A sintering machine trolley wheel diagnosis system and method, storage medium

Abstract

The application provides a sintering machine trolley wheel diagnosis system and method, and a storage medium, wherein a distance measuring device is arranged to detect whether the sintering machine trolley has a wheel missing, a hammering device is combined to measure the shaking offset of the wheel after being hammered and to determine whether the wheel is loose, a distance measuring device is arranged on the left and right sides of the sintering machine trolley, a specific calculation formula is used to predict the deviation of the trolley wheel, a specific formula is used to calculate reversely in combination with the distance measuring device to obtain the predicted time of the next sintering machine trolley reaching the distance measuring detection position, and then it is determined whether the trolley has a wheel missing, so that problems can be found and timely alarm feedback can be achieved, the time of the trolley running with faults is reduced, the artificial inspection workload of the part is reduced, the equipment is relatively simple to install, the maintenance cost is relatively low, the matched equipment is relatively small, and the device is stable and reliable.

Description

Technical Field

[0001] This invention relates to the field of steel sintering technology, and in particular to a sintering machine trolley wheel diagnostic system and method, and a storage medium. Background Technology

[0002] Sintering is a crucial step in the steel production process. Sintering involves mixing iron ore powder, lime powder, and coal powder in a specific ratio, then calcining the mixture to achieve sufficient strength and particle size. This calcined ore mixture is called sinter. Sinter is primarily used in blast furnace ironmaking, improving the blast furnace's utilization coefficient, reducing the coke ratio, and increasing its permeability. The sintering production process mainly consists of raw material receiving, screening and crushing, solvent fuel crushing and screening, batching, material distribution, sintering with exhaust ventilation, cooling with exhaust ventilation, crushing and screening, and dust removal. The trolleys of the sintering machine and annular cooler are important moving mechanisms in the sintering process. The trolley wheels play a vital role in bearing weight and reducing friction. Trolley wheels may fall off due to prolonged operation under high temperatures or collisions, affecting production. Therefore, detecting trolley wheel loss is crucial for the normal operation of the sintering process.

[0003] The wheels of the sintering machine trolley can wobble, arch, or fall off due to prolonged operation, compression, and wear under high temperatures, affecting normal production. Therefore, it is important to detect abnormalities in the wheels of the sintering machine trolley.

[0004] Currently, the detection of abnormal conditions of sintering machine trolley wheels in steel plants is mainly done through manual inspection or by central control monitoring personnel through industrial television. In recent years, steel plants have also used multiple ranging lasers or industrial cameras to detect whether wheels have fallen off. However, because there are no status parameters to judge before the wheels fall off, the actual judgment cannot truly identify whether the wheels have been loose before they fall off. This results in the wheel failure not being detected in time, which increases the time that the sintering machine trolley runs with the fault, and thus affects the sintering quality.

[0005] In view of this, it is necessary to propose a sintering machine trolley wheel diagnostic system and method, and a storage medium to solve or at least alleviate the above-mentioned defects. Summary of the Invention

[0006] The main objective of this invention is to provide a sintering machine trolley wheel diagnostic system and method, and a storage medium, to solve the problem that the existing technology cannot timely identify and diagnose trolley wheel loosening and trolley deviation.

[0007] To achieve the above objectives, the present invention provides a method for diagnosing the wheels of a sintering machine trolley, comprising the following steps:

[0008] S1, obtain the motion information of the first vehicle closest to the hammering device, and determine whether the wheels of the first vehicle have entered the hammering range of the hammering device;

[0009] S2, when the first vehicle enters the hammering range, control the hammering device to hammer the outer end face of the wheel of the first vehicle; wherein, the hammering direction of the hammering device is perpendicular to the outer end face of the wheel;

[0010] S3, obtain the distance value from the outer end face of the wheel detected by the ranging device, and determine whether the distance value of the wheel after being hammered is within a preset range;

[0011] S4, when the distance value is not within the preset range, it is determined that the wheels of the first vehicle are loose.

[0012] Preferably, step S3 includes the following steps:

[0013] S31, acquire a first distance value from the outer end face of the first wheel detected by the first ranging device and acquire a second distance value from the outer end face of the first wheel detected by the second ranging device; wherein, the first ranging device and the second ranging device are in the same vertical direction;

[0014] S32, according to the formula ε=|l u (t)-l d (t)|Calculate the distance deviation between the first distance value and the second distance value; where, l u (t) represents the first distance value detected by the first ranging device, l d (t) represents the second distance value detected by the second ranging device;

[0015] S33, determine whether the distance deviation ε is greater than a first preset threshold;

[0016] S34, when the distance deviation ε is greater than the first preset threshold, it is determined that the wheels of the first vehicle are loose.

[0017] Preferably, step S3 includes the following steps:

[0018] S300, acquire the third distance value of the distance from the outer end face of the first wheel detected by the third ranging device and acquire the fourth distance value of the distance from the outer end face of the first wheel detected by the fourth ranging device.

[0019] S301, determine whether the third distance value is greater than the first preset value, and determine whether the fourth distance value is greater than the second preset value;

[0020] S302, when at least one of the third distance value being greater than the first preset value and the fourth distance value being greater than the second preset value is true, it is determined that the wheels of the first vehicle are loose;

[0021] S303, if neither of the following conditions is met: the third distance value is greater than the first preset value, or the fourth distance value is greater than the second preset value, it is determined that the wheels of the first vehicle are not loose.

[0022] Preferably, step S4 is followed by the following step:

[0023] S51, acquire the fifth distance value detected by the fifth ranging device from the outer end face of the second wheel of the first vehicle, and acquire the sixth distance value detected by the sixth ranging device from the outer end face of the second wheel of the vehicle; wherein, the first wheel and the second wheel are located on both sides of the vehicle, and the fifth ranging device and the sixth ranging device are in the same vertical direction.

[0024] S52, calculate the average value of the first distance value and the second distance value. l ; and calculate the average value of the fifth distance value and the sixth distance value. r ;

[0025] S53, obtain the distance L1 between the first ranging device and the fifth ranging device;

[0026] S54, according to formula Obtain the center position l of the first vehicle body;

[0027] S55, obtain the distance L0 between the center point of the two side tracks of the first vehicle and the first ranging device;

[0028] S56, Obtain the vehicle body deviation amount μ of the first vehicle according to the formula μ = l - L0;

[0029] S57, determine whether the vehicle body deviation amount μ is greater than the second preset threshold;

[0030] S58, when the vehicle body deviation amount μ is greater than the second preset threshold, it is determined that the vehicle body of the first vehicle has deviated, and a correction command is sent to the maintenance personnel.

[0031] Preferably, step S57 is followed by the step:

[0032] S59, when the vehicle body deviation amount μ is less than or equal to the second preset threshold, it is determined that the vehicle body of the first vehicle has not deviated and the current state is maintained.

[0033] Preferably, the step S1 is preceded by the following step:

[0034] S01, Obtain the distance information detected by the ranging device;

[0035] S02, Based on the distance limitation conditions, obtain the wheel portion data from the distance information;

[0036] S03, Obtain the current running speed v of the sintering machine trolley. t (t), and the wheel spacing L2 between two adjacent sintering machine trolleys;

[0037] S03, according to the formula The predicted time n for the next sintering machine trolley to reach the detection position of the ranging device is calculated in reverse.

[0038] S04, determine whether the distance detected by the ranging device at the prediction time n is within the preset distance range of the trolley;

[0039] S05, when the detection distance is within the preset distance range, it is determined that the current sintering machine trolley has not experienced wheel drop;

[0040] S06, when the detection distance is not within the preset distance range, it is determined that the current sintering machine trolley has experienced a wheel drop.

[0041] Preferably, step S05 further includes the step:

[0042] S051, when the predicted time n and the current sintering machine trolley has not experienced wheel drop, a pre-start command is sent to the hammering device, and the hammering device is controlled to hammer the outer end face of the wheel of the sintering machine trolley at time n+t.

[0043] Preferably, the ranging device is a laser ranging sensor.

[0044] The present invention also provides a sintering machine trolley wheel diagnostic system, characterized in that it includes a control system, a hammering device connected to the control system, and a distance measuring device; wherein, the hammering device includes a drive cylinder and a spring hammer, the spring hammer being rotatably connected to the drive end of the drive cylinder; the control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the sintering machine trolley wheel diagnostic method described above.

[0045] The present invention also provides a storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the sintering machine trolley wheel diagnosis method described above.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] By setting up a ranging device, it is possible to detect whether the sintering machine trolley has lost a wheel. Combined with the impact of the hammer device, the amount of wheel swaying and offset after being hammered can be measured to determine whether the wheel is loose. Based on the ranging devices set on the left and right sides of the sintering machine trolley, the deviation of the trolley wheels can be predicted according to a specific calculation formula. By back-calculating with a specific formula and combining it with the ranging device, the predicted time for the next sintering machine trolley to reach the ranging detection position can be known, thereby determining whether the trolley has lost a wheel. If a problem is detected, an alarm can be set up in time to provide feedback, reducing the time the trolley runs with a fault and reducing the workload of manual inspection in this part of the work. The equipment is relatively simple to install, has low maintenance costs, requires few supporting devices, and is stable and reliable. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0049] Figure 1 This is a flowchart illustrating one embodiment of the present invention;

[0050] Figure 2 This is a flowchart illustrating the steps included in step S3 of one embodiment of the present invention;

[0051] Figure 3 This is a flowchart illustrating the steps included in step S3 of another embodiment of the present invention;

[0052] Figure 4 This is a flowchart illustrating steps that follow step S4 in one embodiment of the present invention.

[0053] Figure 5 This is a flowchart illustrating steps that precede step S1 in one embodiment of the present invention.

[0054] Figure 6 This is a schematic diagram of the architecture of a control system according to one embodiment of the present invention;

[0055] Figure 7 This is a schematic diagram of the installation of the hammering device in one embodiment of the present invention;

[0056] Figure 8 This is a side view of the sintering machine trolley in one embodiment of the present invention;

[0057] Figure 9This is a schematic diagram of the installation of the ranging device in one embodiment of the present invention;

[0058] Figure 10 This is a timing diagram of the ranging device in one embodiment of the present invention.

[0059] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0060] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0062] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0063] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0064] Firstly, please refer to the appendix. Figure 1-10 A method for diagnosing the wheels of a sintering machine trolley (31) according to one embodiment of the present invention includes the following steps:

[0065] S1, acquire the motion information of the first trolley 3 closest to the hammering device 2, and determine whether the wheel 31 of the first trolley 3 has entered the hammering range of the hammering device 2. Those skilled in the art should know that the wheels 31 of the sintering machine trolley 3 are prone to loosening due to prolonged operation, compression, and wear under high temperatures. This application determines whether the trolley wheel 31 is loose by acquiring the amount of wobbling offset of the wheel 31 through hammering by the hammering device 2. In this embodiment, the first trolley 3 refers to the trolley 3 that is about to enter the hammering range of the hammering device 2 and approaches the hammering device 2. The determination of whether the wheel 31 of the first trolley 3 has entered the hammering range of the hammering device 2 can be made using, but is not limited to, detection methods such as distance sensors, RFID, and industrial cameras.

[0066] In a preferred embodiment, the ranging device 1 is a laser ranging sensor, and the hammering device 2 includes a drive cylinder and a spring hammer. It should be noted that the function of the spring hammer is to reduce the impact on the drive cylinder when striking the outer end face of the wheel 31. Simultaneously, when the spring hammer contacts the outer end face of the wheel 31, the rotatable connection between the spring hammer and the drive end of the drive cylinder allows the wheel 31 to drive the spring hammer to make a small lateral displacement, meeting practical working requirements. In another embodiment, the hammering device can also be a spring impact hammer. The contact between the spring impact hammer and the trolley wheel 31 is instantaneous; that is, after the spring impact hammer strikes the outer end face of the wheel 31, it can quickly return to its initial position due to the spring's restoring action, minimizing the contact time with the outer end face of the wheel 31. Of course, those skilled in the art can also configure the hammering device 2 in other forms according to actual needs. For example, the drive cylinder can be slidably connected to the sintering machine frame to ensure that after the spring hammer contacts the end face of the trolley wheel, the wheel 31 is allowed to drive the spring hammer to move a short distance laterally.

[0067] Furthermore, it is understood that in other embodiments, the ranging device 1 can also be other types of ranging instruments selected according to actual needs, such as infrared ranging sensors, ultrasonic ranging sensors, etc. The hammer striking device 2 can also be in other configuration forms.

[0068] S2, when the first trolley 3 enters the hammering range, the hammering device 2 is controlled to hammer the outer end face of the wheel 31 of the first trolley 3. It should be noted that, in order to detect whether the wheel 31 of the sintering machine trolley 3 is loose, this embodiment obtains the amount of wheel 31's wobbling offset by hammering the outer end face of the wheel 31 with a vertical device. It can be understood that when the trolley wheel 31 is loose, the hammering by the hammering device 2 causes the wheel 31 to wobble and deviate due to the instantaneous force. If it is not loose, there will be no wobbling or deviating, thus determining whether the wheel 31 is loose. It is worth noting that the hammering direction of the hammering device 2 can be determined according to actual needs. In a preferred embodiment, the hammering direction of the hammering device 2 is perpendicular to the outer end face of the wheel 31.

[0069] S3, obtain the distance value from the outer end face of the wheel 31 detected by the ranging device 1, and determine whether the distance value of the wheel 31 after being hammered is within a preset range.

[0070] S4, if the distance value is not within the preset range, it is determined that the wheel 31 of the first vehicle 3 is loose. It is understood that the preset range can be determined according to actual needs; by determining whether the distance value is within the preset range, it is determined whether the wheel 31 of the first vehicle 3 is loose.

[0071] This application can detect the distance between the distance measuring device 1 and the outer end face of the wheel 31 through the distance measuring device 1. Combined with the hammering of the hammering device 2, it can determine whether the wheel 31 of the trolley is loose, so as to detect the problem and make timely alarm or maintenance, reduce the time of the trolley 3 running with faults, reduce the workload of manual inspection by relevant personnel, and the equipment is simple to install, has low maintenance cost, requires few devices, and is stable and reliable.

[0072] In a preferred embodiment of the present invention, step S3 includes the following steps: It should be noted that this embodiment provides a specific method for determining whether the wheel 31 has become loose, and the specific steps are as follows:

[0073] S31, acquire the first distance value detected by the first ranging device from the outer end face of the first wheel 31 and the second distance value detected by the second ranging device from the outer end face of the first wheel 31; wherein, the first ranging device and the second ranging device are in the same vertical direction. Those skilled in the art should note that the positions of the first and second ranging devices can be set according to actual needs. The first and second ranging devices can be arranged on the same side of the sintering machine trolley 3 and vertically, or they can be arranged on the same side but at different distances from the trolley 3. In a preferred embodiment, the first and second ranging devices are arranged on one side of the sintering machine trolley 3 and vertically spaced apart, so that the first ranging device detects the top position of the trolley wheel 31 and the second ranging device detects the bottom position of the trolley wheel 31.

[0074] S32, according to the formula ε=|l u (t)-l d (t)|Calculate the distance deviation between the first distance value and the second distance value; where, l u (t) represents the first distance value detected by the first ranging device, l d (t) is the second distance value detected by the second ranging device.

[0075] S33, determine whether the distance deviation ε is greater than a first preset threshold;

[0076] S34, when the distance deviation ε is greater than the first preset threshold, it is determined that the wheel 31 of the first vehicle 3 is loose.

[0077] This embodiment calculates the difference between the distance values ​​detected by the first ranging device and the second ranging device, and then determines whether the difference is greater than or less than a preset value, thereby determining whether the wheel 31 of the first vehicle 3 has become loose, thus realizing data-driven and quantitative control.

[0078] In another preferred embodiment of the present invention, step S3 includes the following steps:

[0079] S300, acquire the third distance value detected by the third ranging device from the outer end face of the first wheel 31, and acquire the fourth distance value detected by the fourth ranging device from the outer end face of the first wheel 31. Unlike the above embodiment, this embodiment provides another method for determining whether the wheel 31 is loose. To achieve a better hammering effect with the hammering device 2, please refer again to the appendix. Figure 8In this embodiment, an opening 41 is provided at the track 4 corresponding to the hammering position of the hammering device 2. When the trolley wheel 31 reaches the opening 41, due to the mutual compression between the sintering machine trolleys 3, the wheel 31 of the sintering machine trolley 3 will not fall off when it reaches the opening 41. At this time, by controlling the hammering device 2 to start hammering the wheel 31, if the wheel 31 is loose, it will vibrate and shake significantly under the hammering action of the hammering device 2. At this time, by obtaining the offset through the ranging device 1, it is possible to obtain whether the corresponding wheel 31 is loose.

[0080] It should be noted that the detection positions of the third and fourth ranging devices in this embodiment are not limited. Theoretically, under the hammering of the hammering device 2, the wheels 31 will all experience varying degrees of displacement and swaying. In a specific embodiment, the third and fourth ranging devices can be arranged symmetrically, one above the other.

[0081] S301, determine whether the third distance value is greater than the first preset value, and determine whether the fourth distance value is greater than the second preset value;

[0082] S302, when at least one of the third distance value being greater than the first preset value and the fourth distance value being greater than the second preset value is true, it is determined that the wheel 31 of the first vehicle 3 is loose.

[0083] This embodiment uses a combination of a third and a fourth ranging device to determine whether the wheel 31 of the trolley 3 is loose. If either the third or fourth ranging device detects a distance value greater than a preset value, the trolley 3 is deemed to have loose wheels. This facilitates maintenance and reduces the time the trolley 3 operates with a fault. It is also worth noting that this embodiment and the embodiments described above can be used individually or in combination to determine whether both wheels 31 are loose.

[0084] S303, if neither of the following conditions is met: the third distance value is greater than the first preset value, or the fourth distance value is greater than the second preset value, then it is determined that the wheels 31 of the first vehicle 3 are not loose. In other words, if the distance values ​​detected by the third and fourth distance measuring devices are both lower than the preset values, then it is determined that the wheels 31 of the first vehicle 3 are not loose.

[0085] As a preferred embodiment of the present invention, after step S4, the following step is also included: Before describing this embodiment, it should be noted that this embodiment addresses the defect of the sintering machine trolley 3 being misaligned due to loose or offset wheels 31, thus affecting the normal operation of sintering, and proposes the following specific solution:

[0086] S51, acquire the fifth distance value detected by the fifth ranging device from the outer end face of the second wheel 31 of the first trolley 3, and acquire the sixth distance value detected by the sixth ranging device from the outer end face of the second wheel 31 of the trolley 3; wherein, the first wheel 31 and the second wheel 31 are respectively located on both sides of the trolley 3, and the fifth ranging device and the sixth ranging device are in the same vertical direction. It is worth noting that in this embodiment, two sets of ranging devices 1 located on both sides of the sintering machine trolley 3 are used to perform distance measurement calculations, each set of detection devices including two ranging devices 1 arranged vertically, as the basis data for subsequent judgment. It can be understood that in other embodiments, the number and arrangement of the ranging devices 1 can be set according to actual needs, and are not limited to the method of this embodiment.

[0087] S52, calculate the average value of the first distance value and the second distance value. l ; and calculate the average value of the fifth distance value and the sixth distance value. r By calculating the average value, the accuracy of data calculation can be improved.

[0088] S53, obtain the distance L1 between the first ranging device and the fifth ranging device;

[0089] S54, according to formula Obtain the center position l of the first vehicle 3;

[0090] S55, obtain the distance L0 between the center point of the two side tracks 4 of the first vehicle 3 and the first ranging device;

[0091] S56, the deviation amount μ of the first trolley 3 is obtained according to the formula μ = l - L0. It is worth noting that in this embodiment, the deviation amount is calculated by the distance difference between the center point of the trolley 3 and the center points of the two side tracks 4. It is understood that those skilled in the art can also select other positions of the trolley 3 as calculation reference positions according to actual needs.

[0092] S57, determine whether the vehicle body deviation amount μ is greater than the second preset threshold;

[0093] S58, when the deviation μ of the vehicle body exceeds the second preset threshold, it is determined that the vehicle body of the first vehicle 3 has deviated, and a correction command is sent to the maintenance personnel. The second preset threshold can be set according to actual needs. For example, when the deviation μ exceeds the second preset threshold, a maintenance command is sent to the maintenance personnel to promptly inspect and repair the sintering machine vehicle 3, achieving a rapid response.

[0094] Furthermore, step S57 is followed by the following step:

[0095] S59, when the vehicle body deviation amount μ is less than or equal to the second preset threshold, it is determined that the vehicle body of the first trolley 3 has not deviated and the current state is maintained. That is to say, the trolley 3 has only experienced a small or no deviation, and the trolley 3 is in a normal operating state.

[0096] In a preferred embodiment, step S1 is preceded by the following step:

[0097] S01, acquire the distance information detected by the ranging device 1. It should be noted that in this embodiment, to further detect whether the wheels 31 of the sintering machine trolley 3 have fallen off during actual operation, the ranging device 1, combined with the speed of the sintering machine trolley 3, obtains the predicted arrival time of the trolley 3 at the detection position. Normally, multiple trolley sections 3 press against each other for continuous sintering. If no wheel falls off, the ranging device 1 should be able to detect the wheels 31 of the sintering machine trolley 3 at the predicted time. If, at a certain normal moment, the arrival of the wheels 31 is still not detected, it indicates that the wheels 31 have fallen off.

[0098] S02, according to the distance limitation conditions, obtain the data of the wheel 31 part in the distance information; it should be noted that the data information of the sintering machine trolley 3 detected by the ranging device 1 is from multiple regions and includes various background data. In order to improve the detection accuracy, this embodiment sets distance limitation conditions to extract the data of the wheel 31 part from the detection data obtained by the ranging sensor. The specific distance limitation conditions, data filtering methods, or specific extraction of data from a certain region of the trolley 3 can all be set according to actual needs.

[0099] S03, obtain the current running speed v of the sintering machine trolley 3. t (t), and the wheel spacing L2 between two adjacent sintering machine trolleys 3. It should be noted that in the actual operation of the sintering machine trolley 3, its speed is not completely linear. Therefore, in this embodiment, the real-time speed of the sintering machine trolley 3 is obtained, and then a specific integral algorithm is used to obtain the predicted time for the next sintering machine trolley 3 to arrive at the detection position.

[0100] S03, according to the formula The predicted time n for the next sintering machine trolley 3 to reach the detection position of the ranging device 1 is calculated by reverse calculation. According to the formula, L2 and v... t (t) are all known quantities that can be obtained directly. n can be calculated by using the above integral formula, which is the predicted time from the appearance of the next sintering machine trolley 3 to the detection position of the ranging device 1.

[0101] S04, determine whether the distance detected by the ranging device 1 at the predicted time n is within the preset distance range of the trolley 3.

[0102] S05, when the detection distance is within the preset distance range, it is determined that the current sintering machine trolley 3 has not experienced wheel drop;

[0103] S06, when the detection distance is not within the preset distance range, it is determined that the current sintering machine trolley 3 has experienced a wheel drop.

[0104] Specifically, when the predicted time n is reached, the detection distance detected by the ranging device 1 is obtained, and it is analyzed whether the detection distance is within the preset distance range. Under normal circumstances, the ranging device 1 detects the distance between the ranging device 1 and one side of the trolley 3. For example, please refer to the appendix again. Figure 10 In a specific embodiment, the ranging device 1 detects the position of the trolley wheel 31. When the wheel 31 passes, there is a period of time when the wheel 31 is not present, and the distance value is maintained within a certain range. When the wheel 31 passes, the detection distance will decrease. If the value does not decrease or does not change to the preset range at time n, it can be determined that the trolley wheel 31 at time n has fallen off. Otherwise, it is determined that the trolley 3 has not fallen off.

[0105] Furthermore, step S05 further includes the step:

[0106] S051, at the predicted time n and when no wheel has fallen off the sintering machine trolley 3, a pre-start command is sent to the hammering device 2, and the hammering device 2 is controlled to hammer the outer end face of the wheel 31 of the sintering machine trolley 3 at time n+t. Specifically, the hammering device 2 is installed near the detection device. At the predicted time n and when no wheel has fallen off the sintering machine trolley 3, a pre-start command is sent to the hammering device 2, and the hammering device 2 is controlled to hammer the outer end face of the wheel 31 of the sintering machine trolley 3 at time n+t.

[0107] Secondly, the present invention also provides a diagnostic system for the sintering machine trolley wheel 31, including a control system, a hammering device 2 connected to the control system, and a ranging device 1; wherein, the control system includes a memory 52, a processor 51, and a computer program 53 stored in the memory 52 and executable on the processor, wherein when the processor 51 executes the computer program 53, it implements the steps of the diagnostic method for the sintering machine trolley wheel 31 as described above.

[0108] Thirdly, the present invention also provides a storage medium storing a computer program 53, which, when executed by a processor 51, implements the steps of the above-described diagnostic method for the sintering machine trolley wheel 31. It is understood that, when executed by the processor 51, the above-described electric bicycle battery swapping control method is implemented; therefore, all embodiments of the above method are applicable to this storage medium and can achieve the same or similar beneficial effects.

[0109] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for diagnosing the wheels of a sintering machine trolley, characterized in that, Including the following steps: S1, obtain the motion information of the first vehicle closest to the hammering device, and determine whether the first wheel has entered the hammering range of the hammering device; S2, when the first vehicle enters the hammering range, control the hammering device to hammer the outer end face of the first wheel; wherein, the hammering direction of the hammering device is perpendicular to the outer end face of the first wheel; S3, acquire the distance value from the outer end face of the first wheel detected by the ranging device, and determine whether the distance value of the first wheel after being hammered is within a preset range; the ranging device includes multiple devices; Step S3 includes the following steps: S31, acquire a first distance value from the outer end face of the first wheel detected by the first ranging device and acquire a second distance value from the outer end face of the first wheel detected by the second ranging device; wherein, the first ranging device and the second ranging device are in the same vertical direction; S32, according to formula Calculate the distance deviation between the first distance value and the second distance value; wherein, The first distance value detected by the first ranging device. The second distance value detected by the second ranging device; S33, Determine the distance deviation Is it greater than the first preset threshold? S4, in the distance deviation If the value exceeds the first preset threshold, it is determined that the first wheel is loose.

2. The sintering machine trolley wheel diagnosis method according to claim 1, characterized in that, Step S3 includes the following steps: S300, acquire the third distance value of the distance from the outer end face of the first wheel detected by the third ranging device and acquire the fourth distance value of the distance from the outer end face of the first wheel detected by the fourth ranging device; wherein, the third ranging device and the fourth ranging device are arranged symmetrically above and below. S301, determine whether the third distance value is greater than the first preset value, and determine whether the fourth distance value is greater than the second preset value; S302, when at least one of the third distance value being greater than the first preset value and the fourth distance value being greater than the second preset value is met, it is determined that the first wheel is loose; S303, if neither of the following conditions is met: the third distance value is greater than the first preset value, or the fourth distance value is greater than the second preset value, then it is determined that the first wheel is not loose.

3. The sintering machine trolley wheel diagnosis method according to claim 1, characterized in that, The step S4 is followed by the following step: S51, acquire the fifth distance value detected by the fifth ranging device from the outer end face of the second wheel of the first vehicle, and acquire the sixth distance value detected by the sixth ranging device from the outer end face of the second wheel of the first vehicle; wherein, the first wheel and the second wheel are located on both sides of the vehicle, and the fifth ranging device and the sixth ranging device are in the same vertical direction. S52, calculate the average value of the first distance value and the second distance value. l ; and calculate the average value of the fifth distance value and the sixth distance value. r ; S53, obtain the distance L1 between the first ranging device and the fifth ranging device; S54, according to formula Obtain the center position l of the first vehicle body; S55, obtain the distance L0 between the center point of the two side tracks of the first vehicle and the first ranging device; S56, according to formula Obtain the vehicle body deviation amount μ of the first vehicle; S57, determine whether the vehicle body deviation amount μ is greater than the second preset threshold; S58, when the vehicle body deviation amount μ is greater than the second preset threshold, it is determined that the vehicle body of the first vehicle has deviated, and a correction command is sent to the maintenance personnel.

4. The sintering machine trolley wheel diagnosis method according to claim 3, characterized in that, The step S57 is followed by the following step: S59, when the vehicle body deviation amount μ is less than or equal to the second preset threshold, it is determined that the vehicle body of the first vehicle has not deviated and the current state is maintained.

5. The sintering machine trolley wheel diagnosis method according to claim 1, characterized in that, The step preceding step S1 includes the following steps: S01, Obtain the distance information detected by the ranging device; S02, Based on the distance limitation conditions, obtain the wheel portion data from the distance information; S03, Obtain the current running speed of the sintering machine trolley. , and the wheel spacing L2 between two adjacent sintering machine trolleys; S03, according to the formula The predicted time n for the next sintering machine trolley to reach the detection position of the ranging device is calculated in reverse. S04, determine whether the detection distance detected by the ranging device at the prediction time n is within the preset distance range; wherein, the detection distance is the distance between the ranging device and the trolley; S05, when the detection distance is within the preset distance range, it is determined that the current sintering machine trolley has not experienced wheel drop; S06, when the detection distance is not within the preset distance range, it is determined that the current sintering machine trolley has experienced a wheel drop.

6. The sintering machine trolley wheel diagnosis method according to claim 5, characterized in that, Step S05 further includes the following step: S051, when the predicted time n and the current sintering machine trolley has not experienced wheel drop, a pre-start command is sent to the hammering device, and the hammering device is controlled to hammer the outer end face of the wheel of the sintering machine trolley at time n+t.

7. The sintering machine trolley wheel diagnostic method according to any one of claims 1-6, characterized in that, The ranging device is a laser ranging sensor.

8. A diagnostic system for the wheels of a sintering machine trolley, characterized in that, The system includes a control system, a hammering device connected to the control system, and a ranging device; wherein the hammering device includes a drive cylinder and a spring hammer, the spring hammer being rotatably connected to the drive end of the drive cylinder; the control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the sintering machine trolley wheel diagnosis method as described in any one of claims 1 to 7.

9. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the sintering machine trolley wheel diagnosis method as described in any one of claims 1 to 7.

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