An intelligent online oiling robot system for sintering trolley wheels

Abstract

The present invention relates to the field of sintering trolley oiling and maintenance. Specifically, it relates to an intelligent online oiling robot system for sintering trolley wheels. The system comprises a wheel speed measurement and tracking positioning system, a wheel posture detection system, a robot system, a flexible oiling gun system, and an air source and oil valve system, each connected to a control system. The wheel posture detection system detects the vertical inclination of the wheels and the height difference between each wheel axle before the sintering trolley passes through the wheel speed measurement and tracking positioning system. The wheel speed measurement and tracking positioning system has a speed measurement start position, a speed measurement end position, a tracking start position, and a tracking end position. The speed measurement end position is the same as the following start position. The wheel speed measurement and tracking positioning system measures the speed of the wheel to be oiled between the speed measurement start position and the speed measurement end position. The present invention coordinates the operation of the robot system and the flexible oiling gun system to achieve automatic tracking oiling of the sintering trolley wheels, completing the oiling work while the trolley is in operation.

Description

Technical Field

[0001] The invention belongs to the field of oiling and maintenance of a sintering trolley, and in particular to an intelligent online oiling robot system for wheels of a sintering trolley. Background Art

[0002] Sintering is an essential step in the blast furnace smelting process. It involves mixing various smelting raw materials in a specific proportion, firing them at high temperatures on sintering equipment, and ultimately sintering them into agglomerates. This process provides high-quality metallurgical charge for subsequent smelting processes. Sintering is primarily performed by the sintering machine, of which the sintering trolley, a crucial component, is responsible for transporting the sintering material, igniting the sintering process, and unloading the material after sintering. The sintering trolley forms a continuously operating rotary chain between the head and tail wheels of the sintering machine. Its continuous and stable operation is crucial for the successful completion of sintering tasks.

[0003] The sintering trolley is composed of hundreds of connected trolleys, which run smoothly along tracks to transport the sintering material. Each trolley is composed of a body, wheels, baffles, and thermal insulation seals. The wheels consist of a wheel body, bearings, and axles. The wheel body is mounted on the axle via bearings. The continuous and smooth rotation of the wheels ensures the normal sintering process. An oil filling port on the outer end cap of the wheel body connects to the bearings, allowing timely oil replenishment to ensure good lubrication of the bearings.

[0004] During sintering trolley operation, the wheels rotate continuously and are exposed to high temperatures and high loads. To ensure wheel life and proper operation, the wheels require frequent lubrication. The current refueling process requires manual refueling using a refueling gun after the sintering trolley is stopped. This presents challenges such as harsh on-site conditions, low refueling efficiency, and difficulty controlling refueling quantities. Consequently, proper lubrication of the sintering trolley wheel bearings cannot be guaranteed, leading to increased axle wear and even wheel locking, requiring frequent and costly wheel replacement. Summary of the Invention

[0005] To address the aforementioned issues with existing sintering trolley wheel lubrication, the present invention aims to provide an intelligent online robotic lubrication system for sintering trolley wheels. This system enables timely and automatic lubrication of the sintering trolley wheels without shutting down the machine, improving sintering efficiency, freeing up manpower, and ensuring the normal operation of the sintering trolleys. This is of great significance in resolving existing lubrication challenges.

[0006] The object of the present invention is achieved through the following technical solutions:

[0007] The present invention includes a wheel speed measurement and following positioning system, a wheel posture detection system, a robot system, a flexible refueling gun system and an air source and oil valve system respectively connected to the control system, wherein the wheel posture detection system detects the vertical inclination of the wheel and the height difference between each wheel axle, the wheel speed measurement and following positioning system has a speed measurement starting position, a speed measurement ending position, a following starting position and a following ending position, the speed measurement ending position and the following starting position are the same position, the wheel speed measurement and following positioning system measures the speed of the wheel to be oiled between the speed measurement starting position and the speed measurement ending position, the flexible refueling gun system is connected to the robot system, and is driven by the robot system to follow the wheel at the following starting position and the following ending position to complete the oiling action; the flexible refueling gun system includes a locking cylinder, a linear guide mechanism, a locking mechanism, an intermediate positioning plate, a push-out cylinder, a spring buffer mechanism and a flexible refueling gun head Mechanism, the locking cylinder is connected to the robot system, a linear guide mechanism is installed on the locking cylinder, the intermediate positioning plate is connected to the linear guide mechanism through the locking mechanism, and the freedom of sliding the intermediate positioning plate in the horizontal direction is realized through the linear guide mechanism, and the intermediate positioning plate is also provided with a sliding reset device for resetting the linear guide mechanism after sliding in the horizontal direction. The locking mechanism limits the freedom of swinging of the intermediate positioning plate in the vertical direction under the action of the locking cylinder; the pushing 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, and 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 pushing cylinder are connected to the air source and the oil valve system through the air pipe and the air pipe in the oil pipe, and the sensor on the locking cylinder and the sensor on the pushing cylinder are respectively connected to the control system.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] The wheel speed measurement and following positioning system includes a photoelectric switch A, a photoelectric switch B, a photoelectric switch C, a crossbeam bracket and a ground fixing plate. The crossbeam bracket is fixed to the ground through the ground fixing plate. Photoelectric switch A, photoelectric switch B, and photoelectric switch C are installed on the crossbeam bracket in sequence from front to back along the travel direction of the sintering trolley. The installation position of the photoelectric switch A is the speed measurement starting position, the installation position of the photoelectric switch B is the speed measurement ending position and also the following starting position, and the installation position of the photoelectric switch C is the following ending position. The wheel axle of each wheel passes under the photoelectric switch A, photoelectric switch B, and photoelectric switch C; the photoelectric switch A, photoelectric switch B, and photoelectric switch C are respectively connected to the control system.

[0016] The wheel posture detection system includes a distance sensor A, a distance sensor B, a distance sensor C, a fixed base plate and a sensor-fixed vertical beam. The distance sensor A is installed on the sensor-fixed crossbeam and is used to measure the vertical distance between the wheel axle of each wheel and the distance sensor A. The sensor-fixed vertical beam is fixed to the ground through the fixed base plate. The distance sensors B and C are installed on the sensor-fixed vertical beam, arranged up and down. The distance sensors B and C are used to measure the distance between the upper and lower measurement points on the end face of each wheel and the distance sensors B and C respectively. The distance sensors A, B and C are respectively connected to a control system.

[0017] The advantages and positive effects of the present invention are:

[0018] 1. The present invention enables the robot system to work in conjunction with the flexible oiling gun system, realizing automatic follow-up oiling of the sintering trolley wheels, completing the oiling work while the trolley is running. At the same time, it has good sealing performance and can accurately control the oil output, solving the problems of low efficiency, easy oil leakage and difficult to ensure the oil filling amount of manual oiling.

[0019] 2. The wheel speed measurement and following positioning system of the present invention can obtain a relatively accurate wheel speed and determine the travel range of the fueling gun following the wheel for refueling through the photoelectric switch. By feeding the data back to the control system, the robot can drive the fueling gun to accurately follow the wheel for synchronous movement, while ensuring that the refueling action is completed within the set distance range. After refueling is completed, the fueling gun disengages from the wheel oil filling port.

[0020] 3. The wheel posture detection system of the present invention can sequentially detect the height fluctuation of each wheel in the horizontal direction and the inclination of the wheel posture in the vertical direction. When the wheel posture deviation is within the set threshold, the flexible refueling gun system completes the refueling action normally; if the posture deviation of a certain wheel exceeds the set threshold, the control system determines that the wheel "does not meet the refueling conditions", abandons refueling of the wheel and makes a record, avoiding the situation where the oil outlet of the refueling gun cannot correctly cooperate with the wheel oil filling port due to different wheel postures on site or unexpected situations, resulting in refueling failure or damage to the refueling gun.

[0021] 4. The flexible refueling gun system of the present invention can achieve the locking and releasing of the vertical swinging freedom of the refueling gun through the design of the locking mechanism. When the flexible refueling gun system is in a waiting state, the locking cylinder is pushed out to drive the locking mechanism to complete the locking to ensure that the initial posture of the flexible refueling gun system is always consistent; when the flexible refueling gun system is matched with the wheel oil filling port and starts to follow refueling, the locking mechanism will release the freedom of the flexible refueling gun system to ensure that the matching will not fail due to track and wheel errors during refueling; when the axial movement of the wheel causes the distance between the oil filling port and the refueling gun to change, the design of the spring buffer mechanism can make the oil outlet of the flexible refueling gun system shrink the set distance, and at the same time, the rebound force of the compression spring can also make the oil outlet and the wheel oil filling port continue to ensure matching, which not only avoids the problem of damage to the flexible refueling gun system, but also ensures the sealing of the matching during the refueling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 Schematic diagram of the structure of the wheel speed measurement and following positioning system and the wheel posture detection system of the present invention;

[0024] Figure 3 This is a schematic structural diagram of the flexible fueling gun system of the present invention;

[0025] Figure 4 for Figure 3 Cross-sectional view of the internal structure of the oil outlet and bearing sleeve;

[0026] Wherein: 1 is the wheel speed measurement and following positioning system, 101 is the photoelectric switch A, 102 is the photoelectric switch B, 103 is the photoelectric switch C, 104 is the right-angle connector, 105 is the crossbeam bracket, and 106 is the ground fixing plate;

[0027] 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;

[0028] 3 is the robot system, 301 is the robot installation base, and 302 is the robot body;

[0029] 4 is a flexible fueling gun system, 401 is an oil outlet, 402 is a bearing sleeve, 403 is a buffer spring guide rod, 404 is a buffer plate, 405 is a solenoid valve, 406 is a linear guide rod, 407 is a tension spring, 408 is an intermediate positioning plate, 409 is a bearing, 410 is a bolt, 411 is a sliding plate, 412 is a linear guide rail, 413 is a limit block A, 414 is a locking cylinder, 415 is a cylinder fixing plate, 416 is a flange, 417 is a limit Cylinder, 418 is the limit stop B, 419 is the guide rail fixing plate, 420 is the tapered locating pin, 421 is the bearing seat, 422 is the tapered locating sleeve, 423 is the guide rod seat, 424 is the push-out cylinder, 425 is the laser ranging sensor, 426 is the right-angle push-out plate, 427 is the compression spring, 428 is the oil filling pipe, 429 is the self-aligning bearing, 430 is the connecting plate, 431 is the O-ring, 432 is the O-ring damper, and 433 is the tapered contact surface;

[0030] 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;

[0031] 6 is the control system, 601 is the PLC control cabinet, and 602 is the robot control cabinet;

[0032] 7 is the air pipe and oil pipe, and 8 is the wheel oil filling port. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] like Figure 1 As shown, the present invention includes a wheel speed measurement and following positioning system 1, a wheel posture detection system 2, a robot system 3, a flexible refueling gun system 4 and an air source and oil valve system 5, which are respectively connected to a control system 6, wherein the wheel speed measurement and following positioning system 1 and the wheel posture detection system 2 are placed at the front end of the entire oiling robot system to complete the measurement of the sintering trolley wheel speed and the detection of the wheel posture; the robot system 3 is connected to and drives the flexible refueling gun system 4 to cooperate with the wheel oiling port 8 to complete the following oiling action; the flexible refueling gun system 4 is connected to the air source and oil valve system 5 through the air pipe and oil pipe 7 to control the telescopic action of the refueling gun and the opening and closing of the oiling; the air source and oil valve system 5 ensures the supply of compressed air and lubricating oil; the control system 6 controls the action of the oiling robot system, and processes the information obtained from the wheel speed measurement and following system 1 and the wheel posture detection system 2, and controls the action of the cylinder and the oil valve on the refueling gun.

[0035] The oiling robot system of this embodiment consists of two groups, which are respectively placed on both sides of the sintering trolley travel track to simultaneously oil the wheels on both sides.

[0036] 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 1. The wheel speed measurement and following positioning system 1 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 the same position. The wheel speed measurement and following positioning system 1 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 system 4 is connected to the robot system 3, and is driven by the robot system 3 to follow the wheel at the following start position and the following end position to complete the oiling action.

[0037] like Figure 1 、 Figure 2 As shown, the wheel speed measurement and following positioning system 1 of this embodiment includes a photoelectric switch A101, a photoelectric switch B102, a photoelectric switch C103, a right-angle connector 104, a crossbeam bracket 105 and a ground fixing plate 106. The crossbeam bracket 105 is fixed to the ground through the ground fixing plate 106. The photoelectric switches A101, B102 and C103 are installed on the crossbeam bracket 105 in sequence from front to back along the direction of travel of the sintering trolley through the right-angle connector 104. The installation position of the photoelectric switch A101 is the speed measurement position. The photoelectric switch A101 is installed at the speed measurement end position and is also the following start position. The photoelectric switch C103 is installed at the following end position. The wheel axle of each wheel passes under the photoelectric switch A101, photoelectric switch B102 and photoelectric switch C103, so that the photoelectric switch A101, photoelectric switch B102 and photoelectric switch C103 can detect the wheel axle position of each wheel vertically downward. The photoelectric switch A101, photoelectric switch B102 and photoelectric switch C103 are respectively connected to the control system 6.

[0038] 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 beam to measure the vertical distance between the wheel axle of each wheel and the distance sensor A201; the sensor fixed beam of this embodiment is the beam bracket 105, and the distance sensor A201 is fixed on the beam bracket 105 through a right-angle connector 104, and is located in front of the photoelectric switch A101. 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 105. 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 104, and are arranged up and down. The distance between the distance measuring sensor B202 and 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.

[0039] like Figure 1 As shown, the robot system 3 is placed behind the wheel speed measurement and following system 1 and the wheel posture detection system 2. This embodiment utilizes conventional technology and comprises a robot mounting base 301 and a robot body 302. The robot body 302 is a six-axis robot, secured to the robot mounting base 301 with hexagon socket head bolts and connected to the control system 6. The robot mounting base 301 is secured to the ground with expansion bolts. During installation, the robot system 3 must ensure that the robot body 302 has the required space to move, allowing it to follow the sintering trolley wheels and complete the following refueling action.

[0040] like Figure 1 、 Figure 3 and Figure 4As shown, the flexible fueling gun system 4 is connected to the load end of the robot body 302 via a flange 416, and the robot body 302 drives the fueling gun to complete the fueling operation. The flexible fueling gun system 4 of this embodiment includes a locking cylinder 414, a linear guide mechanism, a locking mechanism, an intermediate positioning plate 408, an ejection cylinder 424, a spring buffer mechanism, and a flexible fueling gun head mechanism. One end of the flange 416 is connected to the load end of the robot body 302, and the other end is fixedly connected to a cylinder fixing plate 415. The locking cylinder 414 is mounted on the cylinder fixing plate 415. A linear guide mechanism is installed on the locking cylinder 414, and the intermediate positioning plate 408 is connected to the linear guide mechanism through the locking mechanism. The linear guide mechanism realizes the freedom of horizontal sliding of the intermediate positioning plate 408. The intermediate positioning plate 408 is also equipped with a sliding reset device for resetting the linear guide mechanism after sliding horizontally. The locking mechanism limits the freedom of vertical swing of the intermediate positioning plate 408 under the action of the locking cylinder 414; the pushing cylinder 424 is fixed on the intermediate positioning plate 408, 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 414 and the pushing cylinder 424 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 414 and the sensor on the pushing cylinder 424 are respectively connected to the control system 6.

[0041] The horizontal freedom of movement of the fueling gun is achieved by a linear guide mechanism. This mechanism frees up the horizontal freedom of the flexible fueling gun system 4, allowing the fueling gun head of the flexible fueling gun system 4 to move within a set horizontal range. The sliding reset device of this embodiment includes a limit cylinder 417, a limit block A413, and a limit block B418. The linear guide mechanism of this embodiment includes a sliding plate 411, a linear guide 412, and a guide rail fixing plate 419. The fixed side of the linear guide 412 is fixedly connected to the locking cylinder 414 via the guide rail fixing plate 419. The guide rail side of the linear guide 412 is connected to the sliding plate 411 for connection to the locking mechanism. One side of the guide rail fixing plate 419 is connected to the fixed side of the linear guide rail 412, and the upper and lower ends of the other side are fixedly connected to the limit cylinder 417. The upper and lower limit cylinders 417 are respectively located at the upper and lower ends of the locking cylinder 414 and are symmetrically arranged. The upper end of the sliding plate 411 is connected to the limit block A413, and the lower end is connected to the limit block B418. When the sliding plate 411 slides left and right, the limit block A413 and the limit block B417 contact the upper and lower limit cylinders 417 to limit the sliding stroke respectively. At the same time, the buffer of the limit cylinders 417 also plays a protective role. After the external force on the flexible oiling gun head mechanism disappears, the limit cylinders 417 are used to realize the linear guide mechanism to return to its original position. Specifically, the upper and lower limit cylinders 417 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 cylinders 417, one of the limit cylinders 417 is compressed. If the external force is removed, the compressed limit cylinder 417 will cause the flexible oiling gun head mechanism to return to its original position, that is, the above-mentioned balanced state, and the linear guide mechanism to return to its original position. The sensors on the two limit cylinders 417 are respectively connected to the control system 6.

[0042] The locking mechanism can lock the vertical swing freedom of the fueling nozzle head of the flexible fueling nozzle system 4. The locking mechanism of this embodiment includes a tapered positioning pin 420, a bearing 409, a bearing seat 421, and a tapered positioning sleeve 422. One end of the bearing seat 421 is fixed to the sliding plate 411, and the other end of the bearing seat 421 is rotatably connected to the tapered positioning sleeve 422 via the bearing 409. The tapered positioning sleeve 422 rotates in the vertical direction. The intermediate positioning plate 408 is fixedly connected to the tapered positioning sleeve 422. In this embodiment, a swing reset device is provided between the intermediate positioning plate 408 and the linear guide mechanism. The swing reset device is a plurality of tension springs 407. One end of each tension spring 407 is connected to the intermediate positioning plate 408 by a bolt 410, and the other end of each tension spring 407 is connected to the sliding plate 411 by a bolt 410; when the conical positioning sleeve 422 swings in the vertical direction through the bearing 409, the tension spring 407 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 407 is used to restore the swing of the conical positioning sleeve 422 to its original position. The tapered locating pin 420 is connected to the output end (i.e., the cylinder rod) of the locking cylinder 414. The locking cylinder 414 pushes the tapered locating pin 420 through the guide rail fixing plate 419 and the sliding plate 411, and then into the tapered locating sleeve 422. The tapered locating pin 420 engages the tapered surface of the tapered locating sleeve 422, locking the pin. This restricts the vertical swinging freedom of the flexible fueling gun system 4. When the tapered locating pin 420 disengages from the tapered locating sleeve 422, the tapered lock is released, freeing the flexible fueling gun system 4. The locking cylinder 414 is connected to the control system 6.

[0043] The front end of the flexible refueling gun system 4 as a whole (i.e., the spring buffer mechanism, the flexible oiling gun head mechanism) is connected to the sliding plate 411 to achieve horizontal movement. The spring buffer mechanism plays a buffering role when the oil outlet 401 cooperates with the wheel oiling 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 403, a buffer plate 404, a linear guide rod 406, a guide rod seat 423 and a compression spring 427. The output end of the push-out cylinder 424 (i.e., the cylinder rod) is connected to a right-angle push-out plate 426. The push-out cylinder 424 drives the oil outlet 401 at the front end of the flexible refueling gun system 4 to cooperate with the wheel oiling port 8. After the oil filling is completed, the cylinder rod of the push-out cylinder 424 is retracted. One right-angled surface of the right-angled push plate 426 is connected to the cylinder rod of the push cylinder 424. The buffer plate 404 is connected to the other right-angled surface of the right-angled push plate 426 via multiple buffer spring guide rods 403, allowing relative movement. Each buffer spring guide rod 403 is sleeved with a compression spring 427, the ends of which respectively abut the buffer plate 404 and the right-angled push plate 426. When the robot body 302 drives the flexible fueling gun system 4 to engage the wheel oil filling port 8, the compression spring 427 acts as a buffer. At the same time, the pressure generated by the compression spring 427 ensures that the oil outlet 401 and the wheel oil filling port 8 are tightly engaged. Multiple guide rod seats 423 are mounted on the intermediate positioning plate 408. Each guide rod seat 423 is penetrated by a linear guide rod 406. Each linear guide rod 406 is connected to a right-angled surface of the right-angled push plate 426. When the push cylinder 424 pushes the spring buffer mechanism, the linear guide rod 406 and the guide rod seat 423 serve as a guide. A laser ranging sensor 425 is also installed on the other right-angled surface of the right-angled ejection plate 426. The laser ranging sensor 425 emits a laser that shines on the buffer plate 404 to measure the compression amount of the compression spring 427. The laser ranging sensor 425 is connected to the control system 6.

[0044] 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 accommodate situations where the axis of the oil outlet 401 and the wheel oiling port 8 do not coincide. The flexible oiling gun head mechanism of this embodiment includes an oil outlet 401, a bearing sleeve 402, a self-aligning bearing 429, an O-ring 431, and an O-ring damper 432. The bearing sleeve 402 is fixed to the buffer plate 404. The self-aligning bearing 429 and the O-ring damper 432 are respectively installed in the bearing sleeve 402. The outer ring of the self-aligning bearing 429 is fixed to the bearing sleeve 402. One end of the oil outlet 401 is connected to one end of the O-ring damper 432. The other end of the O-ring damper 432 is fixed to the inner ring of the self-aligning bearing 429 via a connecting plate 430. When the position of the oil outlet 401 fluctuates slightly during the operation of the sintering trolley wheel, the self-aligning bearing 429 adjusts to accommodate this positional change, ensuring a sealed fit between the oil outlet 401 and the wheel oil inlet 8. A conical contact surface 433 is provided within the inner bore of the other end of the oil outlet 401. This surface automatically aligns with the tapered wheel oil inlet 8, and a seal is achieved via an O-ring 431 built into the inner bore of the other end of the oil outlet 401. When the oil outlet 401 oscillates, the O-ring damper 432 can move within a certain range to ensure proper fit with the oil inlet 8 and provide cushioning. The O-ring damper 432 of this embodiment is prior art and will not be described further here. A solenoid valve 405 is mounted on the right-angled ejector plate 426. The oil outlet 401 is connected to the solenoid valve 405 via an oil inlet pipe 428. The solenoid valve 405 is in turn connected to the air source and oil valve system 5 via the oil pipe in the air and oil pipes 7.

[0045] like Figure 1 As shown, the air source and oil valve system 5 is placed at the rear end of the robot system 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 401; 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 system 4 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 401 in the flexible refueling gun system 4. The extension and retraction of each cylinder is controlled by the air source control valve group 503.

[0046] like Figure 1As shown, the control system of this embodiment is conventional technology, including 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 .

[0047] The working principle of the present invention is:

[0048] Photoelectric switches A101 and B102 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 1 transmits the obtained sintering trolley wheel speed information and the wheel position detection system 2 transmits the position information to the control system 6, which then controls the robot body 302, cylinder, and valve assembly to coordinate the gun head oil outlet 401 with the wheel oil filling port 8 and the oil filling operation. The distance between photoelectric switches B102 and C103 is the range within which the oil filling robot system follows the sintering trolley wheel in parallel motion, starting at the follow-up start position and ending at the follow-up end position.

[0049] When the sintering trolley continuously runs into the preparation area before the oiling area, the robot body 302 drives the flexible refueling gun system 4 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 401 on the flexible refueling gun system 4 coincides, the control system 6 controls the robot body 302 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 system 4 close to the wheel to a set distance, and the push-out cylinder 424 drives the spring buffer mechanism and the oil outlet 401 to be pushed out, so that the oil outlet 401 and the wheel oiling port 8 are closely matched. After the refueling work is completed, the push-out cylinder 424 is retracted to release the match between the oil outlet 401 and the wheel oiling port 8, and the robot body 302 retreats and runs to the starting point to wait for the next wheel to be refueled, and repeats the cycle.

[0050] The present invention measures the wheel speed of the sintering trolley by means of a photoelectric switch and detects the wheel position of the sintering trolley by means of a distance measuring sensor, thereby ensuring that the wheel being refueled meets the refueling conditions and avoiding oil leakage during the refueling process and damage to the flexible refueling gun system 4 or the robot body 302 due to working conditions and other reasons. Furthermore, the design of the flexible refueling gun system 4 provides the flexible refueling gun system 4 with multiple degrees of freedom to ensure a tight fit between the oil outlet 401 and the wheel oil filling port 8, preventing oil leakage due to loose fit during the refueling process. The elastic buffer mechanism on the flexible refueling gun system 4 provides excellent protection for the flexible refueling gun system 4 and generates a suitable pressing force to press and seal the oil outlet 401 against the wheel oil filling port 8. The flexible refueling gun system 4 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 401, thereby compensating for errors in speed and position of the oil outlet 401 measured by the sensor.

[0051] 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. An intelligent online oiling robot system for sintering trolley wheels, characterized by: The invention comprises a wheel speed measuring and following positioning system (1), a wheel posture detection system (2), a robot system (3), a flexible oiling gun system (4) and an air source and oil valve system (5) respectively connected to a control system (6), wherein the wheel posture detection system (2) detects the vertical inclination of the wheel and the height difference between each wheel axle, and the wheel speed measuring and following positioning system (1) has a speed measuring starting position, a speed measuring ending position, a following starting position and a following ending position, wherein the speed measuring ending position and the following starting position are at the same position ... and wherein the wheel speed measuring and following positioning system (1) has a speed measuring starting position, a speed measuring ending position, a following starting position and a following ending position, and wherein the wheel speed measuring and following positioning system (1) has a speed measuring starting position, a speed measuring ending position and a following starting position The positioning system (1) measures the speed of the wheel to be oiled between the speed measurement starting position and the speed measurement ending position. The flexible oiling gun system (4) is connected to the robot system (3) and driven by the robot system (3) to follow the wheel to complete the oiling action at the following starting position and the following ending position. The flexible oiling gun system (4) includes a locking cylinder (414), a linear guide mechanism, a locking mechanism, an intermediate positioning plate (408), a pushing cylinder (424), a spring buffer mechanism and a flexible oiling gun head mechanism. The locking cylinder (414) is connected to the robot system (3). The robot system (3) is connected, the locking cylinder (414) is equipped with a linear guide mechanism, the intermediate positioning plate (408) is connected to the linear guide mechanism through the locking mechanism, and the intermediate positioning plate (408) is able to slide freely in the horizontal direction through the linear guide mechanism. The intermediate positioning plate (408) is also equipped with a sliding reset device for resetting the linear guide mechanism after sliding in the horizontal direction. The locking mechanism limits the freedom of the intermediate positioning plate (408) to swing in the vertical direction under the action of the locking cylinder (414); The ejection cylinder (424) is fixed on the middle positioning plate (408), and the output end is connected to the flexible oil injection gun head mechanism through the spring buffer mechanism. The flexible oil injection 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). The locking cylinder (414) and the ejection cylinder (424) 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). The sensor on the locking cylinder (414) and the sensor on the ejection cylinder (424) are respectively connected to the control system (6).

2. The intelligent online oiling robot system for sintering trolley wheels according to claim 1 is characterized by: The linear guide rail mechanism comprises a sliding plate (411), a linear guide rail (412) and a guide rail fixing plate (419); the fixed side of the linear guide rail (412) is fixedly connected to a locking cylinder (414) via the guide rail fixing plate (419); the guide rail side of the linear guide rail (412) is connected to a sliding plate (411) for connecting to a locking mechanism; the output end of the locking cylinder (414) passes through the guide rail fixing plate (419) and the sliding plate (411) to lock the locking mechanism.

3. The intelligent online oiling robot system for sintering trolley wheels according to claim 2 is characterized by: The sliding reset device comprises a limit cylinder (417), a limit block A (413) and a limit block B (418); one side of the guide rail fixing plate (419) is connected to the fixed side of the linear guide rail (412); the upper and lower ends of the other side are fixedly connected to the limit cylinder (417); the upper end of the sliding plate (411) is connected to the limit block A (413) and the lower end is connected to the limit block B (418); the limit blocks A (413) and the limit blocks B (418) respectively contact the upper and lower limit cylinders (417) to limit the sliding stroke when sliding left and right with the sliding plate (411), thereby playing a buffering role; and 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 (417); the sensor on the limit cylinder (417) is connected to the control system (6).

4. The intelligent online oiling robot system for sintering trolley wheels according to claim 1 is characterized by: The locking mechanism comprises a tapered locating pin (420), a bearing seat (421) and a tapered locating sleeve (422); one end of the bearing seat (421) is connected to the linear guide mechanism; the other end of the bearing seat (421) is rotatably connected to the tapered locating sleeve (422); the rotation direction of the tapered locating sleeve (422) is vertical; the intermediate locating plate (408) is fixedly connected to the tapered locating sleeve (422); the tapered locating pin (420) is connected to the output end of the locking cylinder (414); the locking cylinder (414) drives the tapered locating pin (420) to pass through the linear guide mechanism and then insert into the tapered locating sleeve (422) to achieve locking, thereby limiting the vertical swing freedom of the flexible oiling gun head mechanism.

5. The intelligent online oiling robot system for sintering trolley wheels according to claim 1 is characterized by: A swing reset device is provided between the intermediate positioning plate (408) and the linear guide mechanism. The swing reset device is a plurality of tension springs (407). One end of each tension spring (407) is connected to the intermediate positioning plate (408), and the other end of each tension spring (407) is connected to the linear guide mechanism.

6. The intelligent online oiling robot system for sintering trolley wheels according to claim 1 is characterized by: The spring buffer mechanism comprises a buffer spring guide rod (403), a buffer plate (404) and a compression spring (427); the output end of the ejection cylinder (424) is connected to a right-angle ejection plate (426); the buffer plate (404) is connected to the right-angle ejection plate (426) via the buffer spring guide rod (403) so as to be relatively movably connected; a compression spring (427) is sleeved on the buffer spring guide rod (403); the two ends of the compression spring (427) are respectively in contact with the buffer plate (404) and the right-angle ejection plate (426); an electromagnetic valve (405) is installed on the right-angle ejection plate (426); the electromagnetic valve (405) is connected to a flexible oil injection gun head mechanism via an oil injection pipe (428), and the electromagnetic valve (405) 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).

7. The intelligent online oiling robot system for sintering trolley wheels according to claim 6 is characterized by: A laser distance measuring sensor (425) for measuring the compression amount of the compression spring (427) is also installed on the right-angle push-out plate (426), and the laser distance measuring sensor (425) is connected to the control system (6).

8. The intelligent online oiling robot system for sintering trolley wheels according to claim 1 is characterized by: The flexible oiling gun head mechanism comprises an oil outlet (401), a bearing sleeve (402), a self-aligning bearing (429), an O-ring (431) and an O-ring damper (432); the bearing sleeve (402) is mounted on a spring buffer mechanism; the self-aligning bearing (429) and the O-ring damper (432) are respectively mounted in the bearing sleeve (402); one end of the oil outlet (401) is connected to one end of the O-ring damper (432); the other end of the O-ring damper (432) is connected to the bearing sleeve (402) via the self-aligning bearing (429); a conical contact surface (433) is provided in the inner hole at the other end of the oil outlet (401); 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 (431) built into the end of the inner hole at the other end of the oil outlet (401).

9. The intelligent online oiling robot system for sintering trolley wheels according to claim 1 is characterized by: The wheel speed measurement and following positioning system (1) comprises a photoelectric switch A (101), a photoelectric switch B (102), a photoelectric switch C (103), a crossbeam support (105) and a ground fixing plate (106), wherein the crossbeam support (105) is fixed on the ground via the ground fixing plate (106), and the photoelectric switch A (101), the photoelectric switch B (102) and the photoelectric switch C (103) are sequentially installed on the crossbeam support (105) along the traveling direction of the sintering trolley from front to back, and the photoelectric switches The installation position of A (101) is the speed measurement start position, the installation position of the photoelectric switch B (102) is the speed measurement end position and also the following start position, the installation position of the photoelectric switch C (103) is the following end position, and the wheel axle of each wheel passes under the photoelectric switch A (101), the photoelectric switch B (102), and the photoelectric switch C (103); the photoelectric switch A (101), the photoelectric switch B (102), and the photoelectric switch C (103) are respectively connected to the control system (6).

10. The intelligent online oiling robot system for sintering trolley wheels according to claim 1 is characterized in that: The wheel posture detection system (2) comprises a distance sensor A (201), a distance sensor B (202), a distance sensor C (203), a fixed base plate (204) and a sensor fixed vertical beam (205). The distance sensor A (201) is mounted on the sensor fixed cross beam and is used to measure the vertical distance between the wheel axle of each wheel and the distance sensor A (201). The sensor fixed vertical beam (205) is fixed on the ground through the fixed base plate (204). The distance sensor B (202) and the distance sensor C (203) are mounted on the sensor fixed vertical beam (205) and are arranged up and down. The distance sensor B (202) and the distance sensor C (203) are used to measure the distance between the upper and lower measurement points on the end face of each wheel and the distance sensor B (202) and the distance sensor C (203). The distance sensor A (201), the distance sensor B (202) and the distance sensor C (203) are respectively connected to a control system (6).

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