A method for online replacement of sintering machine trolleys

Abstract

The application provides a method for replacing a sintering machine trolley online, which comprises the following steps: determining a trolley to be replaced, obtaining a real-time running position of the trolley to be replaced, controlling a trolley shifting mechanism to shift the sintering machine trolleys on the front and back sides of the trolley to be replaced when the real-time running position reaches a first preset position, so that the trolley to be replaced is in an isolated state, maintaining the current state of the trolley shifting mechanism and synchronously moving with the corresponding sintering machine trolleys when the trolley to be replaced is in the isolated state, hoisting the trolley to be replaced out of a return track to outside the sintering machine, hoisting a new trolley into an installation space vacated by the trolley to be replaced, and controlling the trolley shifting mechanism to separate from the corresponding sintering machine trolleys, so that the new trolley abuts against the sintering machine trolleys on the front and back sides. The application can realize online replacement of the sintering machine trolley, without stopping the sintering machine, and improves the replacement efficiency of the trolley.

Description

TECHNICAL FIELD

[0001] The present application relates to the sintering technical field, in particular to a method for replacing sintering machine trolley online. BACKGROUND

[0002] The sintering machine trolley is one of the important components of the sintering machine, and has a large quantity and a poor working environment. Due to the poor working environment, the grate bars, the fence plates, the wheels and the bearings of the sintering machine trolley are all consumable parts. When the consumable parts of the trolley reach the service life, are damaged or lost, the trolley must be hoisted out as a whole so as to replace and repair the consumable parts, and a new trolley needs to be hoisted in to ensure the normal operation of the sintering machine.

[0003] At present, the replacement process of the sintering machine trolley is complex. The traditional method for replacing the sintering machine trolley is to stop the feeding device, run the faulty trolley to the tail of the sintering machine at a suitable position, stop the operation of the sintering machine, move the rear moving frame of the tail of the sintering machine by the hydraulic device, so that there is no thrust on the front and rear of the faulty trolley, and then hoist the faulty trolley out of the sintering machine for replacement.

[0004] This replacement method is relatively convenient for the sintering machine that has not been put into production or is under construction, because there is no material on the trolley that needs to be cleaned. However, the replacement of the trolley in the production process has the following disadvantages: 1. The downtime is relatively long, usually more than 1 hour. After the faulty trolley stops feeding, the igniter needs to be adjusted to prevent the trolley from being burned out, and then the trolley needs to be stopped after running to a suitable hoisting position. 2. The quality of the sintered ore is affected. The stoppage will cause fluctuations in the sintering production process and reduce the quality of the sintered ore. 3. The hoist must be cleaned and stopped during operation, and the hoist requires a large equipment space for installation.

[0005] Therefore, it is necessary to provide a method for replacing the sintering machine trolley online to solve or at least alleviate the above-mentioned defects. SUMMARY

[0006] The main purpose of the present application is to provide a method for replacing the sintering machine trolley online to solve the technical problem that the replacement of the sintering machine trolley in the prior art requires cleaning and stopping the sintering machine trolley.

[0007] To achieve the above-mentioned purpose, the present application provides a method for replacing the sintering machine trolley online, comprising the steps of:

[0008] S1, determining a faulty trolley to be replaced, and obtaining a real-time running position of the faulty trolley to be replaced;

[0009] S2, judging whether the real-time running position reaches a first preset position; wherein the first preset position is located in the interval range of the return track;

[0010] S3, when the real-time running position reaches the first preset position, the control console car pushing mechanism pushes away the sintering machine trolleys on the front and rear sides of the to-be-replaced faulty trolley, so that the to-be-replaced faulty trolley is in an isolated state;

[0011] S4, when the to-be-replaced faulty trolley is in the isolated state, the current state of the trolley pushing mechanism is maintained and synchronous movement with the corresponding sintering machine trolleys is followed, and the to-be-replaced faulty trolley is lifted out of the return track to the outside of the sintering machine;

[0012] S5, a new trolley is lifted into the installation space vacated by the to-be-replaced faulty trolley, and the trolley pushing mechanism is controlled to be separated from the corresponding sintering machine trolleys, so that the new trolley abuts against the sintering machine trolleys on the front and rear sides.

[0013] Preferably, the step S3 of controlling the trolley pushing mechanism to push away the sintering machine trolleys on the front and rear sides of the to-be-replaced faulty trolley so that the to-be-replaced faulty trolley is in an isolated state specifically comprises the steps of:

[0014] S31, the trolley pushing mechanism is controlled to push away the sintering machine trolleys on the front and rear sides of the to-be-replaced faulty trolley, and a first distance between the to-be-replaced faulty trolley and the sintering machine trolley immediately in front is obtained, and a second distance between the to-be-replaced faulty trolley and the sintering machine trolley immediately behind is obtained;

[0015] S32, it is judged whether the first distance and the second distance are both greater than a preset threshold value;

[0016] S33, when the first distance and the second distance are both greater than the preset threshold value, it is determined that the to-be-replaced faulty trolley is in the isolated state, and step S4 is entered.

[0017] Preferably, the preset threshold value is set to be between 30-100mm.

[0018] Preferably, the trolley pushing mechanism comprises an AGV vehicle body corresponding in size to the sintering machine trolleys, a horizontal plate connected to the top of the AGV vehicle body, a wheel pushing assembly provided on the top of the horizontal plate, and a bottom running track provided below the return trolley;

[0019] Wherein, the AGV vehicle body is movably arranged on the bottom running track;

[0020] The horizontal plate comprises a first side and a second side arranged oppositely in the return direction; the wheel pushing assembly comprises a first driving assembly arranged on the first side and a second driving assembly arranged on the second side, the first driving assembly is used to drive the sintering machine trolley close to the first side to run in a first direction, and the second driving assembly is used to drive the sintering machine trolley close to the second side to run in a second direction, so as to separate the sintering machine trolley close to the first side, the sintering machine trolley close to the second side and the trolley to be replaced from each other; wherein the first direction and the second direction are opposite.

[0021] Preferably, the step S3 specifically comprises the steps of:

[0022] S300, judging whether the real-time running position is at a second preset position behind a first preset position; wherein the second preset position is located in the interval range of the return track;

[0023] S301, when the real-time running position is at the second preset position behind the first preset position, determining a distance difference between the first preset position and the second preset position, and acquiring a current machine speed of the sintering machine;

[0024] S302, determining a running time length of the trolley to be replaced from the second preset position to the first preset position according to the distance difference and the current machine speed;

[0025] S303, controlling the AGV vehicle body to run to a third preset position corresponding to the first preset position before the running time length ends;

[0026] S304, when the real-time running position reaches the first preset position, controlling the first driving assembly to act and drive the wheels of the sintering machine trolley close to the first side to push the corresponding sintering machine trolley to run in the first direction, and controlling the second driving assembly to act and drive the wheels of the sintering machine trolley close to the second side to push the corresponding sintering machine trolley to run in the second direction.

[0027] Preferably, the step S5 further comprises the steps of:

[0028] S61, acquiring a real-time vehicle speed of the AGV vehicle body, and judging whether the real-time vehicle speed is zero;

[0029] S62, when the real-time vehicle speed is zero, determining that the AGV vehicle body completes the trolley replacement operation, acquiring a current position of the AGV vehicle body, and controlling the AGV vehicle body to reset from the current position to an initial standby position;

[0030] S63, when the real-time vehicle speed is not zero, determining that the AGV vehicle body does not complete the trolley replacement operation, and returning to step S61.

[0031] Preferably, the first driving assembly and the second driving assembly each comprise a driving mechanism, a support and a wheel clamping and pushing mechanism; the support is connected to the top of the horizontal plate, the wheel clamping and pushing mechanism is hinged to the top of the support, the rotation path of the wheel clamping and pushing mechanism intersects with the wheel clamping axis of the corresponding sintering machine trolley, and the driving mechanism is used to drive the wheel clamping and pushing mechanism to rotate around the hinge support point to the wheel of the corresponding sintering machine trolley to push the corresponding sintering machine trolley to move along the direction of the return track, and then separate from the trolley to be replaced.

[0032] Preferably, the driving mechanism is a hydraulic cylinder.

[0033] Preferably, after the step S2, the method further comprises a step S21: when the real-time running position does not reach the first preset position, returning to step S1.

[0034] Compared with the prior art, the method has the following beneficial effects:

[0035] The application provides a method for replacing a sintering machine trolley online, which comprises the following steps: determining a trolley to be replaced, obtaining a real-time running position of the trolley to be replaced, when the real-time running position reaches a first preset position, controlling a trolley pushing mechanism to push away sintering machine trolleys on the front and back sides of the trolley to be replaced, so that the trolley to be replaced is in an isolated state, when the trolley to be replaced is in the isolated state, maintaining a current state of the trolley pushing mechanism and synchronously moving with the corresponding sintering machine trolleys, hoisting the trolley to be replaced out of the return track to outside the sintering machine, hoisting a new trolley into an installation space vacated by the trolley to be replaced, and controlling the trolley pushing mechanism to separate from the corresponding sintering machine trolleys, so that the new trolley abuts against the sintering machine trolleys on the front and back sides. The application can realize online replacement of the sintering machine trolley, does not need to stop the sintering machine, can not occupy the head space of the sintering machine, does not need to lengthen the main plant, can be transformed on the basis of an old sintering machine, is convenient to replace, does not exist environmental and dust problems, has a compact structure, occupies less space, reduces personnel for on-site operation, does not affect the working efficiency of the sintering machine, and can reduce the on-site accident risk to a certain extent. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from the drawings shown without creative labor.

[0037] Figure 1 Flowchart of an embodiment of the present application;

[0038] Figure 2 Application scenario diagram of the overall structure of an embodiment of the present application;

[0039] Figure 3 Structure diagram of one of the embodiments of the present application for lifting out a faulty trolley to be replaced;

[0040] Figure 4 Structure diagram of one of the embodiments of the present application for lifting out a faulty trolley to be replaced; Figure 3 Sectional view along the direction A-A of the structure diagram;

[0041] Figure 5 Structure diagram of one of the embodiments of the present application for lifting in a new trolley;

[0042] Figure 6 Structure diagram of one of the embodiments of the present application for lifting in a new trolley; Figure 5 Sectional view along the direction B-B of the structure diagram;

[0043] Figure 7 Application scenario diagram of the overall structure of an embodiment of the present application from another perspective;

[0044] Figure 8 Structure diagram of one of the embodiments of the present application for lifting out a faulty trolley to be replaced;

[0045] Figure 9 Structure diagram of one of the embodiments of the present application for lifting out a faulty trolley to be replaced; Figure 8 Side view of the structure diagram;

[0046] Figure 10 Top view of the structure diagram; Figure 8 Top view of the structure diagram;

[0047] Figure 11 Structure diagram of one of the embodiments of the present application before the sintering machine trolley is pushed out;

[0048] Figure 12 Structure diagram of one of the embodiments of the present application after the sintering machine trolley is pushed out;

[0049] Figure 13 Combined structure diagram of the trolley pushing mechanism and the lifting device of one of the embodiments of the present application;

[0050] Figure 14 Top view of the structure diagram; Figure 13 Top view of the structure diagram;

[0051] Figure 15 Structure diagram of one of the embodiments of the present application for lifting out a faulty trolley to be replaced;

[0052] The objectives, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings.

[0053] Explanation of reference signs:

[0054] 10, trolley pushing mechanism; 111, wheel pushing assembly; 1111, first driving assembly; 1112, second driving assembly; 1113, driving mechanism; 1114, support; 1115, wheel clamping contact block; 1116, connecting block; 1117, arc-shaped groove; 112, horizontal plate; 1121, first side; 1122, second side; 1123, AGV body; 113, lifting device; 1131, bottom plate; 1132, folding frame; 1133, top plate; 120, bottom running track; 130, mounting space; 20, trolley lifting-out assembly; 210, first lifting assembly; 211, first moving trolley; 212, first electromagnet suction cup; 220, first track; 221, first connecting end; 222, first cantilever end; 30, trolley lifting-in assembly; 310, second lifting assembly; 311, second moving trolley; 312, second electromagnet suction cup; 320, second track; 321, second connecting end; 322, second cantilever end; 40, sintering machine trolley; 410, trolley to be replaced; 420, new trolley; 430, wheel; 50, sintering machine framework. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein merely exemplify the application and do not limit the application.

[0056] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0057] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0058] In addition, the description related to "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor in the protection scope required by the present application.

[0059] Please refer to the attached Figures 1 to 13 In an embodiment of the present application, a method for replacing sintering machine trolley online is provided, comprising the steps of:

[0060] S1, determining the to-be-replaced fault trolley 410, and acquiring the real-time running position of the to-be-replaced fault trolley 410; Specifically, the grate bars, the apron and the wheels 430 of the sintering machine trolley 40 all belong to consumable parts, and when the consumable parts reach the service life or are damaged and missing, the trolley must be lifted out as a whole to replace and repair the consumable parts. Among them, for abnormal detection of grate bars, abnormal detection of wheels 430 and other existing mature detection means, in other words, the present application can detect whether the sintering machine trolley 40 is an abnormal trolley (i.e. the to-be-replaced fault trolley 410) by using the existing mature technical means, or it can also be artificially judged whether the to-be-replaced fault trolley 410 appears according to the experience of the staff. It should be noted that under the stable working state of the sintering machine, the speed of the sintering machine trolley 40 (i.e. the running speed of the sintering machine trolley 40) can be regarded as uniform motion, which is generally a value between 1-2m / min. The real-time running position of the sintering machine trolley 40 can also be obtained by data tracking technology or other mature acquisition methods of existing technologies, or by manually determining the real-time position of the sintering machine trolley 40.

[0061] S2, judging whether the real-time running position reaches a first preset position; wherein the first preset position is located in the interval range of the return track; it is known to those skilled in the art that the sintering machine trolley 40 on the return track has passed the empty state of the discharge at the tail of the machine, and the present application can directly operate the sintering machine trolley 40 in the empty state by replacing the sintering machine trolley 40 online in the interval range of the return track, without additional material cleaning treatment. The first preset position can be a pre-set position, for example, a position detection sensor or a travel switch is set at the first preset position, or whether the real-time running position reaches the first preset position is judged by data tracking technology. Preferably, the first preset position is preferably located at a return position close to the head of the sintering machine (for example, the position corresponding to the 6th-8th air blower), which has a lower ambient temperature and smaller thrust between the trolleys (far away from the tail heavy hammer power source), and is more convenient for online replacement of the sintering machine trolley 40.

[0062] Further, the step S2 further comprises a step S21: returning to step S1 when the real-time running position does not reach the first preset position. That is, returning to continue detection without reaching the specified position.

[0063] S3, when the real-time running position reaches the first preset position, controlling the trolley shunting mechanism 10 to shunt the sintering machine trolleys 40 on the front and rear sides of the sintering machine trolley 40 to be replaced, so that the sintering machine trolley 40 to be replaced is in an isolated state. Specifically, when it is detected that the sintering machine trolley 40 to be replaced runs to the first preset position, the trolley shunting mechanism 10 can be controlled to shunt the sintering machine trolleys 40 on the front and rear sides of the sintering machine trolley 40 to be replaced, so that the sintering machine trolley 40 to be replaced is in an isolated state.

[0064] It is worth noting that the sintering machine trolley 40 in the return state runs on the return track of the sintering machine (not marked in the figure), and there is a large interaction force between the sintering machine trolleys 40 due to the action force of the tail heavy hammer. It is difficult to directly lift the sintering machine trolley 40 out of the return track. Therefore, the present application shunts the sintering machine trolleys 40 on the front and rear sides by the trolley shunting mechanism 10 to make the sintering machine trolley 40 to be replaced in an isolated state (free state) and then lifts the sintering machine trolley 40 to be replaced out of the return track. The trolley shunting mechanism 10 can be the preferred embodiments listed below, or other mechanisms / devices that can shunt the sintering machine trolleys 40 on the front and rear sides.

[0065] As a preferred embodiment, as shown in Figures 11-14 The trolley shunting mechanism 10 comprises an AGV vehicle body 1123 corresponding to the size of the sintering machine trolley 40 (for example Figures 11-12As shown, the AGV body 1123 is connected to a horizontal plate 112 on top of the AGV body 1123, a wheel actuation assembly 111 is disposed on top of the horizontal plate 112, and a bottom running track 120 is disposed below the return trolley. The bottom running track 120 extends along the return direction of the sintering machine trolley 40. The AGV body 1123 is movably disposed on the bottom running track 120. It should be noted that the AGV body 1123 can run along the bottom running track 120 and has the function of automatically resetting to the initial position. The ability of the AGV body 1123 to achieve this function is a mature existing technology and will not be elaborated here. Based on the automatic reset of the AGV body 1123, the entire trolley changing process can be automated, saving manpower.

[0066] The horizontal plate 112 includes a first side 1121 and a second side 1122 arranged opposite to each other along the return direction; the wheel actuation assembly 111 includes a first drive assembly 1111 disposed on the first side 1121 and a second drive assembly 1112 disposed on the second side 1122. The first drive assembly 1111 is used to drive the sintering machine trolley 40 near the first side 1121 to run in a first direction, and the second drive assembly 1112 is used to drive the sintering machine trolley 40 near the second side 1122 to run in a second direction, so as to separate the sintering machine trolley 40 near the first side 1121, the sintering machine trolley 40 near the second side 1122 and the faulty trolley 410 to be replaced; wherein, the first direction and the second direction are opposite.

[0067] For example, along the return direction, the first side 1121 is located in front of the second side 1122. Therefore, the sintering machine carriage 40 located in front of the faulty carriage 410 to be replaced can be pushed away by the first drive assembly 1111, so that it is separated from the faulty carriage 410 to be replaced. The second drive assembly 1112 can push away the sintering machine carriage 40 located behind the faulty carriage 410 to be replaced, so that it is separated from the faulty carriage 410 to be replaced.

[0068] In a preferred embodiment, the bottom running track 120 can be fixed on the sintering machine frame 50.

[0069] In another embodiment, the trolley toggle mechanism 10 can also be configured as an integral unit, that is, as an AGV vehicle body. The wheels of the AGV vehicle body travel on the ground and can be moved in position. After the wheel toggle component 111 toggle the sintering machine trolleys 40 on the front and rear sides, it can also move synchronously with the sintering machine trolleys 40 as a group, and can also cooperate to realize the online replacement of the sintering machine trolleys 40.

[0070] Further, both the first drive assembly 1111 and the second drive assembly 1112 include a drive mechanism 1113, a bracket 1114, and a chuck actuation mechanism (not shown in the figure); wherein, the bracket 1114 is connected to the top of the horizontal plate 112, the chuck actuation mechanism is hinged to the top of the bracket 1114, the rotation path of the chuck actuation mechanism intersects the chuck axis of the corresponding sintering machine trolley 40, and the drive mechanism 1113 is used to drive the chuck actuation mechanism to rotate around the hinge point to the chuck of the corresponding sintering machine trolley 40, so as to push the corresponding sintering machine trolley 40 to move along the return track direction, thereby separating it from the faulty trolley 410 to be replaced. As a preferred example, the drive mechanism 1113 is a hydraulic cylinder.

[0071] As a preferred example, there are two of each of the first drive assembly 1111 and the second drive assembly 1112. The two first drive assemblies 1111 are arranged opposite each other along the length of the horizontal plate 112, and the two second drive assemblies 1112 are arranged opposite each other along the length of the horizontal plate 112.

[0072] As a preferred example, the bracket 1114 includes two bracket plates (not shown) arranged parallel to each other along the length of the horizontal plate 112. The bracket plates are connected to the top of the horizontal plate 112. Each bracket plate has a first shaft hole (not shown) through which a first hinge shaft (not shown) passes. The chuck actuating mechanism has a second shaft hole (not shown) corresponding to the first shaft hole. The chuck actuating mechanism is hinged between the two bracket plates through the first hinge shaft passing through the first shaft hole and the second shaft hole.

[0073] As a preferred implementation method, such as Figures 11-12 As shown, the chuck actuation mechanism includes a chuck contact block 1115 and a fan-shaped connecting block 1116. The connecting block 1116 has a third shaft hole and a first connecting hole for bolt connection. The chuck contact block 1115 has a second connecting hole corresponding to the first connecting hole. The chuck contact block 1115 is connected to the connecting block 1116 by bolts passing through the first connecting hole and the second connecting hole.

[0074] Furthermore, the chuck contact block 1115 has an arc-shaped groove 1117 that matches the chuck of the sintering machine trolley 40. By setting the arc-shaped groove 1117, when the chuck of the sintering machine trolley 40 is moved, the arc-shaped groove 1117 matches the chuck, and the drive mechanism 1113 drives the chuck contact block 1115 to contact the chuck, thereby more stably moving the adjacent sintering machine trolleys 40 apart.

[0075] S4, maintaining the current state of the trolley shunting mechanism 10 and following the synchronous movement of the corresponding sintering machine trolley 40 when the trolley to be replaced 410 is in the isolated state, and hoisting the trolley to be replaced 410 out of the return track to the outside of the sintering machine; since the subsequent new trolley 420 is to be hoisted in, the current shunting state of the trolley shunting mechanism 10 is maintained at this time, and the synchronous movement of the corresponding sintering machine trolley 40 is followed, and at this time the AGV vehicle body 1123 can lose power.

[0076] S5, hoisting the new trolley 420 into the installation space 130 vacated by the trolley to be replaced 410, and controlling the trolley shunting mechanism 10 to separate from the corresponding sintering machine trolley 40, so that the new trolley 420 abuts against the sintering machine trolleys 40 on the front and rear sides. Under the hammering action of the tail hammer, the sintering machine trolleys 40 restore the abutting state between them, thereby completing the online replacement of the sintering machine trolleys 40.

[0077] As a preferred embodiment, the step S3 of controlling the trolley shunting mechanism 10 to shunt away the sintering machine trolleys 40 on the front and rear sides of the trolley to be replaced 410 so that the trolley to be replaced 410 is in the isolated state specifically comprises the steps of:

[0078] S31, controlling the trolley shunting mechanism 10 to shunt away the sintering machine trolleys 40 on the front and rear sides of the trolley to be replaced 410, and obtaining a first distance between the trolley to be replaced 410 and the sintering machine trolley 40 immediately in front, and obtaining a second distance between the trolley to be replaced 410 and the sintering machine trolley 40 immediately behind;

[0079] S32, judging whether the first distance and the second distance are both greater than a preset threshold value;

[0080] S33, when the first distance and the second distance are both greater than the preset threshold value, determining that the trolley to be replaced 410 is in the isolated state, and entering step S4. In this isolated state, the corresponding lifting device can be hoisted out or hoisted in.

[0081] As a preferred example, the preset threshold value is set to be between 30-100mm. In other embodiments, those skilled in the art can also set it according to actual needs.

[0082] As another preferred embodiment, the step S3 specifically comprises the steps of:

[0083] S300, determine whether the real-time running position is at a second preset position behind the first preset position; wherein the second preset position is within the interval range of the return track; specifically, the embodiment sets an initial condition that the trolley shifting mechanism 10 moves from the initial position to the first preset position, in other words, when the faulty trolley 410 to be replaced has not moved to the second preset position, it can not be moved to the first preset position, thereby improving the starting timing.

[0084] S301, when the real-time running position is at the second preset position behind the first preset position, determine the distance difference between the first preset position and the second preset position, and obtain the current machine speed of the sintering machine; wherein the specific positions of the first preset position and the second preset position can be set according to actual needs, for example, the distance is one length of the sintering machine trolley along the return direction.

[0085] S302, determine the running time length of the faulty trolley 410 to be replaced from the second preset position to the first preset position according to the distance difference and the current machine speed;

[0086] S303, control the AGV vehicle body 1123 to run to a third preset position corresponding to the first preset position before the running time length ends; it should be noted that the AGV vehicle body 1123 runs to the third preset position corresponding to the first preset position before the running time length ends, and waits for the faulty trolley 410 to be replaced at this position, and starts to shift the sintering machine trolleys 40 on the front and rear sides of the faulty trolley 410 to be replaced at the third preset position. When the driving mechanism 1113 is a hydraulic cylinder, the time required for the driving stroke of the hydraulic cylinder also needs to be considered, for example, the time required for the hydraulic cylinder of the hydraulic cylinder to reach the specified driving stroke (the stroke that can contact the wheel) from the initial position is t1, then within the t1 time period, the faulty trolley to be replaced will run a distance of s1=v*t1, therefore, it is necessary to ensure that the hydraulic cylinder of the hydraulic cylinder reaches the specified driving stroke from the initial position, which can just contact the wheel 430 of the trolley 410 to be replaced. The determination of this timing can also be achieved by the worker controlling the hydraulic cylinder on the AGV vehicle body 1123, which can be set according to actual needs.

[0087] S304, when the real-time running position reaches the first preset position, control the first driving assembly 1111 to act and drive the wheel 430 of the sintering machine trolley 40 close to the first side 1121 to push the corresponding sintering machine trolley 40 to run in the first direction, and control the second driving assembly 1112 to act and drive the wheel 430 of the sintering machine trolley 40 close to the second side 1122 to push the corresponding sintering machine trolley 40 to run in the second direction.

[0088] Further, the step S5 further comprises a step of:

[0089] S61, acquiring a real-time vehicle speed of the AGV vehicle body 1123, and judging whether the real-time vehicle speed is zero;

[0090] S62, when the real-time vehicle speed is zero, judging that the AGV vehicle body 1123 completes the trolley changing operation, acquiring a current position of the AGV vehicle body 1123, and controlling the AGV vehicle body 1123 to reset from the current position to an initial standby position;

[0091] S63, when the real-time vehicle speed is not zero, judging that the AGV vehicle body 1123 does not complete the trolley changing operation, and returning to step S61.

[0092] It should be noted that the trolley shifting mechanism 10 is separated from the corresponding sintering machine trolley 40, and since the sintering machine trolley 40 group always maintains a certain running speed, at this time, the AGV vehicle body 1123 will continue to move forward due to inertia, and the forward travel distance is uncertain. In the embodiment, the real-time vehicle speed of the AGV vehicle body 1123 is acquired, and when the real-time vehicle speed is zero, it is judged that all trolley changing operations have been completed, so that accurate judgment can be realized.

[0093] As a preferred embodiment, the present application also provides two sets of lifting devices for lifting in or out the sintering machine trolley 40, and the two sets of lifting devices specifically include a trolley lifting-out assembly 20 and a trolley lifting-in assembly 30 which are arranged in the return direction of the sintering machine trolley 40, and the trolley lifting-in assembly 30 is located in front of the trolley lifting-out assembly 20 in the return direction; wherein, the present application sets two sets of lifting devices, i.e. the trolley lifting-out assembly 20 and the trolley lifting-in assembly 30, so as to realize the lifting-out of the trolley to be replaced and the lifting-in of the new trolley.

[0094] The trolley lifting-out assembly 20 includes a first lifting assembly 210 and a first track 220 located between the return trolley and the sintering machine framework 70, the first track 220 extends along the transverse direction of the sintering machine and extends from the inside of the sintering machine to the outside of the sintering machine, and the first lifting assembly 210 is used for lifting the trolley to be replaced upward and transporting it outward along the first track 220 to the outside of the sintering machine;

[0095] The trolley lifting-in assembly 30 includes a second lifting assembly 310 and a second track 320 located between the return trolley and the sintering machine framework 70, the second track 320 extends along the transverse direction of the sintering machine and extends from the inside of the sintering machine to the outside of the sintering machine, and the second lifting assembly 310 is used for lifting the new trolley 420 and transporting it inward along the second track 320 to the inside of the sintering machine, so as to load the new trolley 420 into the installation space 130 vacated by the trolley to be replaced.

[0096] Preferably, the first track 220 and the second track 320 are positioned close to the return position of the sintering machine head. The ambient temperature in this position is lower, and the thrust between the trolleys is smaller, which makes it easier to change the sintering machine trolley 40 online.

[0097] In a preferred embodiment, the first lifting assembly 210 includes a first moving trolley 211 and a first electromagnet chuck 212. The first moving trolley 211 is movably disposed along the extension direction of the first track 220, and the first electromagnet chuck 212 is connected below the first moving trolley 211 and moves synchronously with the first moving trolley 211. The first moving trolley 211 and the second moving trolley 311 (hereinafter referred to as the second moving trolley) can be either the currently mature moving trolleys of gantry cranes or electric hoists.

[0098] In a preferred embodiment, the second lifting assembly 310 includes a second moving trolley 311 and a second electromagnet chuck 312. The second moving trolley 311 is movably disposed along the extension direction of the second track 320, and the second electromagnet chuck 312 is connected to the lower part of the second moving trolley 311 and moves synchronously with the second moving trolley 311.

[0099] Specifically, this application uses two sets of lifting devices (trolley lifting-out component 20 and trolley lifting-in component 30), such as... Figures 4-9 As shown, when the sintering machine trolley 40 needs to be replaced or repaired, the faulty trolley 410 to be replaced can be lifted under the trolley lifting assembly 20 via the horizontal plate 112, or the suspension end of the first moving trolley 211 can be lowered to above the faulty trolley 410 to be replaced. After the first electromagnet chuck 212 is energized, it generates an adsorption force to hold the sintering machine trolley 40. The first moving trolley 211 is then started and transported along the extension direction of the first track 220 to the external equipment space of the sintering machine. The new trolley 420 is transported to the return running track of the sintering machine trolley 40 via the trolley lifting assembly 30. When the empty space after the old trolley is transported is close to the bottom of the trolley lifting assembly 30, the trolley lifting assembly 30 places the new trolley 420 on the horizontal plate 112 and places it in the original position of the old trolley, thus realizing unmanned online replacement of the sintering machine trolley 40.

[0100] As another preferred embodiment, it also includes a lifting device 113 disposed on the top of the horizontal plate 112. The lifting device 113 is used to lift the faulty trolley 410 to be replaced to below the first lifting assembly 210 for the first lifting assembly 210 to lift, and to lower the new trolley 420 lifted from the second lifting assembly 310 into the installation space 130 vacated by the faulty trolley 410 to be replaced.

[0101] As a preferred embodiment, the lifting device 113 comprises a first driving mechanism (not shown), a bottom plate 1131, a folding frame 1132 and a top plate 1133; wherein the bottom plate 1131 is fixedly arranged on the top surface of the horizontal plate 112, the top plate 1133 is located directly above the bottom plate 1131, and the folding frame 1132 is connected between the top plate 1133 and the bottom plate 1131; wherein when the first driving mechanism drives the folding frame 1132 to vertically ascend, the top plate 1133 is driven to ascend, so as to lift the faulty trolley 410 to be replaced to below the first lifting assembly 210 for hoisting by the first lifting assembly 210; when the first driving mechanism drives the folding frame 1132 to descend, the top plate 1133 is driven to descend, so as to lower the new trolley 420 into the installation space 130 vacated by the faulty trolley 410 to be replaced.

[0102] Workflow: When a damaged trolley (i.e. the faulty trolley 410 to be replaced) is found, the AGV vehicle body 1123 in movable form is positioned at the initial position, and the damaged trolley is moved to the third preset position of the horizontal plate 112 under the action of the trolley group. At this time, the fan-shaped wheel contact block 1115 starts to push the wheels of the two sintering machine trolleys 40 in front and behind the damaged trolley under the drive of the driving mechanism 1113 (such as a hydraulic actuator), thereby leaving enough space for the smooth lifting of the damaged trolley and the hoisting of the new trolley 420, as shown in FIG. 11B. Figure 11 After the driving mechanism 1113 pulls the front and rear trolleys apart by a certain distance and keeps them stationary, the AGV vehicle body 1123 continues to move forward synchronously with the sintering machine trolley group under the action of the pushing force of the two sintering machine trolleys 40 on both sides while the wheel contact block 1115 pushes the sintering machine trolleys 40 on both sides of the damaged trolley. At this time, the AGV vehicle body 1123 remains relatively stationary with the damaged trolley, and can cooperate with the lifting device 113 and the corresponding crane device, so that the horizontal plate 112 can also complete the replacement of the damaged trolley in the state that the sintering machine does not stop. The AGV vehicle body 1123 is not powered at all during the synchronous movement. After the wheel contact block 1115 pushes the sintering machine trolleys 40 on both sides of the damaged trolley and leaves a certain gap, the lifting device 113 can lift the damaged trolley to create working conditions for the crane to lift the damaged trolley. After the crane completes the lifting of the damaged trolley and lifts it out, the new trolley 420 can be hoisted onto the lifting device 113 at this time, and then the lifting device 113 starts to descend to re-load the new trolley 420 into the sintering machine. Finally, the driving mechanism 1113 gradually retracts, the wheel contact block 1115 retracts under the drive of the driving mechanism 1113, and the AGV vehicle body 1123 is driven to reset, completing the replacement of the damaged trolley.

[0103] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application, and any equivalent structure or equivalent process conversion, or direct or indirect application in other related technical fields, which are made by using the content of the present application specification and drawings, are also included in the patent protection scope of the present application.

Claims

1. A method for online replacement of sintering machine trolleys, characterized in that, The method comprises the steps of: S1, determining a to-be-replaced faulty trolley, and acquiring a real-time running position of the to-be-replaced faulty trolley; S2, judging whether the real-time running position reaches a first preset position; wherein the first preset position is located in the interval range of the return track; S3, when the real-time running position reaches the first preset position, controlling a trolley shunting mechanism to shunt the sintering machine trolleys on the front and rear sides of the to-be-replaced faulty trolley, so that the to-be-replaced faulty trolley is in an isolated state; S4, when the to-be-replaced faulty trolley is in the isolated state, maintaining the current state of the trolley shunting mechanism and synchronously moving with the corresponding sintering machine trolleys, and hoisting the to-be-replaced faulty trolley out of the return track to the outside of the sintering machine; S5, hoisting a new trolley into the installation space vacated by the to-be-replaced faulty trolley, and controlling the trolley shunting mechanism to separate from the corresponding sintering machine trolleys, so that the new trolley abuts against the sintering machine trolleys on the front and rear sides. Further comprising two sets of lifting devices, specifically comprising a trolley hoisting-out assembly and a trolley hoisting-in assembly arranged at intervals along the return direction of the sintering machine trolley, the trolley hoisting-in assembly being located in front of the trolley hoisting-out assembly in the return direction; The trolley hoisting-out assembly comprises a first lifting assembly and a first track located between the return trolley and the sintering machine framework, the first track extending along the transverse direction of the sintering machine and from the inside of the sintering machine to the outside of the sintering machine, and the first lifting assembly is used for lifting the to-be-replaced faulty trolley upward and transporting it outward along the first track to the outside of the sintering machine; The trolley hoisting-in assembly comprises a second lifting assembly and a second track located between the return trolley and the sintering machine framework, the second track extending along the transverse direction of the sintering machine and from the inside of the sintering machine to the outside of the sintering machine, and the second lifting assembly is used for lifting the new trolley and transporting it inward along the second track to the inside of the sintering machine; The trolley shunting mechanism comprises an AGV vehicle body corresponding in size to the sintering machine trolley, a horizontal plate connected to the top of the AGV vehicle body, a wheel shunting assembly provided on the top of the horizontal plate, and a bottom running track provided below the return trolley, the bottom running track extending along the return direction of the sintering machine trolley; The AGV vehicle body is movably arranged on the bottom running track; The horizontal plate comprises a first side and a second side oppositely arranged along the return direction; the wheel shunting assembly comprises a first driving assembly provided on the first side and a second driving assembly provided on the second side, the first driving assembly being used for driving the sintering machine trolley close to the first side to run in a first direction, and the second driving assembly being used for driving the sintering machine trolley close to the second side to run in a second direction, so as to separate the sintering machine trolley close to the first side, the sintering machine trolley close to the second side, and the to-be-replaced faulty trolley; wherein the first direction and the second direction are opposite.

2. The method of replacing sintering machine trolleys online according to claim 1, characterized in that, The step S3 of controlling the trolley shunting mechanism to shunt the sintering machine trolleys on the front and rear sides of the to-be-replaced faulty trolley, so that the to-be-replaced faulty trolley is in an isolated state, specifically comprises the steps of: S31, control the trolley shifting mechanism to shift the sintering machine trolleys on the front and rear sides of the to-be-replaced faulty trolley, and obtain a first distance between the to-be-replaced faulty trolley and the sintering machine trolley immediately in front of the to-be-replaced faulty trolley, and a second distance between the to-be-replaced faulty trolley and the sintering machine trolley immediately behind the to-be-replaced faulty trolley; S32, determine whether the first distance and the second distance are both greater than a preset threshold value; S33, when the first distance and the second distance are both greater than the preset threshold value, determine that the to-be-replaced faulty trolley is in the isolated state, and proceed to step S4; S34, when either of the first distance being greater than the preset threshold value and the second distance being greater than the preset threshold value is not true, determine that the to-be-replaced faulty trolley is not in the isolated state, and return to step S31.

3. The method of replacing sintering machine trolleys online according to claim 2, characterized in that, The preset threshold value is set to be between 30-100 mm.

4. The method of replacing sintering machine trolleys online according to claim 1, characterized in that, The step S3 specifically comprises steps of: S300, determine whether the real-time running position is at a second preset position behind a first preset position; wherein the second preset position is within the interval range of the return track; S301, when the real-time running position is at the second preset position behind the first preset position, determine a distance difference between the first preset position and the second preset position, and obtain a current machine speed of the sintering machine; S302, determine a running duration of the to-be-replaced faulty trolley from the second preset position to the first preset position according to the distance difference and the current machine speed; S303, control the AGV vehicle body to run to a third preset position corresponding to the first preset position before the running duration ends; S304, when the real-time running position reaches the first preset position, control the first driving assembly to act and drive the wheels of the sintering machine trolleys close to the first side to push the corresponding sintering machine trolleys to run in a first direction, and control the second driving assembly to act and drive the wheels of the sintering machine trolleys close to the second side to push the corresponding sintering machine trolleys to run in a second direction.

5. The method of replacing sintering machine trolleys online according to claim 1, characterized in that, The step S5 further comprises steps of: S61, obtain a real-time vehicle speed of the AGV vehicle body, and determine whether the real-time vehicle speed is zero; S62, when the real-time vehicle speed is zero, determine that the AGV vehicle body completes the trolley replacement operation, obtain a current position of the AGV vehicle body, and control the AGV vehicle body to reset from the current position to an initial standby position; S63, when the real-time vehicle speed is not zero, determine that the AGV vehicle body does not complete the trolley replacement operation, and return to step S61.

6. The method of replacing sintering machine trolleys online according to claim 1, characterized in that, The first driving assembly and the second driving assembly each comprise a driving mechanism, a support and a clamping wheel poking mechanism; the support is connected to the top of the horizontal plate, the clamping wheel poking mechanism is hinged to the top of the support, the rotation path of the clamping wheel poking mechanism intersects with the clamping wheel axis center line of the corresponding sintering machine trolley, and the driving mechanism is used to drive the clamping wheel poking mechanism to rotate around the hinged fulcrum to the clamping wheel of the corresponding sintering machine trolley, so as to push the corresponding sintering machine trolley to move along the direction of the return track, and then separate from the trolley to be replaced.

7. The method of replacing sintering machine trolleys online according to claim 6, characterized in that, The driving mechanism is a hydraulic cylinder.

8. The method of replacing sintering machine trolleys on-line according to any one of claims 1 to 7, characterized in that, The step S2 further comprises a step S21 of returning to the step S1 when the real-time running position does not reach the first preset position.

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