A sintering machine trolley wheel axial movement detection method

Abstract

The present application relates to a kind of sintering machine trolley wheel axial movement detection method, method steps are: obtaining the data set of the distance LB of detection point two;Extract the distance LB data of detection point two, establish coordinate system, obtain the distance curve of detection point two;In the distance curve of detection point two, the data set that meets the upper wheel along distance interval and corresponding time period, this detection time period respectively with the detection time period of detection point one, detection point three corresponding;Calculate the detection point distance difference Xi of trolley car body and wheel upper wheel along and the detection point distance difference Yi of trolley car body and wheel lower wheel along;Determine trolley wheel movement.The present application has the advantages that: the distance data of multiple detection points is collected, by multiple difference value operation, whether trolley wheel movement occurs is analyzed and judged, effectively early warning to wheel risk state, intervention is carried out before fault is formed, whether wheel movement can be accurately and timely detected, to prevent potential failure of wheel.

Description

Technical Field

[0001] This invention relates to the field of metallurgical sintering, and in particular to a method for detecting axial movement of wheels on a sintering machine trolley. Background Technology

[0002] The sintering machine consists of many identical trolleys linked end-to-end, forming a chain that operates in an elliptical closed loop along the trolley's running track. Each trolley is loaded with sintering material from the machine head, ignited, and then moves towards the tail of the machine along the upper running track. The sintering material is sintered as the trolley moves forward. Upon reaching the tail, the trolley tilts along the circumference of the running track, dumping the sintered product onto the next process equipment. The empty trolleys, having dumped their sintered product, continue along the lower running track back to the machine head, tilting along the circumference of the head's running track to the upper running track. The empty trolleys then load sintering material one by one, continuously cycling through this process to produce sintered ironmaking raw materials.

[0003] The wheels of the sintering machine trolley play an important role in bearing weight and reducing friction. Due to prolonged operation, compression, and wear under high temperature conditions, the wheels of the trolley may wobble, arch, or fall off, affecting normal production. Therefore, the detection of axial movement of the wheels of the sintering machine trolley is of great importance.

[0004] Currently, monitoring the wheel movement of trolleys mainly relies on the visual judgment of maintenance personnel. However, manual monitoring cannot be conducted continuously and without interruption, making it prone to missed detections and difficult to accurately detect monitoring points, leading to false positives. Current detection methods in production cannot predict trolley wheel malfunctions before they occur. Summary of the Invention

[0005] The purpose of this invention is to provide a method for detecting axial movement of sintering machine trolley wheels. The method involves collecting and analyzing distance measurement data using a laser rangefinder to determine whether axial movement of the sintering machine trolley wheels has occurred, thereby preventing excessive wear and detachment of the trolley wheels.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A method for detecting axial movement of wheels on a sintering machine trolley includes a detection box, which is located outside the sintering machine trolley's travel track. Laser rangefinders one, two, and three are mounted on the side wall of the detection box, arranged in a longitudinal straight line. Laser rangefinder one is used to obtain the distance LA from the detection box to detection point 1 on the trolley body above the wheel; laser rangefinder two is used to obtain the distance LB from the detection box to detection point 2 on the upper edge of the wheel; and laser rangefinder three is used to obtain the distance LC from the detection box to detection point 3 on the lower edge of the wheel. The method specifically includes the following steps:

[0008] S1. Obtain the dataset of distance LB of detection point 2, and form the distance interval [LBmin, LBmax] along the upper wheel;

[0009] S2. Extract the distance LB data of detection point 2, establish a coordinate system, and obtain the distance curve of detection point 2;

[0010] S3. Extract the data set and corresponding time period from the distance curve of detection point 2 that satisfy the distance interval of the previous wheel. This detection time period corresponds to the detection time period of detection point 1 and detection point 3, respectively, and is used to obtain the distance data LAi of detection point 1, the distance data LBi of detection point 2, and the distance data LCI of detection point 3 within the same time period, where i = 1...n, and n represents the number of detection data within this time period.

[0011] S4. Calculate the distance difference Xi between the detection points on the trolley body and the upper edge of the wheel, and the distance difference Yi between the detection points on the trolley body and the lower edge of the wheel, using the following formulas:

[0012] Xi = LAi - LBi ①

[0013] Yi = LAi - LCi ②

[0014] S5. Determine if the trolley wheels are moving erratically, as follows:

[0015] 1) When Xi = Yi, the trolley wheels are perpendicular to the ground. Calculate the average value. The formula is as follows:

[0016]

[0017] If the average If the value exceeds the lateral movement alarm threshold I, it is determined that the trolley wheels are moving.

[0018] 2) When Xi≠Yi, the trolley wheels are not perpendicular to the ground. The absolute value of the difference between Xi and Yi is |Xi-Yi|. If |Xi-Yi| is greater than the skating alarm threshold II, it is determined that the trolley wheels have skating.

[0019] 3) Calculate the standard deviation ρ of the absolute values ​​of the differences between the data points, using the following formula:

[0020]

[0021] If the standard deviation ρ is greater than the lateral movement alarm threshold Ⅲ, it is determined that the trolley wheel has lateral movement and the amplitude is too large, triggering a wheel drop warning fault.

[0022] The stalking alarm threshold I is the translation threshold for stalking warning, the stalking alarm threshold II is the offset threshold for stalking warning, and the stalking alarm threshold III is the offset degree threshold for stalking alarm.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. By setting up a detection box outside the sintering machine trolley's travel track, when the sintering machine trolley appears within the detection range of the laser rangefinder inside the detection box, distance data from multiple detection points is collected. Through multi-difference calculation, the distance data is analyzed and judged to determine whether the trolley wheels have moved. This effectively provides early warning of wheel risk conditions and allows for intervention before a fault occurs. It can accurately and timely detect whether the wheels are moving, thereby preventing potential wheel faults and improving detection efficiency and accuracy.

[0025] 2. In field applications, combining laser ranging with image recognition for fault diagnosis enables rapid and direct location of faulty wheels, improving the efficiency of fault diagnosis.

[0026] 3. Three laser rangefinders are used to acquire measurement results simultaneously, avoiding the error of a single laser rangefinder measurement and eliminating missed detections;

[0027] 4. By obtaining distance data from three detection points, we can intuitively determine whether the trolley's running position is reasonable; we can clearly define the relative positional relationship between the trolley body and the wheels, as well as the relative positional relationship between the upper and lower edges of the wheels, providing data support for judging wheel movement. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the workflow for detecting axial movement of the wheels on a sintering machine trolley.

[0029] Figure 2 This is a schematic diagram of the method for detecting axial movement of wheels on a sintering machine trolley.

[0030] Figure 3 This is a schematic diagram of the sintering machine trolley wheel axial movement detection method.

[0031] Figure 4 This is a schematic diagram of the trolley measurement distance for the axial movement detection method of the sintering machine trolley wheels.

[0032] Figure 5 This is a schematic diagram of the distance curve between two detection points in the axial movement detection method of the sintering machine trolley wheels.

[0033] In the diagram: 1-Laser rangefinder; 2-Wheel; 3-Sintering machine trolley; 4-Car body; 5-Rail; 6-Wheel rim; 7-Detection point one; 8-Detection point two; 9-Detection point three. Detailed Implementation

[0034] The present invention will now be described in detail with reference to the accompanying drawings, but it should be noted that the implementation of the present invention is not limited to the following embodiments.

[0035] The following embodiments are implemented based on the technical solution of the present invention, providing detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments. Unless otherwise specified, the methods used in the following embodiments are conventional methods.

[0036]

Example 1

[0037] A certain sintering production line is 360m 2 The sintering machine has 148 trolleys, each with 4 wheels 2, totaling 592 wheels 2. A laser rangefinder is installed on the outside of the trolley's travel track 5. The installation location must have a clear view in front and no obstructions in front of the trolley wheels 2. The distance between the laser rangefinder and the trolley body 4 is 1.5–2 meters. See [link / details]. Figure 2 Laser rangefinder 1, laser rangefinder 2, and laser rangefinder 3 are installed on the side wall of the laser rangefinder device. All laser rangefinders 1 are arranged in a longitudinal straight line. The trolley wheel 2 appears within the detection area of ​​the laser rangefinder 1. From the front view of the sintering machine trolley 3, it is regarded as a plane. With the center of the trolley wheel 2 as the center point, detection points are set in the direction of a vertical line passing through the center and perpendicular to the ground. Detection point 1 7 is set above the trolley wheel 2 at the position of the trolley body 4. Detection points 2 8 and 3 9 are symmetrical about the center of the trolley wheel 2 and are respectively set at the height positions of the upper wheel edge 6 and the lower wheel edge 6 of the trolley wheel 2. See Figure 3 Laser rangefinder 1 is used to obtain the distance to detection point 7, laser rangefinder 2 is used to obtain the distance to detection point 8, and laser rangefinder 3 is used to obtain the distance to detection point 9. The detection point positions set on the wheel edge 6 of wheel 2 must ensure that the wheel edge 6 of wheel 2 appears in the detection area of ​​laser rangefinder 1 for 3 to 8 seconds during the movement of the trolley. The axial movement detection method of wheel 2 of sintering machine trolley 3 specifically includes the following steps:

[0038] Step S1: Continuously collect distance data from the laser rangefinder to the detection position of the trolley. After processing the data segments, the data to be analyzed is obtained, as follows:

[0039] 1) See Figure 4 The distance data from the laser rangefinder to the detection point is continuously collected. The distance data from the laser rangefinder to the first detection point 7 is denoted as LA, the distance data from the laser rangefinder to the second detection point 8 is denoted as LB, and the distance data from the laser rangefinder to the third detection point 9 is denoted as LC.

[0040] 2) Obtain the distance dataset from the laser rangefinder to the upper wheel edge 6 of the trolley wheel 2, and form the distance interval [LBmin, LBmax] of the upper wheel edge 6;

[0041] 3) Extract the distance data of detection point 2 (8), establish a coordinate system with detection time as the X-axis and distance data as the Y-axis, and obtain the distance curve of detection point 2 (8). See... Figure 5 ;

[0042] 4) Extract the data set and corresponding time period of the curve that satisfy the distance interval of the upper wheel along 6. This is the distance data and time period of the upper wheel of the trolley passing through the detection area of ​​the laser rangefinder. Correspond the detection time period of detection point 1 7 and detection point 3 9 to obtain the distance data from the laser rangefinder to detection point 1 7, detection point 2 8 and detection point 3 9 within the same time period. These are denoted as: LAI, LBi, LCI (i = 1...n, where n is the number of detection data within this time period).

[0043] 5) Calculate the difference between the distance data from the laser rangefinder to detection point 7 and the distance data to detection points 8 and 9, respectively. The distance difference between detection point 7 and detection point 8, which is the difference in distance between the trolley body 4 and the measuring point 6 on the upper wheel edge of the wheel 2, is denoted as Xi. The formula is as follows:

[0044] Xi = LAi - LBi ①

[0045] The distance difference between detection point 1 (7) and detection point 3 (9), i.e., the distance difference between the trolley body 4 and the lower wheel edge 6 of wheel 2, is denoted as Yi, and the formula is as follows:

[0046] Yi = LAi - LCi ②

[0047] Step S2: Analyze the obtained data to comprehensively determine whether the trolley wheel 2 has malfunctioned, such as shifting or falling off. The specific details are as follows:

[0048] 1) When Xi = Yi, that is, the distance Xi from the trolley body 4 to the upper wheel of wheel 2 along the measuring point 6 is equal to the distance Yi from the trolley body 4 to the lower wheel of wheel 2 along the measuring point 6, then calculate the average value of the distance data. The formula is as follows:

[0049]

[0050] When the average value is greater than the lateral movement alarm threshold I, it is determined that the trolley wheel 2 has lateral movement.

[0051] Where Xi = Yi indicates that the trolley wheel 2 is perpendicular to the ground, the skewing alarm threshold I is the translational critical value for skewing warning, and its value is related to the structure of the sintering machine trolley 3 wheel 2. The distance between the trolley body 4 and the wheel 2 is a fixed value. When the average value of the distance data exceeds the translational critical value, it is judged as a skewing warning fault; if it does not exceed the translational critical value, it means that the wheel 2 is operating normally.

[0052] 2) When Xi≠Yi, that is, the distance Xi from the trolley body 4 to the upper wheel of wheel 2 along the measuring point 6 is not equal to the distance Yi from the trolley body 4 to the lower wheel of wheel 2 along the measuring point 6, then calculate the absolute value of the distance data difference |Xi-Yi|. When it is greater than the swerving alarm threshold II, it is determined that the trolley wheel 2 has swerved; calculate the standard deviation σ of the absolute value of the distance data difference, as follows:

[0053]

[0054] When it exceeds the lateral movement alarm threshold III, it is determined that the trolley wheel 2 has lateralized and the amplitude is too large.

[0055] Where Xi≠Yi indicates that the trolley wheel 2 is not perpendicular to the ground, the swerving alarm threshold II is the offset threshold value for swerving warning, and the swerving alarm threshold III is the offset degree threshold value for swerving alarm; when the absolute value of the data difference exceeds the offset threshold value, it is judged as a swerving warning fault; if it does not exceed the offset threshold value, it means that although the wheel 2 is not perpendicular to the ground, it is still operating normally; when the standard deviation σ of the absolute value of the data difference exceeds the offset degree threshold value, it is judged as a wheel drop warning fault.

[0056] Step S3: Identify the fault type of wheel 2 on the off-road vehicle and issue an alarm, the content of which is as follows:

[0057] 1) When it is determined that wheel 2 is moving, a movement warning will be issued, prompting staff to confirm on-site and carry out wheel 2 repair to prevent serious situations such as bearing compression, wear, or wheel 2 falling off.

[0058] 2) When it is determined that wheel 2 is moving too much, a wheel drop warning will be issued, prompting staff to confirm on-site and take measures such as stopping production to replace the trolley or replacing wheel 2.

[0059] Step S4: While identifying the fault in wheel 2, acquire the trolley license plate number, image information, and wheel 2 distance measurement information, and store the record as follows:

[0060] 1) The image acquisition device takes pictures of the trolley wheels 2 from the outside of the trolley track 5, and acquires a front view image of the sintering machine trolley 3 running, which includes the trolley wheels 2, the car body 4 and the corresponding license plate number of the sintering machine trolley 3.

[0061] 2) Analyze the collected images of the trolleys, identify the license plate number of each trolley, the time of passing through the image acquisition device, and the basic information of the trolleys, perform feature recognition on the wheels 2 in the images, and issue an alarm when the wheels 2 of the trolleys malfunction.

[0062] 3) Location and association of trolley wheel 2 faults: When a fault alarm is issued, the license plate number of the trolley with the fault and the specific wheel 2 are located. The detection time is associated with the license plate number, wheel 2 image information and wheel 2 distance measurement information, and the information is stored.

[0063]

Example 2

[0064] The sintering machine trolley runs at a speed of 2 m / min, and takes 1.5 hours to complete one revolution. The height of detection point 1 is 505 mm, the height of detection point 2 is 431 mm, the height of detection point 3 is 19 mm, and the laser rangefinder is installed 2 m away from the trolley body.

[0065] The distance data of the three wheels passing through the laser rangefinder are shown in Tables 1-3;

[0066] Table 1: Distance data of the first wheel passing the laser rangefinder (unit: m)

[0067] LAi LBi LCi Xi Yi 2.042 1.393 1.393 0.649 0.649 2.042 1.393 1.392 0.649 0.650 2.042 1.393 1.392 0.649 0.650 2.042 1.392 1.392 0.650 0.650 2.042 1.392 1.392 0.650 0.650 2.042 1.392 1.393 0.650 0.649 2.042 1.392 1.393 0.650 0.649 2.042 1.392 1.393 0.650 0.649 2.041 1.392 1.393 0.649 0.648 2.042 1.392 1.392 0.650 0.650 2.041 1.392 1.392 0.649 0.649 2.042 1.392 1.393 0.650 0.649

[0068] Xi≈Yi, calculated as follows The alarm threshold I was not exceeded, and the first wheel was running normally.

[0069] Table 2: Distance data of the second wheel passing the laser rangefinder (unit: m)

[0070]

[0071]

[0072] Xi≈Yi, calculated as follows The second wheel started to move when the alarm threshold I was exceeded.

[0073] Table 3: Distance data of the third wheel passing the laser rangefinder (unit: m)

[0074] LAi LBi LCi Xi Yi 2.053 1.401 1.397 0.652 0.656 2.053 1.401 1.397 0.652 0.656 2.053 1.401 1.398 0.652 0.655 2.054 1.401 1.398 0.653 0.656 2.053 1.401 1.398 0.652 0.655 2.053 1.401 1.398 0.652 0.655 2.054 1.401 1.398 0.653 0.656 2.054 1.401 1.398 0.653 0.656 2.054 1.401 1.398 0.653 0.656 2.054 1.401 1.397 0.653 0.657 2.054 1.401 1.397 0.653 0.657 2.053 1.401 1.397 0.652 0.656

[0075] Xi≠Yi, and the calculated value is |Xi-Yi|=0.003~0.004, which exceeds the alarm threshold II, indicating that the third wheel is moving. σ=0.005, which exceeds the alarm threshold III, indicating that the third wheel is moving and the amplitude is too large.

[0076] The specific values ​​for alarm threshold I, alarm threshold II, and alarm threshold III are set according to the actual situation on site.

[0077] This invention utilizes a detection box located outside the sintering machine trolley's travel track. When the sintering machine trolley enters the detection range of a laser rangefinder within the detection box, distance data from multiple detection points is collected. Through multi-difference calculations, the system analyzes and determines whether the trolley wheels are moving erratically, effectively providing early warning of wheel risk conditions. Intervention is possible before a fault develops, enabling accurate and timely detection of wheel movement and preventing potential wheel malfunctions, thus improving detection efficiency and accuracy. In field applications, combining laser ranging with image recognition for fault diagnosis allows for rapid and direct location of faulty wheels, improving fault diagnosis efficiency. Using three laser rangefinders to simultaneously acquire measurement results avoids errors from a single laser rangefinder, eliminating missed detections. The distance data obtained from the three detection points provides a direct assessment of the trolley's operational position. Clearly defining the relative positional relationship between the trolley body and wheels, as well as the relative positional relationship between the upper and lower wheel edges, provides data support for judging wheel movement.

Claims

1. A method for detecting axial movement of wheels on a sintering machine trolley, characterized in that, The system includes a detection box, which is located outside the sintering machine trolley's travel track. Laser rangefinders 1, 2, and 3 are installed on the side wall of the detection box, arranged in a longitudinal straight line. Laser rangefinder 1 is used to obtain the distance LA from the detection box to detection point 1 on the trolley body above the wheels of the sintering machine trolley; laser rangefinder 2 is used to obtain the distance LB from the detection box to detection point 2 on the upper edge of the wheels of the sintering machine trolley; and laser rangefinder 3 is used to obtain the distance LC from the detection box to detection point 3 on the lower edge of the wheels of the sintering machine trolley. The method specifically includes the following steps: S1. Obtain the dataset of distance LB of detection point 2, and form the distance interval [LBmin, LBmax] along the upper wheel; S2. Extract the distance LB data of detection point 2, establish a coordinate system, and obtain the distance curve of detection point 2; S3. Extract the data set and corresponding time period from the distance curve of detection point 2 that satisfy the distance interval of the previous wheel. This detection time period corresponds to the detection time period of detection point 1 and detection point 3, respectively, and is used to obtain the distance data LAi of detection point 1, the distance data LBi of detection point 2, and the distance data LCI of detection point 3 within the same time period, where i = 1...n, and n represents the number of detection data within this time period. S4. Calculate the distance difference Xi between the detection points on the trolley body and the upper edge of the wheel, and the distance difference Yi between the detection points on the trolley body and the lower edge of the wheel, using the following formulas: Xi = LAi - LBi ① Yi = LAi - LCi ② S5. Determine if the trolley wheels are moving erratically, as follows: 1) When Xi = Yi, the trolley wheels are perpendicular to the ground. Calculate the average value. The formula is as follows: In formula ③, if the average value If the value exceeds the lateral movement alarm threshold I, it is determined that the trolley wheels are moving. 2) When Xi≠Yi, the trolley wheels are not perpendicular to the ground. The absolute value of the difference between Xi and Yi is |Xi-Yi|. If |Xi-Yi| is greater than the skating alarm threshold II, it is determined that the trolley wheels have skating. 3) Calculate the standard deviation ρ of the absolute values ​​of the differences between the data points, using the following formula: If the standard deviation ρ is greater than the lateral movement alarm threshold Ⅲ, it is determined that the trolley wheel has lateral movement and the amplitude is too large, triggering a wheel drop warning fault.

2. The method for detecting axial movement of sintering machine trolley wheels according to claim 1, characterized in that, The aforementioned stalking alarm threshold I is the translational threshold for stalking warning, the aforementioned stalking alarm threshold II is the offset threshold for stalking warning, and the aforementioned stalking alarm threshold III is the offset degree threshold for stalking alarm.

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