe in the oil pipe (7), and the sensor on the locking cylinder (114) and the sensor on the pushing cylinder (124) are respectively connected to the control system (6); The linear guide rail mechanism comprises a sliding plate (111), a linear guide rail (112) and a guide rail fixing plate (119); the fixed side of the linear guide rail (112) is fixedly connected to the locking cylinder (114) via the guide rail fixing plate (119); the guide rail side of the linear guide rail (112) is connected to a sliding plate (111) for connecting to the locking mechanism; the output end of the locking cylinder (114) passes through the guide rail fixing plate (119) and the sliding plate (111) to lock the locking mechanism; The sliding reset device includes a limit cylinder (117), a limit block A (113) and a limit block B (118). One side of the guide rail fixing plate (119) is connected to the fixed side of the linear guide rail (112), and the upper and lower ends of the other side are fixedly connected to the limit cylinder (117). The upper end of the sliding plate (111) is connected to the limit block A (113), and the lower end is connected to the limit block B (118). When the limit block A (113) and the limit block B (118) slide left and right with the sliding plate (111), they contact the upper and lower limit cylinders (117) respectively to limit the sliding stroke, play a buffering role, and after the external force on the flexible oiling gun head mechanism disappears, the linear guide mechanism is restored to its original position through the limit cylinder (117); the sensor on the limit cylinder (117) is connected to the control system (6).

2. The multi-degree-of-freedom flexible refueling gun device for an intelligent online refueling robot according to claim 1, characterized in that: The locking mechanism includes a tapered locating pin (120), a bearing seat (121) and a tapered locating sleeve (122), one end of the bearing seat (121) is connected to the linear guide mechanism, and the other end of the bearing seat (121) is rotatably connected to the tapered locating sleeve (122), the rotation direction of the tapered locating sleeve (122) is vertical, and the intermediate locating plate (108) is fixed to the tapered locating sleeve (122); the tapered locating pin (120) is connected to the output end of the locking cylinder (114), and the locking cylinder (114) drives the tapered locating pin (120) to pass through the linear guide mechanism and then insert into the tapered locating sleeve (122) to achieve locking, thereby limiting the vertical swing freedom of the flexible oiling gun head mechanism.

3. The multi-degree-of-freedom flexible refueling gun device for an intelligent online refueling robot according to claim 1 is characterized in that: A swing reset device is provided between the intermediate positioning plate (108) and the linear guide mechanism. The swing reset device is a plurality of tension springs (107). One end of each tension spring (107) is connected to the intermediate positioning plate (108), and the other end of each tension spring (107) is connected to the linear guide mechanism.

4. The multi-degree-of-freedom flexible refueling gun device for an intelligent online refueling robot according to claim 1, characterized in that: The spring buffer mechanism comprises a buffer spring guide rod (103), a buffer plate (104) and a compression spring (127); the output end of the ejection cylinder (124) is connected to a right-angle ejection plate (126); the buffer plate (104) is connected to the right-angle ejection plate (126) via the buffer spring guide rod (103) so as to be relatively movably connected; a compression spring (127) is sleeved on the buffer spring guide rod (103); two ends of the compression spring (127) are respectively in contact with the buffer plate (104) and the right-angle ejection plate (126); a solenoid valve (105) is installed on the right-angle ejection plate (126); the solenoid valve (105) is connected to a flexible oiling gun head mechanism via an oiling pipe (128), and the solenoid valve (105) is connected to an air source and an oil valve system (5) via an oil pipe in an air pipe and an oil pipe (7).

5. The multi-degree-of-freedom flexible refueling gun device for an intelligent online refueling robot according to claim 4, characterized in that: A laser distance measuring sensor (125) for measuring the compression amount of the compression spring (127) is also installed on the right-angle push-out plate (126), and the laser distance measuring sensor (125) is connected to the control system (6).

6. The multi-degree-of-freedom flexible refueling gun device for an intelligent online refueling robot according to claim 1, characterized in that: The flexible oiling gun head mechanism comprises an oil outlet (101), a bearing sleeve (102), a self-aligning bearing (129), an O-ring seal (131) and an O-ring damper (132). The bearing sleeve (102) is mounted on a spring buffer mechanism. The self-aligning bearing (129) and the O-ring damper (132) are respectively mounted in the bearing sleeve (102). One end of the oil outlet (101) is connected to one end of the O-ring damper (132). The other end of the O-ring damper (132) is connected to the bearing sleeve (102) via the self-aligning bearing (129). A conical contact surface (433) is provided in the inner hole of the other end of the oil outlet (101). Automatic centering with the conical wheel oiling port (8) is achieved through the conical contact surface (433), and sealing is achieved through the O-ring seal (131) built into the end of the inner hole of the other end of the oil outlet (101).

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