A self-maintaining transient acquisition device for multi-component moving position signals and its application method

Abstract

The present invention discloses a self-maintaining transient acquisition device for multi-component moving position signals and an application method, and relates to the technical field of industrial machinery. The self-maintaining transient acquisition device for multi-component moving position signals comprises a self-maintaining device base, on which are respectively provided a cooling compressed air inlet, an electromagnetic touch switch cooling purge port, a lubricating grease filling port, an electromagnetic induction switch contact surface purge port, an induction switch pressing connecting rod purge port, a return spring system purge port, and an interface for the cooling compressed air inlet circulation pipe and an interface for the lubricating grease drain port. The self-maintaining transient acquisition device for multi-component moving position signals and an application method realize the efforts to use robots to replace human work in traditional industrial fields, especially to replace dangerous operations of humans in dangerous areas. The goal of completing specific 3D job task replacement is achieved. It is aimed at various work scenarios where robots have better repeatability than humans.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial machines, and in particular to a self-maintaining device for transiently collecting multi-component moving position signals and an application method thereof. Background Art

[0002] Industrial robots are increasingly being used in modern society. Within traditional industries, efforts are underway to replace human work, particularly in hazardous areas. This goal is to replace specific 3D job tasks. Robots are designed for various work scenarios where they offer superior repeatability compared to humans. First, they must meet the needs of transient signal acquisition for traditional processes on the main production line, while also ensuring stable and reliable operation in harsh environments. Therefore, leveraging the advantages of digital intelligence, we must develop intelligent self-maintenance devices and systems for equipment. This, combined with the integration of locally sourced electromechanical, instrumentation, and hydraulic technologies, minimizes costs, increases the workload for operators and maintenance personnel, and increases the skills required.

[0003] Self-maintaining transient acquisition of motion position signals is key to achieving the shift towards replacing humans with robots in traditional industrial sectors, particularly for hazardous operations in dangerous areas. This mechanical self-maintenance signal acquisition device ensures the reliability and stability of intelligent system information, coordinating to ensure the reliable completion of specific 3D job replacement tasks. Robots are designed for various work scenarios where repeatability is superior to that of humans. First, they must meet the requirements for transient signal acquisition in traditional processes on the main production line, and second, they must ensure stable and reliable operation in harsh environments. Therefore, leveraging the advantages of digital intelligence, we must develop intelligent self-maintenance devices and systems for equipment, while also meeting the requirements for integrating locally sourced electromechanical, instrumentation, and hydraulic technologies, with the goal of minimizing costs, workload, and skills requirements for operators and maintenance personnel. The self-maintenance and protection device effectively addresses the challenges of ensuring the stability, reliability, and longevity of electromagnetic tactile sensors in harsh environments, supporting the stable, reliable, and long-lasting operation of the robot.

[0004] Existing patent, 1CN201510105660.0 A method for automatically assigning wireless seismic acquisition units to terrain locations, each wireless seismic acquisition unit includes a satellite navigation system receiver. The method has the following steps performed by an allocating device: obtaining the terrain location where the wireless seismic acquisition unit is expected to be laid; corresponding to the position information provided by the satellite navigation system receiver when the wireless seismic acquisition unit is installed on the ground and each is close to one of the terrain locations, or the measured position of the wireless seismic acquisition unit is obtained by deducing from the position information; and based on the comparison between the measured position and the terrain location, calculating the respective association between one of the wireless seismic acquisition units and one of the terrain locations. It is only a permanent and unchanging position, not a real-time transient changing position;

[0005] Existing patent, 2CN202011544830.2 The present invention provides a position acquisition device, a method for collecting position information, and a lawn mower, the position acquisition device comprising: an information acquisition module, the information acquisition module is used to collect the current coordinate information of the position acquisition device; the information acquisition module comprises a timing mode for collecting coordinate information at a fixed time, a fixed-distance mode for collecting coordinate information at a fixed distance, and a manual mode triggered by the user to collect coordinate information; and a control module, the control module controls the information acquisition module to work in one or more combinations of timing mode, fixed-distance mode, and manual mode according to the received instructions. Compared with the prior art, the position acquisition device of the present invention can collect the coordinate information of the boundary line of the plot area through a combination of one or more working modes, thereby facilitating the data processing module to generate a high-precision navigation path. It only determines a fixed position, not a position that moves and changes in real time;

[0006] Existing patents, 3CN200780030241.9; 101529066B, disclose a data acquisition system (1) for detecting the angular position (α) of a motorcycle valve knob (2). The data acquisition system (1) comprises: a fixed support (3); a moving element movably mounted in the support (3); a transmission device (6) mechanically connected to the valve knob (2) and the moving element so as to transmit motion from the valve knob (2) to the moving element; and a main position sensor (10) carried by the support (3) and connected to the moving element to determine the angular position (α) of the moving element, and designed to provide two mutually redundant measurements of the angular position (α) of the moving element. However, the angular position is not the real-time position of the movement of multiple components in the assembly line. Summary of the Invention

[0007] (1) Technical problems solved

[0008] In response to the shortcomings of the existing technology, the present invention provides a self-maintaining transient multi-component mobile position signal acquisition device and application method, which solves the problems existing in the existing technology. The mechanical self-maintaining signal acquisition device ensures the reliability and stability of smart system information in high-temperature heat wave and dusty environments.

[0009] (2) Technical solution

[0010] To achieve the above objectives, the present invention is implemented through the following technical solutions: a self-maintaining transient acquisition multi-component mobile position signal device, including a self-maintaining device base, on which are respectively provided a cooling compressed air inlet, an electromagnetic touch switch cooling purge port, a lubricating grease filling port, an electromagnetic induction switch contact surface purge port, an induction switch pressing connecting rod purge port, a return spring system purge port, and an interface for a cooling compressed air inlet circulation pipe and a lubricating grease drain port; a base return spring fixing pin is provided on the self-maintaining device base, and an electromagnetic induction switch is provided on the lower side of the self-maintaining device base;

[0011] An electromagnetic induction switch protection cover is provided under the base of the self-maintenance device, and a detected component pressing down link is provided on the back of the self-maintenance device base, and a detected component contact pressure block is provided on the side of the detected component pressing down link away from the self-maintenance device base, and the detected component contact pressure block is connected to a transition shaft through a slot, and the transition shaft is fixedly connected to the signal acquisition pressing down link by a slot bolt tightening method, and the slot and the link are clearance-fitted, and a pressing down link return spring fixing pin is installed on the top of the signal acquisition pressing down link, and the signal acquisition pressing down link is connected to the base return spring fixing pin installed on the base of the self-maintenance device through a return spring, and the connecting rod return spring fixing pin and the base return spring fixing pin cooperate to ensure that the return spring is always in a linear working state, thereby ensuring uniform tensioning force of the return spring and further ensuring millisecond-level signal acquisition accuracy.

[0012] Preferably, the number of connecting rods pressed down by the detected component is three.

[0013] Preferably, two rolling bearings are installed on both sides of the transition shaft to ensure its flexible rotation.

[0014] Preferably, the signal acquisition pressing link and the electromagnetic switch sensing end are in an arc shape to achieve instantaneous stability of line and surface sensing and ensure millisecond-level signal acquisition accuracy.

[0015] Preferably, the electromagnetic induction switch is installed on the lower side of the self-maintenance device base, and the induction gap between it and the signal acquisition pressing link is adjusted to 1 mm.

[0016] Preferably, the purge hole directly cools and purges the electromagnetic tactile switch, and at the same time cooperates with the electromagnetic tactile switch protective cover to form a positive pressure space, changes the electromagnetic tactile switch and the connecting cable, and ensures that dust does not enter to generate interference signals. The purge hole always cools and purges the upper surface of the electromagnetic tactile switch, maintaining a dust-free state to ensure sensitive and reliable signal acquisition. The purge hole always purges the top of the arc of the signal acquisition pressing down connecting rod, keeping it clean to achieve instantaneous stability of line and surface induction, ensuring millisecond-level signal acquisition accuracy. The purge hole always blows the reset spring group, ensuring close contact and smooth operation without impact during the signal acquisition movement process, further ensuring millisecond-level signal acquisition accuracy.

[0017] An application method of a self-maintaining transient acquisition multi-component mobile position signal device, comprising the self-maintaining transient acquisition multi-component mobile position signal device described above;

[0018] The specific configuration operations before work are as follows:

[0019] A set of three tactile sensors is installed on the outside of the trolley running track on one side of each reciprocating oiling device:

[0020] The distance between the three tactile sensors is equal to L;

[0021] In order to prevent interference from other wheels, L≤the distance between trolley wheels; L is usually 100~300mm

[0022] The time it takes for the trolley wheel to pass through the tactile sensor from 1# to 2# is T;

[0023] Can calculate the real-time running speed of the trolley wheels

[0024] The real-time running speed V of the trolley wheel detected 实时 It can meet any scenario where the production process ends after dormancy and restarts.

[0025] The swing stroke of the swing oil injection device is l 摆 ;

[0026] Total time that the swing oiling device can swing along

[0027] Refueling time T of reciprocating oiling device 行 =T 总 -T 等 (T 等 = 0.5 to 1 second);

[0028] Swing oiling device refueling time T 加油 =T 行 -T 压紧进 -T 回 -2T 压紧 ;

[0029] Pressing device feeding time

[0030] (H cylinder stroke, A cylinder piston area, k: medium flow coefficient, P system pressure, A supply port area)

[0031] Swing device return time

[0032] (H cylinder stroke, A cylinder piston area, k: medium flow coefficient, P system pressure, A supply port area)

[0033] When running track "I" mode

[0034] When running the track ")" mode

[0035] When running track "(" mode

[0036] The swing stroke of the swing oiling device must meet the requirements of transient signal acquisition during the maximum operating speed of 1.8 m / min to 4.6 m / min and the change of the maximum operating speed.

[0037] When collecting the running trajectory signals of the circular track ")" and "(", an adjusting gasket H is added between the pressing connecting rod of the detected component and the fixed shaft.

[0038] Adjustment sheet thickness

[0039] (R is the radius of the circular orbit).

[0040] The specific operations during work are as follows:

[0041] S1. After the refueling robot is revived from sleep, it first opens the self-maintenance compressed air purge cooling valve. After 3 to 5 minutes, it begins to read the speed and position signals of the refueled wheels. After maintenance and calculation, it performs refueling operations. The compressed air flow rate is as follows:

[0042] 1.1 When the working environment is ≤25℃, the compressed air is supplied at 1~2 liters / minute;

[0043] 1.2 Working environment = 25 ~ 40 ℃, 2 ~ 3 liters / minute, supply compressed air;

[0044] 1.3 When the working environment is ≥40℃, 4L / min, compressed air supply;

[0045] 1.4 When the robot is in sleep mode, purge for 5 minutes every hour and supply compressed air at 1 to 2 liters per minute.

[0046] This ensures that all components of the self-maintenance device are free from millisecond-level signal acquisition errors caused by thermal stress.

[0047] S2. After the refueling robot wakes up from hibernation, it starts the self-maintenance refueling system.

[0048] 1.1≦35℃, add 3 ml of oil every 10 minutes;

[0049] 1.2 When the working environment is ≥36℃, add 5 ml of oil every 10 minutes;

[0050] Ensure that the two bearings on both sides of the shaft are fully lubricated and move without jamming.

[0051] S3, the purge hole 36 directly cools and purges the electromagnetic tactile switch 15, and at the same time cooperates with the electromagnetic tactile switch 2 protective cover to form a positive pressure space, changing the electromagnetic tactile switch and the connecting cable, and ensuring that dust does not enter to generate interference signals.

[0052] S4, the purge hole 33 always cools and purges the upper surface of the electromagnetic tactile switch to keep it dust-free and ensure sensitive and reliable signal acquisition.

[0053] S5. The purge hole 34 always purges the top of the arc of the signal acquisition pressing down the connecting rod 14 to keep it clean to achieve instantaneous stability of line and surface induction, ensuring millisecond-level signal acquisition accuracy.

[0054] S6 and the purge hole 35 always blow the reset spring group to ensure close contact and smooth operation without impact during the signal acquisition movement process, further ensuring the millisecond-level signal acquisition accuracy.

[0055] S7. The upper and lower compressed air cooling circuits of the self-maintenance device base are connected through 32 connecting pipes, which ensures the uniformity of cooling of the self-maintenance device base and ensures that the signal acquisition mechanism is not affected by uneven stress and reduces the flexibility and accuracy of the signal acquisition mechanism.

[0056] (3) Beneficial effects

[0057] The present invention provides a self-maintaining transient acquisition multi-component mobile position signal device and application method. It has the following beneficial effects:

[0058] This self-maintaining, transient multi-component position signal acquisition device and its application method address the ongoing efforts in traditional industrial sectors to replace human workers with robots, particularly those performing hazardous tasks in hazardous areas. This mechanical self-maintaining signal acquisition device ensures the reliability and stability of intelligent system information, coordinating to ensure the reliable completion of specific 3D job replacement tasks. It targets various work scenarios where robots offer superior repeatability compared to humans. First, they must meet the requirements for transient signal acquisition in traditional processes on the main production line, and second, they must meet the requirements for stable and reliable operation in harsh environments. Therefore, leveraging the advantages of digital intelligence, we must develop intelligent self-maintenance devices and systems for equipment, while also meeting the requirements for integrating locally sourced electromechanical, instrumentation, and hydraulic technologies, with the goal of minimizing costs, workload, and skills requirements for operators and maintenance personnel. The self-maintenance and protection device effectively addresses the challenges of ensuring the stability, reliability, and longevity of electromagnetic tactile sensors in harsh environments, supporting the stable, reliable, and long-lasting operation of the robot.

[0059] With the goal of collecting speed and position signals of moving parts in real time at the millisecond level, we first ensure that the electromagnetic tactile detection sensor does not directly contact the detected part (1mm gap). The electromagnetic tactile sensor is far away from the detected part to ensure that its detection signal is not interfered with by the harsh 3D environment. At the same time, there is a self-maintained compressed air system for cooling and dust blowing to ensure that its operation is sensitive, stable and reliable. The detected part must be in close contact with the detection mechanism to ensure detection accuracy, and the detection mechanism has self-maintained compressed air cooling, lubrication and oil replenishment, and a flexible reset device to ensure that the detection process is impact-free, sensitive, stable and reliable. The entire device and the self-maintenance system are highly coordinated to ensure that the millisecond-level real-time transient signal acquisition is accurate, stable and long-lasting, and can be fine-tuned to meet the application of multiple working scenarios of straight lines and arcs.

[0060] Among them, a compressed air cooling and purge circuit and a lubricating grease oil supply and drainage circuit are designed and manufactured inside the base of the self-maintenance device to realize self-maintenance of the collection device system.

[0061] The self-maintenance device base separates the non-contact electromagnetic induction switch from the detected component, ensuring that the electromagnetic induction switch signal acquisition is not affected by high temperature dust in harsh environments and differences in the detected components.

[0062] The electromagnetic induction switch protective cover and the self-maintenance device base work together to form a positive pressure cooling cavity purged with compressed air, further protecting the electromagnetic induction switch and cable to ensure that the collected signal is not interfered with.

[0063] The triangular structure of the contact block of the inspected component fits the moving part to ensure close contact and smooth operation. The block can be replaced regularly if its current strength is lower than that of the inspected component.

[0064] The upper and lower compressed air cooling circuits of the self-maintenance device base are connected through 32 connecting pipes, which ensures the uniformity of cooling of the self-maintenance device base and ensures that the signal acquisition mechanism is not affected by uneven stress and reduces the flexibility and accuracy of the signal acquisition mechanism.

[0065] The invented self-maintenance system is highly compatible with the signal acquisition device, ensuring reliable and sensitive millisecond-level signal acquisition and guaranteeing the stable working state of the refueling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a schematic diagram of the structure of the present invention;

[0067] Figure 2 This is a schematic structural diagram of the base of the self-maintenance device of the present invention;

[0068] Figure 3 It is a three-dimensional diagram of the base of the self-maintenance device of the present invention.

[0069] In the figure: 1. Self-maintenance device base, 2. Electromagnetic induction switch protective cover; 11. Contact pressure block of detected component, 12. Pressing connecting rod of detected component, 13. Transition shaft, 14. Pressing connecting rod for signal acquisition, 15. Electromagnetic induction switch; 21. Fixing pin of return spring for pressing connecting rod, 22. Return spring, 23. Fixing pin of return spring for base; 31. Cooling compressed air inlet, 32. Cooling compressed air inlet circulation pipe, 33. Purge port of electromagnetic induction switch contact surface, 34. Purge port of induction switch pressing connecting rod, 35. Purge port of return spring system, 36. Cooling purge port of electromagnetic contact switch; 41. Grease filling port, 42. Grease drain port. DETAILED DESCRIPTION

[0070] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0071] See also Figure 1-3The present invention provides a technical solution: a self-maintaining transient acquisition multi-component movement position signal device, comprising a self-maintaining device base 1, on which are respectively provided a cooling compressed air inlet 31, an electromagnetic touch switch cooling purge port 36, a lubricating grease filling port 41, an electromagnetic induction switch contact surface purge port 33, an induction switch pressing connecting rod purge port 34, a return spring system purge port 35, and an interface for a cooling compressed air inlet circulation pipe 32, and an interface for a lubricating grease drain port 42; a base return spring fixing pin 23 is provided on the self-maintaining device base 1, and an electromagnetic induction switch 15 is provided on the lower side of the self-maintaining device base 1;

[0072] An electromagnetic induction switch protection cover 2 is provided under the self-maintenance device base 1, and a detected component pressing down link 12 is provided on the back of the self-maintenance device base 1. A detected component contact pressure block 11 is provided on the side of the detected component pressing down link 12 away from the self-maintenance device base 1, and the detected component contact pressure block 12 is connected to a transition shaft 13 through a slot, and the transition shaft 13 is fixedly connected to a signal acquisition pressing down link 14 by a slot bolt compression method. The slot and the link are clearance-fitted, and a pressing link return spring fixing pin 21 is installed on the top of the signal acquisition pressing down link 14. The signal acquisition pressing down link 14 is connected to a base return spring fixing pin 23 installed on the self-maintenance device base 1 through a return spring 22. The link return spring fixing pin 21 and the base return spring fixing pin 23 cooperate to ensure that the return spring 22 is always in a linear working state, thereby ensuring uniform tensioning force of the return spring and further ensuring millisecond-level signal acquisition accuracy.

[0073] The number of the detected component pressing down links 12 is three.

[0074] Two rolling bearings are mounted on both sides of the transition shaft 13 to ensure its flexible rotation.

[0075] The signal acquisition pressing link 14 and the electromagnetic switch sensing end adopt an arc shape to achieve instantaneous stability of line and surface sensing and ensure millisecond-level signal acquisition accuracy.

[0076] The electromagnetic induction switch 15 is installed on the lower side of the self-maintenance device base 1, and the induction gap between it and the signal collection pressing link 14 is adjusted to 1 mm.

[0077] The purge hole 36 directly cools and purges the electromagnetic tactile switch 15, and at the same time cooperates with the protective cover of the electromagnetic tactile switch 2 to form a positive pressure space, changes the electromagnetic tactile switch and the connecting cable, and ensures that dust does not enter to generate interference signals. The purge hole 33 always cools and purges the upper surface of the electromagnetic tactile switch, maintaining a dust-free state to ensure sensitive and reliable signal acquisition. The purge hole 34 always purges the top of the arc of the signal acquisition pressing down connecting rod 14 to keep it clean to achieve instantaneous stability of line and surface induction, ensuring millisecond-level signal acquisition accuracy. The purge hole 35 always blows the reset spring group to ensure close contact and smooth operation without impact during the signal acquisition movement process, further ensuring millisecond-level signal acquisition accuracy.

[0078] An application method of a self-maintaining transient acquisition multi-component mobile position signal device, comprising the self-maintaining transient acquisition multi-component mobile position signal device described above;

[0079] The specific configuration operations before work are as follows:

[0080] A set of three tactile sensors is installed on the outside of the trolley running track on one side of each reciprocating oiling device:

[0081] The distance between the three tactile sensors is equal to L;

[0082] In order to prevent interference from other wheels, L≤the distance between trolley wheels; L is usually 100~300mm

[0083] The time it takes for the trolley wheel to pass through the tactile sensor from 1# to 2# is T;

[0084] Can calculate the real-time running speed of the trolley wheels

[0085] The real-time running speed V of the trolley wheel detected 实时 It can meet any scenario where the production process ends after dormancy and restarts.

[0086] The swing stroke of the swing oil injection device is l 摆 ;

[0087] Total time that the swing oiling device can swing along

[0088] Refueling time T of reciprocating oiling device 行 =T 总 -T 等 (T 等 = 0.5 to 1 second);

[0089] Swing oiling device refueling time T 加油 =T 行 -T 压紧进 -T 回 -2T压紧 ;

[0090] Pressing device feeding time

[0091] (H cylinder stroke, A cylinder piston area, k: medium flow coefficient, P system pressure, A supply port area)

[0092] Swing device return time

[0093] (H cylinder stroke, A cylinder piston area, k: medium flow coefficient, P system pressure, A supply port area)

[0094] When running track "I" mode

[0095] When running the track ")" mode

[0096] When running track "(" mode

[0097] The swing stroke of the swing oiling device must meet the requirements of transient signal acquisition during the maximum operating speed of 1.8 m / min to 4.6 m / min and the change of the maximum operating speed.

[0098] When collecting the running trajectory signals of the circular track ")" and "(", an adjusting gasket H is added between the pressing connecting rod of the detected component and the fixed shaft.

[0099] Adjustment sheet thickness

[0100] (R is the radius of the circular orbit).

[0101] The specific operations during work are as follows:

[0102] S1. After the refueling robot is revived from sleep, it first opens the self-maintenance compressed air purge cooling valve. After 3 to 5 minutes, it begins to read the speed and position signals of the refueled wheels. After maintenance and calculation, it performs refueling operations. The compressed air flow rate is as follows:

[0103] 1.1 When the working environment is ≤25℃, the compressed air is supplied at 1~2 liters / minute;

[0104] 1.2 Working environment = 25 ~ 40 ℃, 2 ~ 3 liters / minute, supply compressed air;

[0105] 1.3 When the working environment is ≥40℃, 4L / min, compressed air supply;

[0106] 1.4 When the robot is in sleep mode, purge for 5 minutes every hour and supply compressed air at 1 to 2 liters per minute.

[0107] This ensures that all components of the self-maintenance device are free from millisecond-level signal acquisition errors caused by thermal stress.

[0108] S2. After the refueling robot wakes up from hibernation, it starts the self-maintenance refueling system.

[0109] 1.1≦35℃, add 3 ml of oil every 10 minutes;

[0110] 1.2 When the working environment is ≥36℃, add 5 ml of oil every 10 minutes;

[0111] Ensure that the two bearings on both sides of the shaft are fully lubricated and move without jamming.

[0112] S3, the purge hole 36 directly cools and purges the electromagnetic tactile switch 15, and at the same time cooperates with the electromagnetic tactile switch 2 protective cover to form a positive pressure space, changing the electromagnetic tactile switch and the connecting cable, and ensuring that dust does not enter to generate interference signals.

[0113] S4, the purge hole 33 always cools and purges the upper surface of the electromagnetic tactile switch to keep it dust-free and ensure sensitive and reliable signal acquisition.

[0114] S5. The purge hole 34 always purges the top of the arc of the signal acquisition pressing down the connecting rod 14 to keep it clean to achieve instantaneous stability of line and surface induction, ensuring millisecond-level signal acquisition accuracy.

[0115] S6 and the purge hole 35 always blow the reset spring group to ensure close contact and smooth operation without impact during the signal acquisition movement process, further ensuring the millisecond-level signal acquisition accuracy.

[0116] S7. The upper and lower compressed air cooling circuits of the self-maintenance device base are connected through 32 connecting pipes, which ensures the uniformity of cooling of the self-maintenance device base and ensures that the signal acquisition mechanism is not affected by uneven stress and reduces the flexibility and accuracy of the signal acquisition mechanism.

[0117] Example:

[0118] In the application of the ")" mode of the AB sintering machine trolley wheel running track, the on-site ambient temperature is 38°C, and the cooling and purge air pressure is 3 liters / minute when the robot is refueling; when the robot is dormant, it purges for 5 minutes every hour, with a cooling and purge air pressure of 2 liters / minute, and refuels 5 ml every 10 minutes; and performs self-maintenance work.

[0119] In the AB sintering machine, the outer ring wheel track of the cooling trolley is operated in the ")" mode. The ambient temperature is 42°C, and the cooling purge air pressure is 4 liters / minute when the robot is operating. When the robot is dormant, it purges for 5 minutes per hour at a cooling purge pressure of 2 liters / minute, and refuels 5 ml every 10 minutes. This self-maintenance function is implemented. The outer ring wheel track radius R = 9660 mm, and the electromagnetic induction tactile switch spacing is 200 mm. Adjustable shims (H = 2 mm) can be added to the slots between the transition shaft 13 and the connecting rod 12 on both sides to ensure signal acquisition accuracy.

[0120] In the application of the "(" mode of the inner ring wheel running track of the AB sintering machine ring cooling trolley, the on-site ambient temperature is 45°C, the cooling purge air pressure is 4 liters / minute when the robot is running; when the robot is dormant, it purges for 5 minutes every hour, the cooling purge air pressure is 2 liters / minute, and 5 ml of oil is added every 10 minutes; self-maintenance work is performed. The radius of the running track of the outer ring wheel of the ring cooling trolley is R = 7560 mm, the spacing between the electromagnetic induction tactile switches is 200 mm, and the thickness of the adjustable gasket H = 3 mm can be added in the slot between the middle transition shaft 13 and the pressing connecting rod 12 of the detected component to ensure the accuracy of signal acquisition.

[0121] In summary, this self-maintaining, transient multi-component position signal acquisition device and its application method address the ongoing efforts in traditional industrial sectors to replace humans with robots, particularly for hazardous operations in dangerous areas. This mechanical self-maintaining signal acquisition device ensures the reliability and stability of intelligent system information, coordinating to ensure the reliable completion of specific 3D job replacement tasks. Robots are designed for various work scenarios where they offer superior repeatability compared to humans. First, they must meet the requirements for transient signal acquisition in traditional processes on the main production line, and second, they must meet the requirements for stable and reliable operation in harsh environments. Therefore, leveraging the advantages of digital intelligence, we must develop intelligent self-maintenance devices and systems for equipment, while also meeting the requirements for integrating locally sourced electromechanical, instrumentation, and hydraulic technologies, while minimizing costs, workload, and skills requirements for operators and maintenance personnel. The self-maintenance and protection device effectively addresses the challenges of ensuring the stability, reliability, and longevity of electromagnetic tactile sensors in harsh environments, supporting the stable, reliable, and long-lasting operation of robots.

[0122] With the goal of collecting speed and position signals of moving parts in real time at the millisecond level, we first ensure that the electromagnetic tactile detection sensor does not directly contact the detected part (1mm gap). The electromagnetic tactile sensor is far away from the detected part to ensure that its detection signal is not interfered with by the harsh 3D environment. At the same time, there is a self-maintained compressed air system for cooling and dust blowing to ensure that its operation is sensitive, stable and reliable. The detected part must be in close contact with the detection mechanism to ensure detection accuracy, and the detection mechanism has self-maintained compressed air cooling, lubrication and oil replenishment, and a flexible reset device to ensure that the detection process is impact-free, sensitive, stable and reliable. The entire device and the self-maintenance system are highly coordinated to ensure that the millisecond-level real-time transient signal acquisition is accurate, stable and long-lasting, and can be fine-tuned to meet the application of multiple working scenarios of straight lines and arcs.

[0123] Among them, a compressed air cooling and purge circuit and a lubricating grease oil supply and drainage circuit are designed and manufactured inside the base of the self-maintenance device to realize self-maintenance of the collection device system.

[0124] The self-maintenance device base separates the non-contact electromagnetic induction switch from the detected component, ensuring that the electromagnetic induction switch signal acquisition is not affected by high temperature dust in harsh environments and differences in the detected components.

[0125] The electromagnetic induction switch protective cover and the self-maintenance device base work together to form a positive pressure cooling cavity purged with compressed air, further protecting the electromagnetic induction switch and cable to ensure that the collected signal is not interfered with.

[0126] The triangular structure of the contact block of the inspected component fits the moving part to ensure close contact and smooth operation. The block can be replaced regularly if its current strength is lower than that of the inspected component.

[0127] The upper and lower compressed air cooling circuits of the self-maintenance device base are connected through 32 connecting pipes, which ensures the uniformity of cooling of the self-maintenance device base and ensures that the signal acquisition mechanism is not affected by uneven stress and reduces the flexibility and accuracy of the signal acquisition mechanism.

[0128] The invented self-maintenance system is highly compatible with the signal acquisition device, ensuring reliable and sensitive millisecond-level signal acquisition and guaranteeing the stable working state of the refueling robot.

[0129] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0130] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A self-maintaining transient acquisition device for multi-component mobile position signals, characterized by: The self-maintenance device comprises a base (1), on which a cooling compressed air inlet (31), an electromagnetic touch switch cooling purge port (36), a lubricating grease filling port (41), an electromagnetic induction switch contact surface purge port (33), an induction switch pressing connecting rod purge port (34), a return spring system purge port (35), an interface of a cooling compressed air inlet circulation pipe (32), and an interface of a lubricating grease drain port (42) are respectively provided. A base return spring fixing pin (23) is provided on the self-maintenance device base (1), and an electromagnetic induction switch (15) is provided on the lower side of the self-maintenance device base (1); An electromagnetic induction switch protection cover (2) is provided below the self-maintenance device base (1); a detected component pressing connecting rod (12) is provided on the back of the self-maintenance device base (1); a detected component contact pressing block (11) is provided on the side of the detected component pressing connecting rod (12) away from the self-maintenance device base (1); the detected component contact pressing block (11) is connected to a transition shaft (13) through a slot; the transition shaft (13) is fixedly connected to a signal acquisition pressing connecting rod (14) by a slot bolt compression method; the slot A clearance fit is adopted with the connecting rod, and a pressing connecting rod reset spring fixing pin (21) is installed on the top of the signal acquisition pressing connecting rod (14). The signal acquisition pressing connecting rod (14) is connected to the base reset spring fixing pin (23) installed on the self-maintenance device base (1) through the reset spring (22). The connecting rod reset spring fixing pin (21) and the base reset spring fixing pin (23) cooperate to ensure that the reset spring (22) is always in a linear working state, ensuring uniform tension of the reset spring, and further ensuring millisecond-level signal acquisition accuracy.

2. The self-maintaining transient acquisition multi-component mobile position signal device according to claim 1, characterized in that: The number of connecting rods (12) pressed down by the detected component is three.

3. The self-maintaining transient acquisition multi-component mobile position signal device according to claim 1, characterized in that: Two rolling bearings are installed on both sides of the transition shaft (13) to ensure its flexible rotation.

4. The self-maintaining transient acquisition multi-component mobile position signal device according to claim 1, characterized in that: The signal acquisition pressing connecting rod (14) and the electromagnetic switch sensing end are in an arc shape, thereby achieving instantaneous stabilization of line and surface sensing and ensuring millisecond-level signal acquisition accuracy.

5. The self-maintaining transient acquisition multi-component mobile position signal device according to claim 1, characterized in that: The electromagnetic induction switch (15) is installed on the lower side of the self-maintenance device base (1), and the induction gap between the electromagnetic induction switch (15) and the signal collection pressing link (14) is adjusted to 1 mm.

6. The self-maintaining transient state acquisition multi-component mobile position signal device according to claim 1, characterized in that: The electromagnetic touch switch cooling purge port (36) directly cools and purges the electromagnetic induction switch (15), and simultaneously cooperates with the electromagnetic induction switch protective cover (2) to form a positive pressure space, changes the electromagnetic touch switch and the connecting cable, and ensures that dust does not enter to generate interference signals. The electromagnetic induction switch contact surface purge port (33) always cools and purges the upper surface of the electromagnetic touch switch, maintains a dust-free state, and ensures sensitive and reliable signal acquisition. The induction switch pressing connecting rod purge port (34) always purges the top of the arc of the signal acquisition pressing connecting rod (14), keeps it clean, realizes instantaneous stability of line and surface induction, and ensures millisecond-level signal acquisition accuracy. The reset spring system purge port (35) always blows the reset spring group, ensuring close contact and smooth operation without impact during the signal acquisition movement process, further ensuring millisecond-level signal acquisition accuracy.

7. An application method of a self-maintaining transient acquisition multi-component mobile position signal device, characterized by: The self-maintaining transient state acquisition multi-component mobile position signal device according to claim 1; The specific configuration operations before work are as follows: A set of three tactile sensors is installed on the outside of the trolley running track on one side of each reciprocating oiling device: The distance between the three tactile sensors is equal to L; In order to prevent interference from other wheels, L≤the distance between trolley wheels; L is 100~300㎜ The time it takes for the trolley wheel to pass through the tactile sensor from 1# to 2# is T; Can calculate the real-time running speed of the trolley wheels ; The real-time running speed V of the trolley wheel detected 实时 Satisfy any scenario where the production process ends dormancy and restarts; The swing stroke of the swing oil injection device is l 摆 ; Total time that the swing oiling device can swing along ; Refueling time T of reciprocating oiling device 行 =T 总 -T 等 (T 等 =0.5~1 seconds); Swing oiling device refueling time T 加油 =T 行 -T 压紧进 -T 回 -2T 压紧 ; Pressing device feeding time ; H: cylinder stroke, A: cylinder piston area, k: medium flow coefficient, P: system pressure, a: feed port area Swing device return time ; H: cylinder stroke, A: cylinder piston area, k: medium flow coefficient, P: system pressure, a: feed port area When running track "I" mode ; When running track ")" mode ; When running track "(" mode ; The swing stroke of the swing oiling device must meet the requirements of transient signal acquisition when the maximum operating speed is 1.8m / min~4.6m / min; When collecting the trajectory signals of the circular track ")" and "(", an adjustment piece H is added between the pressing connecting rod of the detected component and the fixed shaft; Adjustment sheet thickness H= ; R is the radius of the circular track, L is the sensor spacing; The specific operations during work are as follows: S1. After the refueling robot is revived from hibernation, it first opens the self-maintenance compressed air purge cooling valve. After 3-5 minutes, it begins to read the speed and position signals of the refueled wheels, performs maintenance calculations, and then performs refueling operations. The compressed air flow rate is as follows: 1.1 When the working environment is ≤25℃, the compressed air is supplied at 1~2 liters / minute; 1.2 When the working environment is 25~40℃, the compressed air is supplied at 2~3 liters / minute; 1.3 When the working environment is ≥40℃, 4L / min, compressed air supply; 1.4 When the robot is in sleep mode, purge for 5 minutes every hour, supplying 1~2 liters / minute of compressed air; Ensures that all components of the self-maintenance device are free from thermal stress and millisecond-level signal acquisition errors; S2: After the refueling robot is revived from sleep, the self-maintenance refueling system is activated; 1.1≦35℃, add 3 ml of oil every 10 minutes; 1.2 When the working environment is ≥36℃, add 5 ml of oil every 10 minutes; Ensure that the two bearings on both sides of the shaft are fully lubricated and move without jamming; S3, the electromagnetic touch switch cooling and purge port (36) directly cools and purges the electromagnetic induction switch (15), and at the same time cooperates with the electromagnetic induction switch protective cover (2) to form a positive pressure space, changes the electromagnetic touch switch and the connecting cable, and ensures that dust does not enter to generate interference signals; S4, the electromagnetic induction switch contact surface purge port (33) always cools and purges the upper surface of the electromagnetic tactile switch to maintain a dust-free state and ensure sensitive and reliable signal acquisition; S5, the induction switch presses the connecting rod purge port (34) to always purge the signal acquisition and press the top of the arc of the connecting rod (14) to keep it clean to achieve instantaneous stability of line and surface induction, ensuring millisecond-level signal acquisition accuracy; S6, the reset spring system purge port (35) always blows the reset spring group, ensuring close contact and smooth operation without impact during the signal acquisition movement process, further ensuring millisecond-level signal acquisition accuracy; S7. The upper and lower compressed air cooling circuits of the self-maintenance device base are connected through the cooling compressed air intake circulation pipe (32), thereby ensuring the uniformity of cooling of the self-maintenance device base and ensuring that the signal acquisition mechanism is not subjected to uneven stress and reduces the flexibility and accuracy of the signal acquisition mechanism.

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