A sintering machine trolley arch automatic adjustment control method and system and a storage medium

Abstract

The present application provides a kind of sintering machine trolley arching automatic adjustment control method, system and storage medium, by obtaining the graphic image information of sintering machine trolley obtained by image recognition device and extracting the effective image information of the wheel of current sintering machine trolley and the track at return track, the identification end of image recognition device is for the transition connection of return track and tail star wheel curve, according to the distance of effective image information and the distance of identification end from the wheel of current sintering machine trolley, the arching amount of current sintering machine trolley relative to return track is calculated, when arching amount is greater than first preset threshold, control arching adjustment device to start, when arching amount is less than or equal to first preset threshold, the distance value between the top of wheel of current sintering machine trolley and ranging device detected by ranging device is obtained, when distance value is less than second preset threshold, control arching adjustment device to start, to eliminate arching, can real-time monitoring arching amount, and timely adjustment.

Description

Technical Field

[0001] This invention relates to the field of sintering machine technology, and in particular to an automatic adjustment and control method, system and storage medium for sintering machine trolley arching. Background Technology

[0002] The sintering machine plays a crucial role as one of the raw material supply devices for blast furnaces. The sintering machine trolley is primarily responsible for loading, igniting, sintering, and discharging sintered ore at the tail end along the track. The belt sintering machine is a key piece of equipment in the sintering process. The entire operation is powered by the continuous rotation of star wheels, which drive the trolley in a cyclical motion. The head star wheel is powered and acts as the driving wheel, while the tail star wheel is unpowered and acts as the driven wheel. The sintering machine trolley consists of two sections: the upper sintering section and the lower return section. The trolleys are not interconnected; they are propelled by mutual compression. To accommodate the thermal deformation and elongation of the sintering machine trolley during operation (where the average temperature can reach over 100℃), the tail star wheel can move back and forth within a certain range (approximately 150mm at the head and approximately 250mm at the tail). Because the head star wheel is fixed and the tail star wheel is movable, the trolley suspended on the tail star wheel exerts a backward pulling force on it. Therefore, the tail star wheel needs to be balanced to ensure the ring-shaped structure of the head and tail star wheels. The upper sintering section trolley is driven by the head star wheel, and the lower return stroke is driven by the weight of the trolley itself, in addition to the driving force of the head star wheel.

[0003] During operation, belt sintering machines commonly experience bridging on the return trip of the sintering machine trolley. The main cause of bridging is the force exerted on the trolley by the tail star wheel and the mutual squeezing force between the trolleys as the trolley enters the horizontal return path from the tail curve. When the trolley bridging occurs, wheel wear on the track is accelerated, and the impact on the track during the trolley's descent shortens the equipment's lifespan and, in severe cases, affects the normal operation of the sintering machine. Figure 1 As shown, when the trolley exits the return path from the tail end along the tail curve and passes the star wheel toothed plate, the rear wheels of the trolley rise and do not contact the track. The arching height varies from 5 to 40 mm. When the arching trolley reaches the head of the sintering machine, due to the action of the head star wheel, the rear wheels of the arching trolley will gradually slide down or fall instantly, generating an impact. This causes wear on the trolley track and the end of the trolley body, shortening the service life of the equipment and increasing maintenance costs. If the arching amount is relatively small (<10 mm), the damage to the equipment is minor, and normal production is allowed without intervention; however, if the arching amount is large (≥10 mm), the damage to the equipment (wheels, bearings, tracks, etc.) is significant, and timely adjustment measures are required.

[0004] Currently, some solutions exist for the arching problem of sintering machine trolleys, but there is no universally accepted technology or device that can completely solve the arching issue. The arching condition of the sintering machine changes with factors such as time and production load. Existing technologies typically involve installing an elastic pressing device at the tail of the sintering machine or a pressure roller device on the trolley track. When workers observe severe arching, they activate the elastic pressing device or pressure roller device to eliminate the arching. However, the height of the arching is measured manually by the naked eye or by workers using tools, lacking a scientific quantitative method. This results in delays in processing and adjustment, and the sintering machine trolley operates with faults for extended periods, making real-time monitoring and adjustment impossible.

[0005] In view of this, it is necessary to propose an automatic adjustment control method, system and storage medium for sintering machine trolley arching to solve or at least alleviate the above-mentioned defects. Summary of the Invention

[0006] The main objective of this invention is to provide an automatic adjustment control method, system, and storage medium for sintering machine trolley arching, in order to solve the problems in the prior art where trolley arching is measured by manual visual inspection or by workers using tools, resulting in delayed processing and adjustment, long running time of sintering machine trolleys with faults, and the inability to monitor and adjust in real time.

[0007] To achieve the above objectives, the present invention provides an automatic adjustment device for arching of a sintering machine trolley, comprising the following steps:

[0008] S1, acquire graphic image information of the sintering machine trolley obtained by the image recognition device and extract valid image information of the wheels and return track of the current sintering machine trolley from the graphic image information; wherein, the recognition end of the image recognition device is directly opposite the transition connection between the return track and the tail star wheel curve.

[0009] S2, calculate the arching amount of the current sintering machine trolley relative to the return track based on the valid image information and the distance between the recognition terminal and the wheels of the current sintering machine trolley;

[0010] S3, determine whether the arching amount is greater than the first preset threshold;

[0011] S4, when the arching amount is greater than the first preset threshold, control the arching adjustment device to start, so as to eliminate the arching amount of the current sintering machine trolley.

[0012] Preferably, step S3 is followed by the step:

[0013] S31, when the arching amount is less than or equal to the first preset threshold, the distance value between the ranging device and the top of the wheel of the current sintering machine trolley is obtained; wherein, the ranging device is set above the return track of the sintering machine, the measuring end of the ranging device has a first preset distance between it and the top of the wheel of the sintering machine trolley, and the measuring end of the ranging device has a second preset distance between it and the axle of the tail star wheel;

[0014] S32, determine whether the distance value is less than a second preset threshold; wherein, the second preset threshold is greater than the first preset threshold;

[0015] S33, when the distance value is less than the second preset threshold, control the arching adjustment device to start, so as to eliminate the arching amount of the current sintering machine trolley;

[0016] S34, when the distance value is greater than or equal to the second preset threshold, it is determined that the current sintering machine trolley is in normal operation, and the current state of the arching adjustment device is maintained.

[0017] Preferably, the step S1 is preceded by the following step:

[0018] S01, obtain the current first operating speed of the sintering machine;

[0019] S02, based on the first running speed, obtain the first predicted time node when the sintering machine trolley enters the effective recognition range of the image recognition device;

[0020] S03, at the first prediction time node, control the image recognition device to start and proceed to step S1.

[0021] Preferably, the step S31 is preceded by the following step:

[0022] S300, obtain the second operating speed of the sintering machine, and obtain the second predicted time node of the current sintering machine trolley from the monitoring point of the image recognition device to the monitoring point of the distance measuring device according to the second operating speed and the second preset distance;

[0023] S301, at the second predicted time node, control the ranging device to start and proceed to step S31.

[0024] Preferably, the ranging device includes a first ranging device and a second ranging device, wherein the first ranging device and the second ranging device are symmetrically arranged on both sides of the current sintering machine trolley; step S31 includes the following steps:

[0025] S311, acquire the first distance value detected by the first ranging device to the top of the left wheel of the current sintering machine trolley, and acquire the second distance value detected by the second ranging device to the top of the right wheel of the current sintering machine trolley.

[0026] S312, calculate the average distance between the first distance value and the second distance value, and use the average distance value as the distance value in step S31, and proceed to step S32.

[0027] Preferably, step S2 includes the following steps:

[0028] S21, acquire the first camber amount of the left wheel of the current sintering machine trolley relative to the left return track detected by the first image recognition device, and acquire the second camber amount of the right wheel of the current sintering machine trolley relative to the right return track detected by the second image recognition device; wherein, the first image recognition device and the second image recognition device are symmetrically arranged on both sides of the current sintering machine trolley.

[0029] S22, calculate the average of the first arching amount and the second arching amount, and use the average arching amount as the arching amount in step 2, and proceed to step S3.

[0030] Preferably, the first preset threshold is set between 11mm and 13mm, and the second preset threshold is set between 14mm and 17mm.

[0031] This invention also provides an automatic camber adjustment system for a sintering machine trolley, including a ranging device, an image recognition device, a control system, and a camber adjustment device installed at the tail star wheel of the sintering machine; wherein,

[0032] The ranging device is positioned above the return track of the sintering machine. The measuring end of the ranging device has a first preset distance from the top of the wheel of the sintering machine trolley, and the measuring end of the ranging device has a second preset distance from the axle of the tail star wheel. The ranging device is fixedly connected to the frame of the sintering machine and is used to measure the distance between itself and the top of the wheel of the sintering machine trolley.

[0033] The image recognition device is located on one side of the tail star wheel and is at a third preset distance from the toothed plate of the tail star wheel. The recognition end of the image recognition device is directly opposite the transition connection between the return track and the tail curve. It is used to detect the arching amount when the sintering machine trolley leaves the tail star wheel and enters the return track. There is a fourth preset distance between the recognition end of the image recognition device and the measuring end of the measuring device.

[0034] The ranging device, the image recognition device, and the arching adjustment device are all electrically connected to the control system. The tail star wheel moves away from the head star wheel of the sintering machine along the axis of the sintering machine frame under the drive of the arching adjustment device. The control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above-described automatic arching adjustment control method for the sintering machine trolley.

[0035] Preferably, the arching adjustment device includes a star wheel pushing mechanism and a star wheel resetting mechanism; wherein, the star wheel pushing mechanism is fixedly connected to the tail star wheel and is used to drive the tail star wheel to move away from the head star wheel of the sintering machine along the axial direction of the sintering machine frame; the star wheel resetting mechanism is fixedly connected to the star wheel pushing mechanism and is used to pull the tail star wheel back to its initial position.

[0036] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described automatic adjustment and control method for arching of the sintering machine trolley.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] This invention provides an automatic adjustment control method, system, and storage medium for sintering machine trolley arching. It acquires graphic image information of the sintering machine trolley from an image recognition device and extracts valid image information of the wheels and return track of the current sintering machine trolley from the graphic image information. The recognition end of the image recognition device is positioned at the transition connection between the return track and the tail star wheel curve. Based on the valid image information and the distance between the recognition end and the wheels of the current sintering machine trolley, the arching amount of the current sintering machine trolley relative to the return track is calculated. When the arching amount exceeds a first preset threshold, the arching adjustment device is activated to eliminate the arching. This allows for real-time monitoring of the arching amount and timely adjustment.

[0039] Furthermore, since the trolley running behind can affect the trolley running in front, this application addresses this issue by setting up the distance measuring device. When the camber is less than or equal to a first preset threshold, the distance between the distance measuring device and the top of the wheel of the current sintering machine trolley is obtained. When the distance is less than a second preset threshold, the camber adjustment device is activated to perform secondary monitoring on the sintering machine trolley that has reached the distance measuring device. This effectively solves the problem of the sintering machine trolley running behind affecting the sintering machine trolley running in front, thereby achieving scientific and quantitative decision-making. Attached Figure Description

[0040] 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.

[0041] Figure 1 This is a flowchart illustrating one embodiment of the present invention;

[0042] Figure 2 This is a flowchart illustrating steps following step S3 in one embodiment of the present invention.

[0043] Figure 3 This is a flowchart illustrating a step that precedes step S1 in one embodiment of the present invention.

[0044] Figure 4 This is a schematic diagram of the architecture of a control system according to one embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the arching phenomenon of a sintering machine trolley located on the return path in the prior art.

[0046] Figure 6 This is a schematic diagram of a structure with a ranging component arranged in one embodiment of the present invention;

[0047] Figure 7 for Figure 6 A cross-sectional view along the AA direction;

[0048] Figure 8 This is a schematic diagram of a structure with an image recognition component arranged in one embodiment of the present invention;

[0049] Figure 9 This is a schematic diagram of a sintering machine trolley with an identification plate in one embodiment of the present invention;

[0050] Figure 10 This is a schematic diagram of the structure before the arch adjustment component is driven in one embodiment of the present invention;

[0051] Figure 11 This is a schematic diagram of the structure after the arch adjustment component is driven in one embodiment of the present invention;

[0052] Figure 12 This is a schematic diagram of the arching adjustment component in one embodiment of the present invention;

[0053] Figure 13 This is a schematic diagram of the structure of the drive component and the sliding component cooperating in one embodiment of the present invention;

[0054] Figure 14 This is a schematic diagram of the forces acting on the trolley entering the lower horizontal return path in one embodiment of the present invention.

[0055] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0056] Explanation of icon numbers:

[0057] 10. Distance measuring device; 110. First distance measuring device; 120. Second distance measuring device; 20. Image recognition device; 30. Arching adjustment device; 310. Star wheel pushing mechanism; 311. Drive assembly; 3111. Mounting base; 3112. Hydraulic drive cylinder; 312. Fixed frame; 313. Sliding assembly; 3131. Connecting frame; 3132. Sliding component; 314. Moving frame; 320. Star wheel reset mechanism; 321. Counterweight; 322. First fixed pulley assembly; 3221. First pulley support; 3222. First fixed pulley; 323. Second fixed pulley assembly; 3231. Second pulley support; 3232. Second fixed pulley; 324. Tensioning rope; 40. Sintering machine; 410. Return track; 411. Tail curve; 420. Sintering machine trolley; 421. Wheels of the sintering machine trolley; 430. Frame of the sintering machine; 440. Head star wheel; 450. Tail star wheel; 451. Tooth plate of the tail star wheel; 452. Axle of the tail star wheel; 460. Sign. Detailed Implementation

[0058] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] First, it needs to be clarified in advance that, currently, there is no universally accepted technology or device that can completely solve or eliminate the arching problem commonly found in sintering machine trolleys 420. Currently, arching in sintering machine trolleys 420 is addressed retrospectively. Adjustments are made only after severe arching has occurred, relying on visual inspection. This approach cannot provide timely and rapid judgment or response, increasing the time the sintering machine trolley 420 operates with the problem. Furthermore, the height of the arching is measured visually or manually using tools, lacking scientific methods for quantification.

[0063] Please see the appendix Figure 1-14 An automatic adjustment device for arching of a sintering machine trolley, provided in one embodiment of the present invention, includes the following steps:

[0064] S1, acquire graphic image information of sintering machine trolley 420 obtained by image recognition device 20 and extract valid image information of the wheel 421 of the current sintering machine trolley and the return track 410 from the graphic image information; wherein, the recognition end of the image recognition device 20 is directly opposite the transition connection between the return track 410 and the tail curve 411 of the tail star wheel 450.

[0065] Those skilled in the art should understand that the starting point and abrupt change of the arching of the sintering machine trolley 420 on the return track 410 generally occurs when the sintering machine trolley 420 just leaves the toothed plate of the tail star wheel 450 and enters the horizontal section of the return track 410. In image representation, this is close to the point where the return track 410 is tangent to the tail star wheel 450, which is the transition connection point mentioned in this application. Since the space here is small, this application uses the image recognition device 20 located near this point to obtain the current arching amount of the sintering machine trolley 420. For example, the image recognition device 20 can be an industrial camera. Based on the installation distance between the industrial camera and the return track 410, the effective image recognition range can be extracted. When each sintering machine trolley 420 enters the effective recognition range of the image recognition device 20, the maximum and minimum values ​​of the distance between the wheels 421 of the sintering machine trolley and the return track 410 can be obtained. For example, the arching height value when the wheels 421 of the sintering machine trolley are directly opposite the recognition end of the image recognition device 20 can be used as a judgment benchmark to determine whether the current sintering machine trolley 420 exceeds the limit value of the arching amount.

[0066] S2, calculate the arching amount of the current sintering machine trolley 420 relative to the return track 410 based on the effective image information and the distance between the recognition terminal and the wheel 421 of the current sintering machine trolley;

[0067] S3, determine whether the arching amount is greater than the first preset threshold;

[0068] S4, when the arching amount is greater than the first preset threshold, control the arching adjustment device 30 to start, so as to eliminate the arching amount of the current sintering machine trolley 420.

[0069] The arching adjustment device 30 can be the preferred arching adjustment device 30 described later in this specification, or it can be an existing technology, such as setting an elastic pressing device (not shown in the figure) at the tail of the sintering machine 40, or setting a pressure roller device (not shown in the figure) on the trolley track. When it is determined that arching adjustment of the sintering machine trolley 420 is required, the arching adjustment device 30 is activated in time to eliminate the amount of arching of the sintering machine trolley 420. Through this monitoring, judgment and adjustment method, the starting point of the return track 410 of the sintering machine trolley 420 with severe arching can be monitored and adjusted in a timely and rapid manner. In other words, the sintering machine trolley 420 with severe arching can be cut off at the source of arching, which significantly improves the effect of preventing arching.

[0070] In a preferred embodiment, step S3 is followed by the following step:

[0071] S31, when the arching amount is less than or equal to the first preset threshold, the distance value between the ranging device 10 and the top of the wheel 421 of the current sintering machine trolley is obtained; wherein, the ranging device 10 is disposed above the return track 410 of the sintering machine 40, the measuring end of the ranging device 10 has a first preset distance between it and the top of the wheel 421 of the sintering machine trolley, and the measuring end of the ranging device 10 has a second preset distance between it and the axle 452 of the tail star wheel;

[0072] S32, determine whether the distance value is less than a second preset threshold; wherein, the second preset threshold is greater than the first preset threshold;

[0073] S33, when the distance value is less than the second preset threshold, control the arching adjustment device 30 to start, so as to eliminate the arching amount of the current sintering machine trolley 420;

[0074] S34, when the distance value is greater than or equal to the second preset threshold, it is determined that the current sintering machine trolley 420 is in normal operation, and the current state of the arching adjustment device 30 is maintained.

[0075] In this embodiment, those skilled in the art should pay particular attention to the fact that during the actual operation of the sintering machine trolley 420, the sintering machine trolley 420 running ahead relies on the pushing force of the sintering machine trolley 420 running behind to run on the track of the sintering machine 40. Therefore, the sintering machine trolley 420 running behind may affect the sintering machine trolley 420 running ahead. In other words, in some cases, it may continue to increase the arching amount of the sintering machine trolley 420. For example, when the sintering machine trolley 420 just leaves the tail star wheel 450 and enters the return track 410 of the horizontal section, the arching amount of the sintering machine trolley 420 at this time does not exceed the limit value. As time goes on, the force exerted by the sintering machine trolley 420 running behind on the sintering machine trolley 420 running ahead changes. Therefore, the arching value of the sintering machine trolley 420 running ahead may exceed the set value after running a certain distance. Based on this situation, in this embodiment, the ranging device 10 is set at a certain distance away from the image recognition device 20 on the sintering machine 40, and the ranging device 10 is used to perform "secondary monitoring" on the sintering machine trolley 420.

[0076] In addition, the principle of the ranging device 10 monitoring the camber amount needs to be explained: When the sintering machine trolley 420 does not camber, there is a certain preset distance between the measuring end of the ranging device 10 and the top of the wheel 421 of the sintering machine trolley, and this distance value is kept within a constant range; when the sintering machine trolley 420 cambers, the wheel 421 of the sintering machine trolley leaves the return track 410 at a certain height. At this time, the distance between the measuring end of the ranging device 10 and the top of the wheel 421 of the sintering machine trolley will become smaller. When this distance shrinks to the second preset threshold, it is determined that the current sintering machine trolley 420 has cambered relatively severely. At this time, the camber adjustment device 30 is controlled to adjust the sintering machine trolley 420 in a timely manner.

[0077] In a preferred embodiment, step S1 is preceded by the following step:

[0078] S01, Obtain the current first operating speed of sintering machine 40;

[0079] S02, based on the first running speed, obtain the first predicted time node when the sintering machine trolley 420 enters the effective recognition range of the image recognition device 20;

[0080] S03, at the first prediction time node, control the image recognition device 20 to start and proceed to step S1.

[0081] It should be noted that since the sintering machine 40 operates at a relatively uniform speed during normal operation, and the installation position and operating speed of the image recognition device 20 can be considered constant, the time it takes for each sintering machine trolley 420 to reach the effective monitoring range of the image recognition device 20 can be predicted. For example, by acquiring the current operating speed of the sintering machine 40 and calculating using speed integration or directly using vt=s, the image recognition device 20 is activated when each sintering machine trolley 420 reaches the effective monitoring range, and image information of the corresponding sintering machine trolley's wheels 421 and return track 410 is collected. This reduces the frequency and duration of use of the image recognition device 20, effectively extending its service life. Of course, in other embodiments, real-time monitoring can also be used, which can also obtain the arching amount of the corresponding sintering machine trolley 420 in a timely and accurate manner.

[0082] In another preferred embodiment, step S31 is further included before the following step:

[0083] S300, obtain the second operating speed of the sintering machine 40, and obtain the second predicted time node of the current sintering machine trolley 420 from the monitoring point of the image recognition device 20 to the monitoring point of the ranging device 10 according to the second operating speed and the second preset distance;

[0084] S301, at the second prediction time node, control the ranging device 10 to start and proceed to step S31.

[0085] Similarly, during the normal operation of the sintering machine 40, its operating speed can be considered uniform, and the installation position of the ranging device 10 is fixed, while the distance between the ranging device 10 and the image recognition device 20 is constant. Therefore, it is predictable whether each sintering machine trolley 420 will move from the effective monitoring range of the image recognition device 20 to the effective monitoring range of the ranging device 10. The prediction method is similar to that of the image recognition device 20 described above. This effectively reduces the frequency and duration of use of the ranging device 10, extending its service life. Of course, in other embodiments, real-time monitoring can also be used, which can also obtain the arching amount of the corresponding sintering machine trolley 420 in a timely and accurate manner.

[0086] In a preferred embodiment, the ranging device 10 includes a first ranging device 110 and a second ranging device 120, wherein the first ranging device 110 and the second ranging device 120 are symmetrically arranged on both sides of the current sintering machine trolley 420; step S31 includes the following steps:

[0087] S311, acquire the first distance value detected by the first ranging device 110 to the top of the left wheel of the current sintering machine trolley 420, and acquire the second distance value detected by the second ranging device 120 to the top of the right wheel of the current sintering machine trolley 420.

[0088] S312, calculate the average distance between the first distance value and the second distance value, and use the average distance value as the distance value in step S31, and proceed to step S32.

[0089] In this embodiment, the ranging device 10 includes a first ranging device 110 and a second ranging device 120 arranged opposite to each other. It should be noted that using the average of the first and second distance values ​​as the benchmark for determining whether the arching amount of the current sintering machine trolley 420 exceeds a predetermined value can improve the accuracy of the judgment and more comprehensively reflect the arching amount of the sintering machine trolley 420. Both the first ranging device 110 and the second ranging device 120 can be fixedly installed on the frame 430 of the sintering machine. The symmetrical arrangement facilitates calculation and improves the accuracy of the judgment. It is understood that in other embodiments, those skilled in the art may also choose to use multiple sets of ranging devices 10 to improve accuracy.

[0090] Further, step S2 includes the following steps:

[0091] S21, acquire the first camber amount of the left wheel of the current sintering machine trolley 420 relative to the left return track 410 detected by the first image recognition device (not shown in the figure), and acquire the second camber amount of the right wheel of the current sintering machine trolley 420 relative to the right return track 410 detected by the second image recognition device (not shown in the figure); wherein, the first image recognition device and the second image recognition device are symmetrically arranged on both sides of the current sintering machine trolley 420;

[0092] S22, calculate the average of the first arching amount and the second arching amount, and use the average arching amount as the arching amount in step 2, and proceed to step S3.

[0093] In this embodiment, the image recognition device 20 includes a first image recognition device and a second image recognition device symmetrically arranged. The average of the first arching amount and the second arching amount is used as the benchmark for determining whether the arching amount of the current sintering machine trolley 420 exceeds a predetermined value. This improves the accuracy of the judgment and provides a more comprehensive reflection of the arching amount of the sintering machine trolley 420. Both the first and second image recognition devices can be mounted on the frame 430 of the sintering machine via a connecting frame 3131, or fixed to the ground via a mounting base 3111. Of course, in other embodiments, the number and arrangement of the image recognition devices 20 can be selected according to needs, as long as the goal of improving accuracy is achieved.

[0094] As an optional implementation, the first preset threshold is set between 11mm and 13mm, and the second preset threshold is set between 14mm and 17mm. It is understood that in other embodiments, those skilled in the art can adaptively adjust the first and second preset thresholds according to actual needs. It should be noted that the first and second preset thresholds should be set in conjunction with the actual arching condition of the sintering machine 40. Generally, if the arching amount of the sintering machine trolley 420 exceeds 10mm, adjustment is necessary.

[0095] The present invention also provides an automatic arching adjustment system for a sintering machine trolley 420, including a ranging device 10, an image recognition device 20, a control system, and an arching adjustment device 30 disposed at the tail star wheel 450 of the sintering machine 40; wherein,

[0096] The ranging device 10 is disposed above the return track 410 of the sintering machine 40. The ranging end of the ranging device 10 has a first preset distance between it and the top of the wheel 421 of the sintering machine trolley, and the ranging end of the ranging device 10 has a second preset distance between it and the axle 452 of the tail star wheel. The ranging device 10 is fixedly connected to the frame 430 of the sintering machine and is used to measure the distance between it and the top of the wheel 421 of the sintering machine trolley.

[0097] Specifically, the ranging device 10 is positioned above the return track 410. It monitors the distance between itself and the top of the wheels of the sintering machine trolley 420 to determine whether the sintering machine trolley 420 has exceeded the arching limit. The first preset distance can be set according to actual needs, ensuring high-precision acquisition of the distance between the top of the wheels 421 of the sintering machine trolley running on the return track 410. It should be noted that the ranging end of the ranging device 10 in this application has a second preset distance between itself and the axle 452 of the tail star wheel. This second preset distance should be set according to actual needs. The ranging device 10 can be an ultrasonic sensor, infrared sensor, laser sensor, etc., and features high precision and good applicability, enabling real-time acquisition of high-precision distance values ​​for appropriate judgment.

[0098] The image recognition device 20 is disposed on one side of the tail star wheel 450 and is at a third preset distance from the toothed plate 451 of the tail star wheel. The recognition end of the image recognition device 20 is directly opposite the transition connection between the return track 410 and the tail curve 411, and is used to detect the arching amount when the sintering machine trolley 420 leaves the tail star wheel 450 and enters the return track 410. There is a fourth preset distance between the recognition end of the image recognition device 20 and the measuring end of the measuring device 10.

[0099] Those skilled in the art should understand that the starting point and abrupt change of the arching of the return track 410 generally occurs when the sintering machine trolley 420 just leaves the toothed plate of the tail star wheel 450 and enters the horizontal section of the return track 410. In image representation, this is close to the point where the return track 410 is tangent to the tail star wheel 450. Since the space at this point is small, this application sets the image recognition device 20 near this point, and the image recognition device 20 can also obtain the current arching amount of the sintering machine trolley 420. For example, the image recognition device 20 can be an industrial camera. Based on the installation distance between the industrial camera and the return track 410, by extracting the effective image recognition range, when each sintering machine trolley 420 enters the effective recognition range of the image recognition device 20, the maximum and minimum values ​​of the distance between the wheels 421 of the sintering machine trolley and the return track 410 can be obtained. For instance, the arching height value when the wheels 421 of the sintering machine trolley are directly opposite the recognition end of the image recognition device 20 can be used as a judgment benchmark to determine whether the current sintering machine trolley 420 exceeds the arching limit. The third preset distance and the fourth preset distance can both be set according to actual needs.

[0100] The ranging device 10, the image recognition device 20, and the arching adjustment device 30 are all electrically connected to the control system. The tail star wheel 450 moves away from the head star wheel 440 of the sintering machine 40 along the axial direction of the sintering machine 40 frame under the drive of the arching adjustment device 30. 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. When the processor 51 executes the computer program 53, it implements the steps of the above-described automatic arching adjustment control method for the sintering machine trolley 420.

[0101] It needs to be further explained that, since the sintering machine trolleys 420 are connected front to back, with the trolley running behind pushing the trolley running in front, the factors involved in the arching of each sintering machine trolley 420 are complex. Subsequent sintering machine trolleys 420 may also have a further cumulative effect on the arching of the preceding sintering machine trolleys 420. Therefore, this application sets up the ranging device 10 to perform "secondary detection" on the sintering machine trolleys 420 running from the transition connection between the return track 410 and the tail curve 411, which can comprehensively and completely eliminate the arching of the sintering machine trolleys 420.

[0102] Working principle: When the sintering machine trolley 420 closest to the image recognition device 20 runs into the effective monitoring range of the image recognition device 20, the system captures image information of the wheels 421 and return track 410 of the effective sintering machine trolleys within the current monitoring area, and calculates the arching amount of the current sintering machine trolley 420. When the arching amount exceeds a preset value, the control system receives the distance signal and controls the arching adjustment device 30 to start, thereby adjusting the current sintering machine trolley 420. When the arching amount of the current sintering machine trolley 420 is lower than the preset value, but subsequent trolleys may cause a cumulative effect on the sintering machine trolley 420 running ahead, when the current sintering machine trolley runs into the monitoring range of the ranging device 10, the control system acquires the distance information detected by the ranging device 10. If the arching amount of the current sintering machine trolley 420 exceeds the set value, the control system controls the arching adjustment device 30 to adjust the current sintering machine trolley 420.

[0103] Furthermore, the arching adjustment device 30 includes a star wheel pushing mechanism 310 and a star wheel resetting mechanism 320; wherein, the star wheel pushing mechanism 310 is fixedly connected to the tail star wheel 450 and is used to drive the tail star wheel 450 to move away from the head star wheel 440 of the sintering machine 40 along the axial direction of the frame of the sintering machine 40; the star wheel resetting mechanism 320 is fixedly connected to the star wheel pushing mechanism 310 and is used to pull the tail star wheel 450 back to its initial position.

[0104] In this embodiment, the arching adjustment of the sintering machine trolley 420 is achieved by controlling the star wheel pushing mechanism 310 and the star wheel resetting mechanism 320 in cooperation. The star wheel pushing mechanism 310 is used to drive the head star wheel 440 to move away from the head star wheel 440 along the axial direction of the sintering machine 40 frame. For details, please refer to the appendix again. Figure 10-11 When the star wheel pushing mechanism 310 is not activated, trolleys 2 and 3 are tightly connected. When the star wheel pushing mechanism 310 is activated, the pushing force of the star wheel pushing mechanism 310 disconnects trolleys 2 and 3. At this time, the driving force of the head star wheel 440 cannot be transmitted to trolley 3 and the trolleys behind it. The trolleys on the return track 410 are temporarily in a near-stop state. The force of the tail star wheel 450 is only generated by the weight of the trolley meshing with the tail star wheel 450. Since the torque generated by the weight of the trolley is much greater than the upward component torque, the pressure is released, and the arching phenomenon disappears. Please refer to the appendix again. Figure 14As an auxiliary understanding, f1 is the frictional force of the tail star wheel tooth plate 451 on the wheel of the current sintering machine trolley, f2 is the thrust of the tail star wheel tooth plate 451 on the wheel of the sintering machine trolley, f3 is the frictional force of the sintering machine trolley running ahead on the current sintering machine trolley, f4 is the counter-thrust of the sintering machine trolley running ahead on the current sintering machine trolley, and G is the weight of the sintering machine trolley.

[0105] In other embodiments, force transmission between sintering machine trolleys 420 can be interrupted in other ways to eliminate or reduce arching. For example, the sintering machine trolleys 420 can be briefly intercepted at a certain point on the running track so that the front and rear sintering machine trolleys 420 do not come into contact. This method requires overcoming greater resistance to separate the front and rear sintering machine trolleys 420.

[0106] Further, as a preferred embodiment, the star wheel pushing mechanism 310 includes a driving component 311, a fixed frame 312, a sliding component 313, and a movable frame 314 extending in a vertical direction; wherein, the driving component 311 is fixed to the frame 430 of the sintering machine, the pushing end of the driving component 311 abuts against the sliding component 313, the sliding component 313 is movably disposed relative to the fixed frame 312, the fixed frame 312 is fixedly disposed relative to the frame 430 of the sintering machine, and the sliding component 313 is slidably disposed along the axial direction of the frame 430 of the sintering machine under the drive of the driving component 311; the top of the movable frame 314 is fixedly connected to the sliding component 313, and the bottom of the movable frame 314 is fixedly connected to the tail star wheel 450.

[0107] Specifically, when it is necessary to adjust the arching of the sintering machine trolley 420, the control system controls the drive assembly 311 to start. The drive end of the drive assembly 311 will push the sliding assembly 313 to move away from the head star wheel 440 along the axis of the sintering machine 40 fixture, and drive the tail star wheel 450 to move away from the head star wheel 440, thereby disconnecting the trolley 422 and trolley 423 and eliminating the arching of the trolley.

[0108] In a preferred embodiment of the present invention, the star wheel reset mechanism 320 includes a counterweight 321, a first fixed pulley assembly 322, a second fixed pulley assembly 323, and a tension rope 324; wherein, the first fixed pulley assembly 322 is fixed to the movable frame 314, the second fixed pulley assembly 323 is fixed to the frame 430 of the sintering machine, the second fixed pulley assembly 323 is set lower than the first fixed pulley assembly 322 in the height direction, the fixed end of the tension rope 324 is fixedly connected to the frame 430 of the sintering machine, and the free end of the tension rope 324 is sequentially wound around the first fixed pulley assembly 322 and the second fixed pulley assembly 323, and then connected to the counterweight 321.

[0109] In detail, during a single push of the tail star wheel 450, to restore it to its normal initial state, this embodiment uses a fixed pulley system with a counterweight 321 to quickly return the tail star wheel 450 to its initial position. The initial position of the tail star wheel 450 can be adjusted by adjusting the weight of the counterweight 321. By using a first fixed pulley assembly 322 and a second fixed pulley assembly 323, the tail star wheel 450 can automatically and quickly reset itself when the driving force of the drive assembly 311 is removed or diminished, thanks to the action of the counterweight 321. In other embodiments, those skilled in the art can also restore the tail star wheel 450 to its initial position using other methods.

[0110] Further, the drive assembly 311 includes a mounting base 3111 and a hydraulic drive cylinder 3112; the mounting base 3111 is fixed to the frame 430 of the sintering machine, the pushing end of the hydraulic drive cylinder 3112 abuts against the sliding assembly 313, and the pushing direction of the hydraulic drive cylinder 3112 is arranged along the axial direction of the frame 430 of the sintering machine. In this embodiment, the drive assembly 311 adopts the hydraulic drive cylinder 3112. When adjustment is required, the control system controls the hydraulic drive cylinder 3112 to drive the sliding assembly 313 to move along the axial direction of the sintering machine 40 and away from the head star wheel 440. It should be noted that the drive assembly 311 in this embodiment includes, but is not limited to, the hydraulic drive cylinder 3112. For example, it can also be an electric push rod, a drive cylinder, or a drive motor with gear transmission. Those skilled in the art can select according to actual needs, as long as it can smoothly push the tail star wheel 450.

[0111] In another preferred embodiment, the sliding assembly 313 includes a connecting frame 3131 and a sliding member 3132 movably disposed relative to the fixed frame 312. The sliding member 3132 is slidably disposed along the axial direction of the frame 430 of the sintering machine. The connecting frame 3131 is fixed to the sliding member 3132, and the connecting frame 3131 abuts against the pushing end of the driving assembly 311. The top of the moving frame 314 is fixedly connected to the sliding member 3132. In this embodiment, the sliding assembly 313 adopts a form in which the connecting frame 3131 and the sliding member 3132 cooperate. When the driving end of the driving assembly 311 pushes the connecting frame 3131, it will drive the sliding member 3132 to slide relative to the fixed frame 312. It can be understood that the specific form of cooperation between the sliding member 3132 and the fixed member can be selected as a guide rail and guide groove, or a sliding rail and groove, or a similar form.

[0112] Furthermore, the first fixed pulley assembly 322 includes a first pulley support 3221 and a first fixed pulley 3222 rotatably connected to the first pulley support 3221. The second fixed pulley assembly 323 includes a second pulley support 3231 and a second fixed pulley 3232 rotatably connected to the second pulley support 3231. The first pulley support 3221 is fixedly connected to the movable frame 314, and the second pulley support 3231 is fixedly connected to the frame 430 of the sintering machine. The first pulley support 3221 and the second pulley support 3231 have a fifth preset distance in the horizontal direction. The bottom of the first fixed pulley 3222 and the top of the second fixed pulley 3232 are flush. It should be noted that in this embodiment, the bottom of the first fixed pulley 3222 and the top of the second fixed pulley 3232 are flush. This allows the weight of the counterweight 321 to be converted into a pulling force in the horizontal direction to pull the tail star wheel 450 to the greatest extent. Of course, the two can also be set at an angle, but the latter will generate a vertical pulling force due to the angle. Obviously, the former will be more effective.

[0113] In addition, an identification plate 460 can be set on the side plate of each sintering machine trolley 420, which can be recognized by the image recognition device 20. Based on the information of the identified identification plate 460, the control system can clearly obtain the corresponding number and location of the trolley, so that the staff can quickly locate it.

[0114] 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 automatic adjustment and control method for sintering machine trolley arching. It is understood that, since the above-described automatic adjustment and control method for sintering machine trolley arching is implemented when executed by the processor 51, all embodiments of the above method are applicable to this storage medium and can achieve the same or similar beneficial effects.

[0115] 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 automatic adjustment and control of arching on a sintering machine trolley, characterized in that, Including the following steps: S1, acquire graphic image information of the sintering machine trolley obtained by the image recognition device and extract valid image information of the wheels and return track of the current sintering machine trolley from the graphic image information; wherein, the recognition end of the image recognition device is directly opposite the transition connection between the return track and the tail star wheel curve. S2, calculate the arching amount of the current sintering machine trolley relative to the return track based on the valid image information and the distance between the recognition terminal and the wheels of the current sintering machine trolley; S3, determine whether the arching amount is greater than the first preset threshold; S4, when the arching amount is greater than the first preset threshold, control the arching adjustment device to start, so as to eliminate the arching amount of the current sintering machine trolley; The step S3 is followed by the following step: S31, when the arching amount is less than or equal to the first preset threshold, the distance value between the ranging device and the top of the wheel of the current sintering machine trolley is obtained; wherein, the ranging device is set above the return track of the sintering machine, the measuring end of the ranging device has a first preset distance between it and the top of the wheel of the sintering machine trolley, and the measuring end of the ranging device has a second preset distance between it and the axle of the tail star wheel; S32, determine whether the distance value is less than a second preset threshold; wherein, the second preset threshold is greater than the first preset threshold; S33, when the distance value is less than the second preset threshold, control the arching adjustment device to start, so as to eliminate the arching amount of the current sintering machine trolley; S34, when the distance value is greater than or equal to the second preset threshold, it is determined that the current sintering machine trolley is in normal operation, and the current state of the arching adjustment device is maintained.

2. The automatic adjustment and control method for arching of the sintering machine trolley according to claim 1, characterized in that, The step preceding step S1 includes the following steps: S01, obtain the current first operating speed of the sintering machine; S02, based on the first running speed, obtain the first predicted time node when the sintering machine trolley enters the effective recognition range of the image recognition device; S03, at the first prediction time node, control the image recognition device to start and proceed to step S1.

3. The automatic adjustment and control method for arching of the sintering machine trolley according to claim 1, characterized in that, The step preceding step S31 includes the following steps: S300, obtain the second operating speed of the sintering machine, and obtain the second predicted time node of the current sintering machine trolley from the monitoring point of the image recognition device to the monitoring point of the distance measuring device according to the second operating speed and the second preset distance; S301, at the second predicted time node, control the ranging device to start and proceed to step S31.

4. The automatic adjustment and control method for arching of the sintering machine trolley according to claim 3, characterized in that, The ranging device includes a first ranging device and a second ranging device, wherein the first ranging device and the second ranging device are symmetrically arranged on both sides of the current sintering machine trolley; step S31 includes the following steps: S311, acquire the first distance value detected by the first ranging device to the top of the left wheel of the current sintering machine trolley, and acquire the second distance value detected by the second ranging device to the top of the right wheel of the current sintering machine trolley. S312, calculate the average distance between the first distance value and the second distance value, and use the average distance value as the distance value in step S31, and proceed to step S32.

5. The automatic adjustment and control method for arching of the sintering machine trolley according to claim 1, characterized in that, Step S2 includes the following steps: S21, acquire the first camber amount of the left wheel of the current sintering machine trolley relative to the left return track detected by the first image recognition device, and acquire the second camber amount of the right wheel of the current sintering machine trolley relative to the right return track detected by the second image recognition device; wherein, the first image recognition device and the second image recognition device are symmetrically arranged on both sides of the current sintering machine trolley. S22, calculate the average of the first arching amount and the second arching amount, and use the average arching amount as the arching amount in step 2, and proceed to step S3.

6. The automatic adjustment and control method for arching of the sintering machine trolley according to claim 1, characterized in that, The first preset threshold is set between 11mm and 13mm, and the second preset threshold is set between 14mm and 17mm.

7. An automatic adjustment system for arching of a sintering machine trolley, characterized in that, It includes a ranging device, an image recognition device, a control system, and an arching adjustment device located at the tail star wheel of the sintering machine; among which, The ranging device is positioned above the return track of the sintering machine. The measuring end of the ranging device has a first preset distance from the top of the wheel of the sintering machine trolley, and the measuring end of the ranging device has a second preset distance from the axle of the tail star wheel. The ranging device is fixedly connected to the frame of the sintering machine and is used to measure the distance between itself and the top of the wheel of the sintering machine trolley. The image recognition device is located on one side of the tail star wheel and is at a third preset distance from the toothed plate of the tail star wheel. The recognition end of the image recognition device is directly opposite the transition connection between the return track and the tail curve. It is used to detect the arching amount when the sintering machine trolley leaves the tail star wheel and enters the return track. There is a fourth preset distance between the recognition end of the image recognition device and the measuring end of the measuring device. The ranging device, the image recognition device, and the arching adjustment device are all electrically connected to the control system. The tail star wheel moves away from the head star wheel of the sintering machine along the axis of the sintering machine frame under the drive of the arching adjustment device. The control system includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the automatic arching adjustment control method for the sintering machine trolley as described in any one of claims 1 to 6.

8. The automatic adjustment system for arching of the sintering machine trolley according to claim 7, characterized in that, The arching adjustment device includes a star wheel pushing mechanism and a star wheel resetting mechanism; wherein, the star wheel pushing mechanism is fixedly connected to the tail star wheel and is used to drive the tail star wheel to move away from the head star wheel of the sintering machine along the axial direction of the sintering machine frame; the star wheel resetting mechanism is fixedly connected to the star wheel pushing mechanism and is used to pull the tail star wheel back to its initial position.

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 automatic adjustment control method for arching of the sintering machine trolley as described in any one of claims 1 to 6.

Images