A self-lubricating guide rail structure and control method

Abstract

The present invention discloses a self-lubricating guide rail structure and control method, the method includes judging whether the sliding time of the slider in the sliding state reaches a first preset time; if not, judging whether the current sliding speed, current temperature and current load meet the first preset condition, if not, determining the first lubrication scheme according to the current sliding speed, current temperature and current load of the slider, and performing lubrication work on the guide rail according to the first lubrication scheme; if satisfied, generating the temperature change curve of the slider according to the temperature change data of the slider, determining that the temperature change of the slider meets the second preset condition based on the temperature change curve, correcting the first lubrication scheme according to the current position frequency to obtain the second lubrication scheme, and performing lubrication work on the guide rail according to the second lubrication scheme. The present invention can realize accurate lubrication control of the guide rail, and effectively avoid the defects such as waste of lubricating oil, insufficient lubrication or untimely lubrication in the subsequent work process.

Description

Technical Field

[0001] The present invention relates to the technical field of lubrication control, and in particular to a self-lubricating guide rail structure and a control method. Background Art

[0002] As a mechanical transmission, the rolling linear track pair is an important carrier for realizing linear transmission, and is usually composed of guide rails, sliders, returners, rolling elements, and retainers. In order to achieve smooth operation of the guide pair, it is necessary to ensure that the sliders and guide rails in the guide pair are kept lubricated to reduce the friction between the sliders and the rails. When there is a lack of lubricant between the sliders and the rails, the friction between the sliders and the rails increases, which will affect the smoothness of the slider's sliding. Therefore, maintenance personnel are required to frequently inject lubricating oil into the guide rails to maintain lubrication. However, the above-mentioned manual lubrication method is not only time-consuming and labor-intensive, but also prone to problems such as waste of lubricating oil, insufficient lubrication, or untimely lubrication. Summary of the invention

[0003] In order to solve at least one of the above-mentioned technical problems, the present invention provides a self-lubricating guide rail structure and a control method.

[0004] In a first aspect, the present invention provides a control method for a self-lubricating guide rail structure, wherein the self-lubricating guide rail comprises a linear track and a slider, wherein the slider is sleeved on the linear track, wherein a plurality of rolling bodies are arranged in the slider, and wherein the slider is slidably connected to the linear track through the rolling bodies, wherein the method comprises:

[0005] Acquire a motion state signal of the slider; wherein the motion state signal is a signal triggered when the slider is in a sliding state;

[0006] Determine whether the sliding time of the slider in the sliding state reaches a first preset time;

[0007] If not, obtain the current sliding speed, current temperature and current load of the slider, and judge whether the current sliding speed, current temperature and current load meet the first preset condition. If not, determine the first lubrication scheme according to the current sliding speed, current temperature and current load of the slider, and lubricate the guide rail according to the first lubrication scheme; if satisfied, obtain the temperature change data of the slider of the guide rail in the current working time period and the current position frequency of the slider passing through the linear track, generate the temperature change curve of the slider according to the temperature change data, and when it is determined based on the temperature change curve that the temperature change of the slider meets the second preset condition, modify the first lubrication scheme according to the current position frequency to obtain the second lubrication scheme, and lubricate the guide rail according to the second lubrication scheme; wherein, the first lubrication scheme is used to lubricate the rolling body arranged in the slider and in rolling contact with the working surface of the linear track, and the second lubrication scheme is used to lubricate the rolling body and the working surface of the linear track at the same time;

[0008] If so, lubrication is performed on the guide rail according to the second lubrication scheme.

[0009] Preferably, judging whether the current sliding speed, current temperature and current load meet a first preset condition includes:

[0010] Comparing the current sliding speed with a preset sliding speed to obtain a first comparison result;

[0011] Comparing the current temperature with a preset temperature to obtain a second comparison result;

[0012] Comparing the current load with a preset load to obtain a third comparison result;

[0013] Determine whether at least two of the first comparison result, the second comparison result, and the third comparison result are greater than;

[0014] If so, determining that the current sliding speed, current temperature, and current load satisfy a first preset condition;

[0015] If not, it is determined that the current sliding speed, current temperature and current load do not satisfy the first preset condition.

[0016] Preferably, determining the first lubrication scheme according to the current sliding speed, current temperature and current load of the slider comprises:

[0017] Obtaining a corresponding dynamic coefficient according to the current sliding speed, the current temperature and the current load;

[0018] determining an initial supply amount according to the current sliding speed, the current temperature, the current load and corresponding dynamic coefficients;

[0019] determining a corrected supply amount according to the current sliding speed, the current temperature and a corresponding nonlinear coefficient;

[0020] Determining a total supply amount according to the initial supply amount and the corrected supply amount;

[0021] The rolling element is lubricated according to the total supply amount to obtain a first lubrication plan.

[0022] Preferably, determining the initial supply amount according to the current sliding speed, the current temperature, the current load and the corresponding coefficient obtained by dynamic adjustment includes:

[0023]

[0024] Among them, v, T, and W represent the current sliding speed, current temperature, and current load, respectively;

[0025] k v , k T , k W The dynamic coefficients representing the current sliding speed, current temperature and current load respectively;

[0026] e represents the base of natural logarithm;

[0027] T0 represents the reference temperature;

[0028] ΔT represents temperature sensitivity.

[0029] Preferably, determining the corrected supply amount according to the current sliding speed, the current temperature and the corresponding nonlinear coefficient includes:

[0030]

[0031] Among them, v, T, and W represent the current sliding speed, current temperature, and current load, respectively;

[0032] k v,nl , k T,nl Represent the nonlinear coefficients of the current sliding speed and current temperature respectively;

[0033] e represents the base of natural logarithm;

[0034] T0 represents the reference temperature;

[0035] ΔT represents temperature sensitivity.

[0036] Preferably, determining the total supply amount according to the initial supply amount and the corrected supply amount comprises:

[0037] Q total =Q base +Q nonlinear ;

[0038] Q min ≤Q total ≤Q max ;

[0039] Among them, Q total represents the total supply, Q base represents the initial supply, Q nonlinear represents the modified supply, Q min Indicates the minimum preset supply quantity, Q max Indicates the maximum preset supply amount.

[0040] Preferably, it also includes:

[0041] Determine whether the temperature change curve satisfies the following three characteristics at the same time: the temperature change curve shows an overall upward trend, the overall average slope of the temperature change curve is greater than a preset slope, and the time corresponding to the temperature change curve is less than a second preset time length; wherein the second preset time length is less than the first preset time length;

[0042] If so, determining that the temperature change of the slider satisfies a second preset condition;

[0043] If not, it is determined that the temperature change of the slider does not meet the second preset condition, and lubrication is performed on the guide rail according to the first lubrication scheme.

[0044] Preferably, the first lubrication scheme is modified according to the current position frequency to obtain a second lubrication scheme, including:

[0045] Determine a first lubrication amount according to the current position frequency and the initial lubrication amount; wherein the first lubrication amount is the lubrication amount provided to the working surface of the current position of the linear track, so as to lubricate the working surface of the linear track, and the working surface is a surface that provides rolling contact for the rolling element;

[0046] The first lubrication scheme is adjusted based on the first lubrication amount to obtain a second lubrication amount; the second lubrication amount is the lubrication amount provided to the rolling element to lubricate the rolling element;

[0047] The second lubrication scheme is obtained according to the first lubrication amount and the second lubrication amount.

[0048] In a second aspect, the present invention further provides a self-lubricating guide rail structure, using the control method of the self-lubricating guide rail structure as described in any one of the above, the self-lubricating guide rail structure comprising:

[0049] Straight track;

[0050] A slider, wherein the slider is sleeved on the linear track, a plurality of rolling bodies are arranged in the slider, and the slider is slidably connected to the linear track through the rolling bodies;

[0051] The lubrication assembly comprises a first lubrication mechanism and a second lubrication mechanism, wherein the first lubrication mechanism is used to lubricate the rolling element, and the second lubrication mechanism is used to lubricate the working surface of the linear track.

[0052] In a third aspect, the present invention further provides a control system for a self-lubricating guide rail structure, the system comprising:

[0053] An acquisition module, used for acquiring a motion state signal of the slider; wherein the motion state signal is a signal triggered when the slider is in a sliding state;

[0054] a lubrication module, used for determining whether the sliding time of the sliding block in the sliding state reaches a first preset time;

[0055] If not, obtain the current sliding speed, current temperature and current load of the slider, and judge whether the current sliding speed, current temperature and current load meet the first preset condition. If not, determine the first lubrication scheme according to the current sliding speed, current temperature and current load of the slider, and lubricate the guide rail according to the first lubrication scheme; if satisfied, obtain the temperature change data of the slider of the guide rail in the current working time period and the current position frequency of the slider passing through the linear track, generate the temperature change curve of the slider according to the temperature change data, and when it is determined based on the temperature change curve that the temperature change of the slider meets the second preset condition, modify the first lubrication scheme according to the current position frequency to obtain the second lubrication scheme, and lubricate the guide rail according to the second lubrication scheme; wherein, the first lubrication scheme is used to lubricate the rolling body arranged in the slider and in rolling contact with the working surface of the linear track, and the second lubrication scheme is used to lubricate the rolling body and the working surface of the linear track at the same time;

[0056] If so, lubrication is performed on the guide rail according to the second lubrication scheme.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] 1) The control method of the self-lubricating guide rail structure provided by the present invention first obtains the motion state signal of the slider; wherein the motion state signal is a signal triggered when the slider is in a sliding state, and then determines whether the sliding time of the slider in the sliding state reaches a first preset time, and then determines the working time of the current guide rail, so as to judge the lubricity of the guide rail according to the working time, and eliminates the errors of the current sliding speed, current temperature, current load and temperature change data of the slider in the current working time period through the working time, so as to accurately control the lubrication amount of the guide rail and the lubrication effect. Since the errors caused by working factors can be eliminated through the time, the effect of accurate lubrication control of the guide rail can be achieved, which can effectively avoid the defects such as waste of lubricating oil, insufficient lubrication or untimely lubrication in the subsequent working process.

[0059] 2) If the sliding time of the slider in the sliding state does not reach the first preset time, obtain the current sliding speed, current temperature and current load of the slider, and judge whether the current sliding speed, current temperature and current load meet the first preset condition. If not, determine the first lubrication scheme according to the current sliding speed, current temperature and current load of the slider, and lubricate the guide rail according to the first lubrication scheme; if satisfied, obtain the temperature change data of the slider in the current working time period of the guide rail and the current position frequency of the slider passing through the linear track, generate a temperature change curve of the slider according to the temperature change data of the slider, and when it is determined based on the temperature change curve that the temperature change of the slider meets the second preset condition, modify the first lubrication scheme according to the current position frequency to obtain a second lubrication scheme, and lubricate the guide rail according to the second lubrication scheme Lubrication work is performed on the guide rail; wherein, the first lubrication scheme is used to lubricate the rolling body arranged in the slider and in rolling contact with the working surface of the linear track, and the second lubrication scheme is used to lubricate the rolling body and the working surface of the linear track at the same time; since the first preset time length is obtained by predicting and setting based on the ideal state and comprehensive considerations, and due to the differences in actual work, the present invention further considers the state parameters in the actual work, such as the current sliding speed, current temperature and current load of the slider, and considers the temperature change data of the slider in the current working time period, so as to further determine the lubrication scheme for the guide rail, so that the obtained lubrication scheme is more in line with the lubrication conditions of the actual work, and reduces the problems of insufficient working precision and reduced service life of the guide rail caused by serious lubrication defects during the working process.

[0060] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the background technology, the drawings required for use in the embodiments of the present invention or the background technology will be described below.

[0062] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used to illustrate the technical solutions of the present disclosure together with the specification.

[0063] Figure 1 A schematic flow chart of a control method for a self-lubricating guide rail structure provided by an embodiment of the present invention;

[0064] Figure 2 A schematic structural diagram of a self-lubricating guide rail structure provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0066] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0067] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0068] In addition, in order to better illustrate the present invention, numerous specific details are provided in the following specific embodiments. It should be understood by those skilled in the art that the present invention can be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present invention.

[0069] See also Figure 1 , Figure 1The following is a flow chart of a control method of a self-lubricating guide rail structure provided by an embodiment of the present invention. Figure 1 As shown, a control method of a self-lubricating guide rail structure, the self-lubricating guide rail comprises a linear rail 1 and a slider 2, the slider 2 is sleeved on the linear rail 1, a plurality of rolling bodies 21 are arranged in the slider 2, and the slider 2 is slidably connected with the linear rail 1 through the rolling bodies 21, comprising the following steps:

[0070] S10, obtaining a motion state signal of the slider 2; wherein the motion state signal is a signal triggered when the slider 2 is in a sliding state;

[0071] S20, determining whether the sliding time of the slider 2 in the sliding state reaches a first preset time;

[0072] S30. If no,

[0073] S31, obtaining the current sliding speed, current temperature and current load of the slider 2, and determining whether the current sliding speed, current temperature and current load meet a first preset condition,

[0074] In one embodiment, determining whether the current sliding speed, current temperature, and current load meet a first preset condition includes:

[0075] S311, comparing the current sliding speed with a preset sliding speed to obtain a first comparison result;

[0076] S312, comparing the current temperature with a preset temperature to obtain a second comparison result;

[0077] S313, comparing the current load with a preset load to obtain a third comparison result;

[0078] S314, determining whether at least two of the first comparison result, the second comparison result, and the third comparison result are greater than;

[0079] S315: If yes, determine that the current sliding speed, current temperature and current load meet a first preset condition;

[0080] S316: If not, determine that the current sliding speed, current temperature, and current load do not meet the first preset condition.

[0081] S32, if not satisfied, determining a first lubrication scheme according to the current sliding speed, current temperature and current load of the slider 2, and performing lubrication work on the guide rail according to the first lubrication scheme;

[0082] In one embodiment, according to the current sliding speed, current temperature and current load of the slider 2, a first lubrication scheme is determined, including:

[0083] S321, obtaining a corresponding dynamic coefficient according to the current sliding speed, the current temperature and the current load;

[0084] S322, determining an initial supply amount according to the current sliding speed, the current temperature, the current load and the corresponding dynamic coefficient; including:

[0085]

[0086] Among them, v, T, and W represent the current sliding speed, current temperature, and current load, respectively;

[0087] k v , k T , k W The dynamic coefficients representing the current sliding speed, current temperature and current load respectively;

[0088] e represents the base of natural logarithm;

[0089] T0 represents the reference temperature;

[0090] ΔT represents temperature sensitivity.

[0091] S323, determining a corrected supply amount according to the current sliding speed, the current temperature and the corresponding nonlinear coefficient; comprising:

[0092]

[0093] Among them, v, T, and W represent the current sliding speed, current temperature, and current load, respectively;

[0094] k v,nl , k T,nl Represent the nonlinear coefficients of the current sliding speed and current temperature respectively;

[0095] e represents the base of natural logarithm;

[0096] T0 represents the reference temperature;

[0097] ΔT represents temperature sensitivity.

[0098] S324, determining a total supply amount according to the initial supply amount and the corrected supply amount; including:

[0099] Q total =Q base +Q nonlinear ;

[0100] Qmin ≤Q total ≤Q max ;

[0101] Among them, Q yotal represents the total supply, Q base represents the initial supply, Q nonlinear represents the modified supply, Q min Indicates the minimum preset supply quantity, Q max Indicates the maximum preset supply amount.

[0102] S325 , lubricate the rolling element 21 according to the total supply amount to obtain a first lubrication scheme.

[0103] S33, if satisfied,

[0104] S331, obtaining the temperature change data of the slider 2 of the guide rail in the current working period and the current position frequency of the slider 2 passing through the linear track 1,

[0105] S332, generating a temperature change curve of the slider 2 according to the temperature change data of the slider 2,

[0106] In one embodiment, it also includes:

[0107] Determine whether the temperature change curve satisfies the following three characteristics at the same time: the temperature change curve shows an overall upward trend, the overall average slope of the temperature change curve is greater than a preset slope, and the time corresponding to the temperature change curve is less than a second preset time length; wherein the second preset time length is less than the first preset time length;

[0108] If so, it is determined that the temperature change of the slider 2 meets the second preset condition;

[0109] If not, it is determined that the temperature change of the slider 2 does not meet the second preset condition, and lubrication is performed on the guide rail according to the first lubrication scheme.

[0110] S333: When it is determined based on the temperature change curve that the temperature change of the slider 2 meets a second preset condition, the first lubrication scheme is modified according to the current position frequency to obtain a second lubrication scheme, which specifically includes:

[0111] S333-1, determining a first lubrication amount according to the current position frequency and the initial lubrication amount; wherein the first lubrication amount is the lubrication amount provided to the working surface 11 of the current position of the linear track 1, so as to lubricate the working surface 11 of the linear track 1, and the working surface 11 is a surface that provides rolling contact for the rolling element 21;

[0112] S333-2, adjusting the first lubrication scheme based on the first lubrication amount to obtain a second lubrication amount; the second lubrication amount is the lubrication amount provided to the rolling element 21 to lubricate the rolling element 21;

[0113] S333-3. Obtain the second lubrication scheme according to the first lubrication amount and the second lubrication amount.

[0114] S334, lubricating the guide rail according to the second lubrication scheme; wherein the first lubrication scheme is used to lubricate the rolling element 21 disposed in the slider 2 and in rolling contact with the working surface 11 of the linear track 1, and the second lubrication scheme is used to lubricate the rolling element 21 and the working surface 11 of the linear track 1 at the same time;

[0115] S40: If yes, lubricate the guide rail according to the second lubrication scheme.

[0116] In summary, the control method of the self-lubricating guide rail structure provided by the present invention can at least achieve the following effects:

[0117] 1) The control method of the self-lubricating guide rail structure provided by the present invention first obtains the motion state signal of the slider 2; wherein the motion state signal is a signal triggered when the slider 2 is in a sliding state, and then determines whether the sliding time of the slider 2 in the sliding state reaches a first preset time, and then determines the working time of the current guide rail, so as to judge the lubricity of the guide rail according to the working time, and eliminates the errors of the current sliding speed, current temperature, current load and temperature change data of the slider 2 in the current working time period through the working time, so as to accurately control the lubrication amount and lubrication effect of the guide rail. Since the errors caused by working factors can be eliminated through the time, the effect of accurate lubrication control of the guide rail can be achieved, which can effectively avoid the defects such as waste of lubricating oil, insufficient lubrication or untimely lubrication in the subsequent working process.

[0118] 2) If the sliding time of the slider 2 in the sliding state does not reach the first preset time, the current sliding speed, current temperature and current load of the slider 2 are obtained, and it is determined whether the current sliding speed, current temperature and current load meet the first preset condition. If not, a first lubrication scheme is determined according to the current sliding speed, current temperature and current load of the slider 2, and lubrication work is performed on the guide rail according to the first lubrication scheme; if it is satisfied, the temperature change data of the slider 2 in the current working time period of the guide rail and the current position frequency of the slider 2 passing through the linear track 1 are obtained, and a temperature change curve of the slider 2 is generated according to the temperature change data of the slider 2. When it is determined based on the temperature change curve that the temperature change of the slider 2 meets the second preset condition, the first lubrication scheme is corrected according to the current position frequency to obtain a second lubrication scheme, and the guide rail is lubricated according to the second lubrication scheme The guide rail performs lubrication work; wherein, the first lubrication scheme is used to lubricate the rolling body 21 arranged in the slider 2 and in rolling contact with the working surface 11 of the linear track 1, and the second lubrication scheme is used to lubricate the rolling body 21 and the working surface 11 of the linear track 1 at the same time; since the first preset time length is obtained by predicting and setting based on the ideal state and comprehensive considerations, and due to the difference in actual work, the present invention further considers the state parameters in the actual work, such as the current sliding speed, current temperature and current load of the slider 2, and considers the temperature change data of the slider 2 in the current working time period, so as to further determine the lubrication scheme for the guide rail, so that the obtained lubrication scheme is more in line with the lubrication conditions of the actual work, and reduces the problems of insufficient working precision and reduced service life of the guide rail caused by serious lubrication defects in the working process.

[0119] See also Figure 2 In some embodiments, the present invention further provides a self-lubricating guide rail structure, using the control method of the self-lubricating guide rail structure as described in any one of the above, the self-lubricating guide rail structure comprising:

[0120] Straight track 1;

[0121] A slider 2, wherein the slider 2 is sleeved on the linear track 1, a plurality of rolling bodies 21 are arranged in the slider 2, and the slider 2 is slidably connected to the linear track 1 through the rolling bodies 21;

[0122] The lubrication assembly comprises a first lubrication mechanism and a second lubrication mechanism, wherein the first lubrication mechanism is used to lubricate the rolling element 21 , and the second lubrication mechanism is used to lubricate the working surface 11 of the linear track 1 .

[0123] It should be noted that the first lubrication mechanism and the second lubrication mechanism are micro-injection mechanisms (not shown), wherein the micro-injection mechanism includes an oil supply tank, a micro-drive member, and a plurality of micro-injection members connected to the oil supply tank, the oil supply tank is used to store lubricating oil, and the micro-drive member is used to drive the lubricating oil stored in the oil supply tank to be transported to the micro-injection member, and then sprayed to the corresponding working surface or rolling body 21 through the micro-injection member, thereby completing the self-lubricating operation of the guide rail. Among them, the micro-injection member can be a piezoelectric micro-nozzle or a micro-nozzle, and the piezoelectric micro-nozzle or the micro-nozzle is provided with a control valve, and the control valve is controlled to operate according to the first lubrication scheme and the second lubrication scheme. Specifically, the first lubrication mechanism is controlled to perform lubrication work according to the total lubrication amount and the first lubrication amount, and the second lubrication mechanism is controlled to perform lubrication work according to the second lubrication amount, thereby achieving precise self-lubricating operation of the guide rail.

[0124] It should be understood that the injection port of the micro-injection member of the first lubricating mechanism is arranged corresponding to the rolling body 21 or the raceway, wherein the raceway is a channel for the movement of the rolling body 21; or a plurality of micro-holes are arranged in the raceway, and the injection port of the micro-injection member of the first lubricating mechanism is connected to the micro-holes, thereby realizing lubrication of the rolling body 21. The number of micro-injection members is set as required.

[0125] It should be understood that the injection port of the micro-injection member of the second lubricating mechanism is arranged corresponding to the working surface, and a corresponding mounting bracket can be arranged, the mounting bracket has an injection surface facing the working surface 11, the injection surface is provided with micro-holes, and the injection port of the micro-injection member of the second lubricating mechanism is connected with the micro-holes, so as to achieve lubrication of the working surface 11. Among them, the number of micro-injection members is arranged correspondingly according to the number of working surfaces 11 of the linear track 1, so as to achieve accurate lubrication of the working surface 11.

[0126] In some embodiments, the present invention further provides a control system for a self-lubricating guide rail structure, the system comprising:

[0127] An acquisition module, used for acquiring a motion state signal of the slider 2; wherein the motion state signal is a signal triggered when the slider 2 is in a sliding state;

[0128] A lubrication module, used for determining whether the sliding time of the sliding block 2 in the sliding state reaches a first preset time;

[0129] If not, obtain the current sliding speed, current temperature and current load of the slider 2, and determine whether the current sliding speed, current temperature and current load meet the first preset condition. If not, determine a first lubrication scheme according to the current sliding speed, current temperature and current load of the slider 2, and lubricate the guide rail according to the first lubrication scheme; if satisfied, obtain the temperature change data of the slider 2 of the guide rail in the current working time period and the current position frequency of the slider 2 passing through the linear track 1, generate a temperature change curve of the slider 2 according to the temperature change data of the slider 2, and when it is determined based on the temperature change curve that the temperature change of the slider 2 meets the second preset condition, modify the first lubrication scheme according to the current position frequency to obtain a second lubrication scheme, and lubricate the guide rail according to the second lubrication scheme; wherein the first lubrication scheme is used to lubricate the rolling body 21 disposed in the slider 2 and in rolling contact with the working surface 11 of the linear track 1, and the second lubrication scheme is used to lubricate the rolling body 21 and the working surface 11 of the linear track 1 at the same time;

[0130] If so, lubrication is performed on the guide rail according to the second lubrication scheme.

[0131] It can be understood that the functions or modules included in the system provided in this embodiment can be used to execute the method described in the above method embodiment. Its specific implementation can refer to the description of the above method embodiment. For the sake of brevity, it will not be repeated here.

[0132] The present invention also provides an electronic device, including a processor and a memory, wherein the memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the electronic device executes a method as described in any possible implementation manner.

[0133] The present invention also provides a computer-readable storage medium, in which a computer program is stored. The computer program includes program instructions. When the program instructions are executed by a processor of an electronic device, the processor executes a method as described in any possible implementation manner.

[0134] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. Those skilled in the art can also clearly understand that the descriptions of the various embodiments of the present invention have different focuses. For the convenience and brevity of description, the same or similar parts may not be repeated in different embodiments. Therefore, for parts not described or not described in detail in a certain embodiment, refer to the records of other embodiments.

[0136] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0137] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0139] A person skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by a computer program to instruct the relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned method embodiments. The aforementioned storage medium includes: a read-only memory (ROM) or a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

Claims

1. A control method for a self-lubricating guide rail structure, characterized in that: The self-lubricating guide rail comprises a linear track and a slider, the slider is sleeved on the linear track, a plurality of rolling bodies are arranged in the slider, and the slider is slidably connected with the linear track through the rolling bodies, and the method comprises: Acquire a motion state signal of the slider; wherein the motion state signal is a signal triggered when the slider is in a sliding state; Determine whether the sliding time of the slider in the sliding state reaches a first preset time; If not, obtain the current sliding speed, current temperature and current load of the slider, and determine whether the current sliding speed, current temperature and current load meet the first preset condition, including: comparing the current sliding speed with the preset sliding speed to obtain a first comparison result; comparing the current temperature with the preset temperature to obtain a second comparison result; comparing the current load with the preset load to obtain a third comparison result; determining whether at least two of the first comparison result, the second comparison result and the third comparison result are greater than; if not, determine that the current sliding speed, current temperature and current load do not meet the first preset condition, if not, determine a first lubrication scheme according to the current sliding speed, current temperature and current load of the slider, and perform lubrication work on the guide rail according to the first lubrication scheme; if yes, determine that the current sliding speed, current temperature and current load meet the first preset condition; if satisfied, obtain the temperature change data of the slider of the guide rail in the current working time period and the current position frequency of the slider passing through the linear track, and determine the first lubrication scheme according to the slider. The temperature change data of the slider is used to generate a temperature change curve of the slider, and it is judged whether the temperature change curve satisfies the following three characteristics at the same time: the temperature change curve shows an overall upward trend, the overall average slope of the temperature change curve is greater than the preset slope, and the time corresponding to the temperature change curve is less than the second preset time length; wherein the second preset time length is less than the first preset time length; if not satisfied, it is determined that the temperature change of the slider does not meet the second preset condition, and lubrication is performed on the guide rail according to the first lubrication scheme; if satisfied, it is determined that the temperature change of the slider meets the second preset condition; when it is determined based on the temperature change curve that the temperature change of the slider meets the second preset condition, the first lubrication scheme is corrected according to the current position frequency to obtain a second lubrication scheme, and lubrication is performed on the guide rail according to the second lubrication scheme; wherein the first lubrication scheme is used to lubricate the rolling body arranged in the slider and in rolling contact with the working surface of the linear track, and the second lubrication scheme is used to lubricate the rolling body and the working surface of the linear track at the same time; If yes, lubricate the guide rail according to the second lubrication scheme; Wherein, determining the first lubrication scheme according to the current sliding speed, current temperature and current load of the slider includes: obtaining a corresponding dynamic coefficient according to the current sliding speed, the current temperature and the current load; determining an initial supply amount according to the current sliding speed, the current temperature and the current load and the corresponding dynamic coefficient, including: Where v, T, and W represent the current sliding speed, current temperature, and current load, respectively; k v , k T , k W Respectively represent the dynamic coefficients of the current sliding speed, the current temperature and the current load; e represents the base of the natural logarithm; T0 represents the reference temperature; ΔT represents the temperature sensitivity; according to the current sliding speed, the current temperature and the corresponding nonlinear coefficient, determine the corrected supply amount, including: Where v, T, and W represent the current sliding speed, current temperature, and current load, respectively; k v,nl , k T,nl represents the nonlinear coefficient of the current sliding speed and the current temperature respectively; e represents the base of the natural logarithm; T0 represents the reference temperature; ΔT represents the temperature sensitivity; according to the initial supply amount and the modified supply amount, the total supply amount is determined, including: Q total =Q base +Q nonlinear ;Q min ≤Q total ≤Q max ; Among them, Q total represents the total supply, Q base represents the initial supply, Q nonlinear represents the modified supply, Q min Indicates the minimum preset supply quantity, Q max represents a maximum preset supply amount; lubricating the rolling element according to the total supply amount to obtain a first lubrication scheme; The first lubrication scheme is modified according to the current position frequency to obtain a second lubrication scheme, including: determining a first lubrication amount according to the current position frequency and an initial lubrication amount; wherein the first lubrication amount is the lubrication amount provided to a working surface of the current position of the linear track to lubricate the working surface of the linear track, and the working surface is a surface that provides rolling contact for the rolling element; based on the first lubrication amount, the first lubrication scheme is adjusted to obtain a second lubrication amount; the second lubrication amount is the lubrication amount provided to the rolling element to lubricate the rolling element; and the second lubrication scheme is obtained according to the first lubrication amount and the second lubrication amount.

2. A self-lubricating guide rail structure, using the control method of the self-lubricating guide rail structure as described in claim 1, characterized in that: The self-lubricating guide rail structure comprises: Straight track; A slider, wherein the slider is sleeved on the linear track, a plurality of rolling bodies are arranged in the slider, and the slider is slidably connected to the linear track through the rolling bodies; The lubrication assembly comprises a first lubrication mechanism and a second lubrication mechanism, wherein the first lubrication mechanism is used to lubricate the rolling element, and the second lubrication mechanism is used to lubricate the working surface of the linear track.

3. A control system for a self-lubricating guide rail structure, characterized in that: The system comprises: An acquisition module, used for acquiring a motion state signal of the slider; wherein the motion state signal is a signal triggered when the slider is in a sliding state; a lubrication module, used for determining whether the sliding time of the sliding block in the sliding state reaches a first preset time; If not, obtain the current sliding speed, current temperature and current load of the slider, and determine whether the current sliding speed, current temperature and current load meet the first preset condition, including: comparing the current sliding speed with the preset sliding speed to obtain a first comparison result; comparing the current temperature with the preset temperature to obtain a second comparison result; comparing the current load with the preset load to obtain a third comparison result; determining whether at least two of the first comparison result, the second comparison result and the third comparison result are greater than; if not, determine that the current sliding speed, current temperature and current load do not meet the first preset condition, if not, determine a first lubrication scheme based on the current sliding speed, current temperature and current load of the slider, and perform lubrication work on the guide rail according to the first lubrication scheme; if yes, determine that the current sliding speed, current temperature and current load meet the first preset condition; if satisfied, obtain the temperature change data of the slider of the guide rail in the current working time period and the current position frequency of the slider passing through the linear track, and determine the first lubrication scheme based on the slider. The temperature change data generates a temperature change curve of the slider, and determines whether the temperature change curve satisfies the following three characteristics at the same time: the temperature change curve shows an overall upward trend, the overall average slope of the temperature change curve is greater than the preset slope, and the time corresponding to the temperature change curve is less than a second preset time length; wherein the second preset time length is less than the first preset time length; if satisfied, it is determined that the temperature change of the slider satisfies the second preset condition; if not satisfied, it is determined that the temperature change of the slider does not satisfy the second preset condition, and lubrication is performed on the guide rail according to the first lubrication scheme; when it is determined based on the temperature change curve that the temperature change of the slider satisfies the second preset condition, the first lubrication scheme is corrected according to the current position frequency to obtain a second lubrication scheme, and lubrication is performed on the guide rail according to the second lubrication scheme; wherein the first lubrication scheme is used to lubricate a rolling body that is arranged in the slider and in rolling contact with the working surface of the linear track, and the second lubrication scheme is used to lubricate the rolling body and the working surface of the linear track at the same time; If yes, lubricate the guide rail according to the second lubrication scheme; Wherein, determining the first lubrication scheme according to the current sliding speed, current temperature and current load of the slider includes: obtaining a corresponding dynamic coefficient according to the current sliding speed, the current temperature and the current load; determining an initial supply amount according to the current sliding speed, the current temperature and the current load and the corresponding dynamic coefficient, including: Where v, T, and W represent the current sliding speed, current temperature, and current load, respectively; k v , k T , k W Respectively represent the dynamic coefficients of the current sliding speed, the current temperature and the current load; e represents the base of the natural logarithm; T0 represents the reference temperature; ΔT represents the temperature sensitivity; according to the current sliding speed, the current temperature and the corresponding nonlinear coefficient, determine the corrected supply amount, including: Where v, T, and W represent the current sliding speed, current temperature, and current load, respectively; k v,nl , k T,nl represents the nonlinear coefficient of the current sliding speed and the current temperature respectively; e represents the base of the natural logarithm; T0 represents the reference temperature; ΔT represents the temperature sensitivity; according to the initial supply amount and the modified supply amount, the total supply amount is determined, including: Q total =Q base +Q nonlinear ;Q min ≤Q yotal ≤Q max ; Among them, Q total represents the total supply, Q base represents the initial supply, Q nonlinear represents the modified supply, Q min Indicates the minimum preset supply quantity, Q max represents a maximum preset supply amount; lubricating the rolling element according to the total supply amount to obtain a first lubrication scheme; The first lubrication scheme is modified according to the current position frequency to obtain a second lubrication scheme, including: determining a first lubrication amount according to the current position frequency and an initial lubrication amount; wherein the first lubrication amount is the lubrication amount provided to a working surface of the current position of the linear track to lubricate the working surface of the linear track, and the working surface is a surface that provides rolling contact for the rolling element; based on the first lubrication amount, the first lubrication scheme is adjusted to obtain a second lubrication amount; the second lubrication amount is the lubrication amount provided to the rolling element to lubricate the rolling element; and the second lubrication scheme is obtained according to the first lubrication amount and the second lubrication amount.

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