Position correction method for oiling vehicle of sintering pallet fat liquoring machine

Abstract

The invention belongs to the technical field of sintering pallet fat liquoring, and particularly relates to a method for correcting the position of an oiling vehicle of a sintering pallet fat liquoring machine, which comprises the following steps of: acquiring a wheel horizontal distance reference value L1 reference; obtaining an oiling position reference value D1 reference of the oiling vehicle; establishing a current wheel horizontal distance data buffer area; setting the maximum collection frequency m of the current wheel horizontal distance, and judging whether the collection frequency j is greater than or equal to m; sorting m values of the current wheel horizontal distance data buffer area from small to large; determining that the current wheel effective horizontal distance Li is effective; judging whether the Li is effective in the range or not; calculating a wheel horizontal distance deviation value E1; according to the deviation value E1, the oiling position Di value of the oiling vehicle is corrected; and Dmax and Dmin are set, whether the value of Di is within the range or not is judged, if yes, correction is finished, and if not, the refueling position Di is equal to the D1 reference. The oiling position of the oiling vehicle can be determined according to the current situation of the current wheel to be oiled.

Description

Technical Field

[0001] The invention belongs to the technical field of greasing a sintering trolley, and in particular relates to a method for correcting the position of an oiling car of a greasing machine of a sintering trolley. Background Art

[0002] Sintering is an important process in the iron-making process. Modern sintering is a draft sintering process, which is to mix iron ore powder, flux, fuel and return ore in a certain proportion to form a mixture, add appropriate amount of water, mix and pelletize, spread on the trolley of the belt sintering machine, ignite under a certain negative pressure, and as the trolley moves forward, the mixture burns from top to bottom to form sintered ore.

[0003] The sintering machine is the key core equipment of the sintering process. It consists of several trolleys connected end to end along the trolley track and running in a cycle. Except for maintenance time, it generally runs 24 hours a day. The trolley wheels are a relatively complex component of the trolley. When the trolley is running, the trolley wheels will bear a large load, which requires the trolley wheel bearing system to have good lubrication ability. In order to ensure that there is sufficient grease on the bearing and not affect the normal production and operation of the sintering machine, it is necessary to perform grease injection on the wheels online every 1 to 2 weeks.

[0004] At present, the greasing method for the wheel bearings of the sintering machine trolley is manual greasing, and there is no automatic greasing method. The main reason is that the wheels of the sintering machine trolleys are bumpy and vibrating during operation, and the greasing holes of the bearings are difficult to locate. The greasing holes are relatively small, which increases the difficulty of automatic greasing. Since the sintering machine has hundreds of trolleys, each trolley has 4 wheels, and the total number of wheels of a sintering machine trolley is as high as hundreds, each manual greasing takes a long time, the labor intensity is extremely high, and the efficiency of manual greasing is low.

[0005] In order to solve the above problems, there are many technologies in the prior art that use automatic refueling for sintering trolleys. The basic principle is to set a following vehicle that can run with the wheels of the sintering trolley for a period of time in the running direction of the sintering trolley, refuel during the following process, and return to the initial position to refuel the next wheel after following. When refueling, the main technology is to install an oiling vehicle on the following vehicle that can reciprocate towards the wheels of the sintering trolley, and install a refueling gun on the oiling vehicle. Since the initial position of the refueling gun on the oiling vehicle is fixed, when refueling each wheel, the oiling vehicle first needs to adjust its initial distance from the wheel (also called the refueling position of the oiling vehicle). At present, the refueling position of the oiling vehicle is a fixed value. The method used is to obtain the horizontal distance of multiple wheels through a laser rangefinder, and take the average of multiple horizontal distance values ​​as the fixed value of the position of the oiling vehicle. This method can ensure reliable refueling of the oiler every time when there is no large deviation of the trolley wheels. However, in reality, after a long period of operation, some trolley wheels will have a large axial deviation. Refueling according to the previous fixed position of the oiler will cause the oiling gun on the oiler to not be inserted into place and refueling will fail. Therefore, it is necessary to correct the refueling position of the oiler according to the deviation value of the trolley wheels to ensure successful refueling every time. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides a method for correcting the position of an oiling vehicle of a sintering trolley greasing machine, which can correct the refueling position of the oiling vehicle according to the current status of wheels to be refueled, thereby ensuring that each refueling is successful.

[0007] The method for correcting the position of the oiling car of the sintering trolley greasing machine, the sintering trolley greasing machine includes a reciprocating oiling car, the running direction of the oiling car is perpendicular to the running direction of the wheels of the sintering trolley, the method comprises the following steps:

[0008] S1. Obtain wheel horizontal distance reference value L1 基准 ;

[0009] Obtain the horizontal distance L1 between all wheels of the sintering machine and the acquisition point in the direction where the wheels are heading towards the oiling car, and determine the minimum value L1 of the L1 value by sorting min and maximum value L1 max , according to the minimum value L1 min and maximum value L1 max Determine the reference value L1 of the horizontal distance of the wheels 基准 ;

[0010] S2. Obtain the refueling position reference value D1 of the oil filling vehicle 基准 ;

[0011] S3, establishing a current wheel horizontal distance data buffer;

[0012] For the current wheel, obtain the horizontal distance value Li j between the current wheel and the acquisition point for multiple times, where j=j+1, j represents the number of acquisitions of the current wheel, and i represents that the current wheel is the i-th wheel;

[0013] S4, set the maximum number of times the current wheel horizontal distance is collected to m, and determine whether the number of times j is greater than or equal to m. If so, execute S5, otherwise execute S3;

[0014] S5, sorting the m values ​​of the current wheel horizontal distance data buffer from small to large to obtain a sorted horizontal distance data buffer;

[0015] S6. Determine the current effective horizontal distance L of the wheel i有效 ;

[0016] The values ​​in the sorted horizontal distance data buffer are divided into three sections from small to large, and all the data in the middle section are averaged, and the average value is recorded as the current wheel effective horizontal distance L i有效 ;

[0017] S7, judge L i有效 Is it in [L1 min , L1 max ], if yes, execute S8, otherwise execute S11;

[0018] S8, calculate the wheel horizontal distance deviation value E1, that is, E1 = L i有效 -L1 基准 ;

[0019] S9. According to the deviation value E1, the refueling position Di value of the oil filling vehicle is corrected; the formula Di=D1 is used 基准 +E1 corrects the Di value of the refueling position;

[0020] S10, set D max and D min , determine whether the Di value is in [D min , D max ], if yes, execute S12; otherwise, execute S11; where D max is the maximum extended position of the oil filling vehicle, D min It is the minimum extended position of the oil filling vehicle;

[0021] S11, refueling position Di = D1 基准 , the oiling truck does not extend, and the abnormal oiling of the wheel is recorded;

[0022] S12, refueling position correction ends.

[0023] Furthermore, the formula L1 is used in S1 基准=L1 min +(L1 max -L1 min ) / 2, calculate the reference value L1 of the horizontal distance of the wheel 基准 .

[0024] Further, in S3, the horizontal distance value Li j between the current wheel and the acquisition point is acquired at a collection frequency of 100 ms, and it is determined whether Li j is within the effective range [L11 min , L11 max ]; among which L11 min Equal to L1 基准 Subtract a value, L11 max Equal to L1 基准 Add the a value, if it is within this range, then store Li j in the wheel horizontal distance source data buffer; the range of the a value is 5 to 20.

[0025] Furthermore, the oiling car is equipped with an oiling gun for adding grease to the sintering trolley and capable of reciprocating operation; the running direction of the oiling gun is parallel to the running direction of the oiling car; the oiling car is also equipped with a positioning rudder that can be raised and lowered, and the positioning rudder is equipped with three rollers that use a top-down method to press the end cover of the sintering trolley wheel, the three rollers are on the same arc surface, and the central axis of the oiling gun coincides with the arc center line formed by the three rollers; when the three rollers press the end cover, the oiling gun and the central axis of the oil receiving nozzle on the sintering trolley wheel are in line;

[0026] The three rollers are the mounting wheel, the clamping wheel and the guide wheel from front to back. The mounting wheel is installed at the front end of the positioning rudder, and the clamping wheel and the guide wheel are installed at the upper end of the positioning rudder. When the wheel end cover on the sintering trolley contacts the mounting wheel, when the wheel moves forward, it pushes the mounting wheel to move, and drives the follower car to move along the moving direction of the sintering trolley.

[0027] Refueling position reference value D1 基准 The specific method is as follows:

[0028] When the current wheel horizontal distance is the reference value L1, the oiling truck extends the D1 value. When the wheel is sensed to be in place, the positioning rudder 3 is controlled to press down to clamp the external trolley wheel. When the clamping wheel presses to the middle of the wheel end cover of the trolley wheel, and the shortest distance from the clamping wheel to the edge of the wheel end cover is 2mm to 3mm, the extended position D1 value is recorded as the oiling position reference value D1 基准 .

[0029] Furthermore, when all the data in the middle segment are taken in S6, the starting position is m / 3, and the number of data values ​​taken is m / 3.

[0030] The present invention also relates to a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the control method of the sintering trolley greasing machine described in the above content when executing the computer program.

[0031] The present invention also relates to a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the sintering trolley greasing machine described in the above content are implemented.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The invention obtains the wheel horizontal distance reference value and the refueling position reference value of the oiling truck, establishes the current wheel horizontal distance data buffer, sorts the current wheel horizontal distance data buffer data within the specified number of acquisitions, and then divides the sorted data into three sections, averages the middle section data, obtains the current wheel effective horizontal distance, calculates the wheel horizontal distance deviation value by judging whether the current wheel effective horizontal distance is within the range value, and finally obtains the refueling position of the oiling truck. The invention can determine the refueling position of the oiling truck according to the current status of the wheel to be refueled, and lays a good foundation for the accurate operation of the sintering trolley automatic greasing machine involving the oiling truck technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0035] Figure 1 It is a process flow chart of the present invention;

[0036] Figure 2 This is a flow chart for calculating the wheel horizontal distance reference value in the present invention;

[0037] Figure 3 A flow chart for obtaining a refueling position reference value of a refueling vehicle in the present invention;

[0038] Figure 4 This is a structural schematic diagram of a sintering trolley greasing machine involved in the present invention;

[0039] Figure 5 This is a schematic diagram of the oil injection module structure in the sintering trolley greasing machine;

[0040] Figure 6 This is a schematic diagram of an external laser rangefinder measuring the horizontal distance to the sintering trolley wheel;

[0041] Figure 7It is a schematic diagram of the matching structure between the clamping wheel and the wheel end cover of the sintering trolley.

[0042] Figure numerals: 1. Follower vehicle; 2. Grease gun; 3. Positioning rudder; 4. Grease vehicle; 5. Follower vehicle driving device; 6. Grease gun delivery device; 7. Grease pump; 8. Frame; 9. External laser rangefinder; 10. Lubrication line solenoid valve; 11. Mounting wheel; 12. Wheel sensing probe; 13. Insertion depth sensor; 14. Guide wheel; 15. Clamping wheel. DETAILED DESCRIPTION

[0043] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0044] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0045] Embodiment 1

[0046] The present embodiment describes a method for correcting the position of an oiling car of a sintering trolley greasing machine. The main structure of the sintering trolley greasing machine involved in the correction method is as follows: Figure 4 , Figure 5 As shown, it includes a frame 8, which can be as follows Figure 4 The frame structure shown can also be an implementation structure, which is mainly used for positioning and installing other components. The left side of the frame 8 is the entry side of the sintering trolley, and the right side is the exit side of the sintering trolley. The frame 8 is equipped with a follower car 1 for running parallel to the sintering trolley and for reciprocating operation. The operating range of the follower car 1 is B / 2 (B is the width of the trolley, usually about 1500mm), and an oil injection module is installed on the follower car 1.

[0047] like Figure 4 , Figure 5As shown, the oiling module includes an oiling carriage 4 installed on the follower carriage 1 and reciprocating, and the running direction of the oiling carriage 4 is perpendicular to the running direction of the follower carriage 1; an oiling gun 2 for greasing the sintering trolley and reciprocating is installed on the oiling carriage 4, and the running direction of the oiling gun 2 is parallel to the running direction of the oiling carriage 4, and an oiling gun delivery device 6 for driving the oiling gun 2 is installed on the oiling carriage 4, and the oiling gun 2 is connected to an oiling pump 7 through a lubricating oil pipeline, and a lubricating pipeline solenoid valve 10 is installed on the lubricating oil pipeline. An insertion depth sensor 13 for measuring the insertion depth of the oiling gun 2 is arranged on the side of the oiling gun 2; the oiling carriage 4 A liftable positioning rudder 3 is installed on the top, and three rollers are installed on the positioning rudder 3 for pressing the wheel end cover of the sintering trolley from top to bottom. The three rollers are on the same arc surface, and the central axis of the grease gun 2 coincides with the arc center line formed by the three rollers; when the three rollers press the end cover, the central axis of the grease gun 2 and the oil nozzle on the sintering trolley wheel are collinear; the three rollers are preferably bearings, and the wheel end cover of the sintering trolley is pressed by the outer ring of the bearing. During the specific installation, the bearing is installed on the positioning rudder 3 through a fixed shaft. The bearing is used for stable operation and convenient pressing of the wheel end cover. In actual application, rollers with other structures can also be used. When the three rollers are distributed, they are the mounting wheel 11, the clamping wheel 15 and the guide wheel 14 from front to back. The mounting wheel 11 is installed at the front end of the positioning rudder 3, and the clamping wheel 15 and the guide wheel 14 are installed at the upper end of the positioning rudder 3. When the wheel end cover on the sintering trolley contacts the mounting wheel 11, when the wheel moves forward, it pushes the mounting wheel 11 to move, and drives the follower car 1 to move along the moving direction of the sintering trolley;

[0048] A wheel sensing probe 12 for sensing the approach of the sintering trolley wheel to the mounting wheel 11 is installed on the positioning rudder 3. Preferably, the wheel sensing probe 12 is a non-contact sensor, such as a proximity switch. When in use, other existing technologies that can sense the approach of the sintering trolley wheel to the mounting wheel 11 can also be used; an external laser rangefinder 9 is arranged in the direction where the sintering trolley wheel drives toward the sintering trolley greasing machine (that is, the sintering trolley greasing machine described in this example); Figure 6 As shown, the external laser distance meter 9 is used to measure the horizontal distance (that is, the distance between the wheels of the sintering trolley and the external laser distance meter 9 when the wheels are perpendicular to the wheels of the sintering trolley) after the wheels of the sintering trolley run to the external laser distance meter 9. Figure 6 L1), the external laser rangefinder 9 is installed on the frame 8 at the direction in which the sintering trolley enters.

[0049] The working principle of the above-mentioned sintering trolley greasing machine is to capture and lock the wheels of the sintering trolley to be oiled during the operation of the sintering trolley, and follow the wheels to run a certain distance (the distance is equal to the oiling time (the time starts from the time the positioning rudder presses the sintering trolley wheel to the time the positioning rudder retreats to the standby position) multiplied by the trolley wheel speed). During this process, the oil nozzle on the wheel is aligned with the oiling, and then it returns to the initial position to enter the second oiling cycle, and this cycle is repeated continuously, and the oiling operation covers all the oil nozzles of the trolley wheel.

[0050] The above-mentioned technology used to realize the reciprocating operation of the follower car 1, the oiling car 4 and the oiling gun 2 is an existing known technology, such as the sliding cooperation of the slide rail and the slide groove, and the driving mechanism can adopt a mutually meshing gear and rack, and the driving power adopts a servo motor. When installing, the gear is installed on the output shaft of the servo motor, and the servo motor and the corresponding rack are installed on the follower car 1 and the frame 8, the oiling car 4 and the follower car 1, and the oiling gun 2 and the oiling car 4. In other words, when realizing the reciprocating operation of the follower car 1, the corresponding servo motor is installed on the follower car 1, and the corresponding rack is installed on The corresponding servo motor may be mounted on the frame 8, or the corresponding rack may be mounted on the follower trolley 1; when the oiling trolley 4 is reciprocating, the corresponding servo motor may be mounted on the follower trolley 1, and the corresponding rack may be mounted on the oiling trolley 4, or the corresponding servo motor may be mounted on the oiling trolley 4, and the corresponding rack may be mounted on the follower trolley 1; when the oiling gun 2 is reciprocating, the corresponding servo motor may be mounted on the oiling gun 2, and the corresponding rack may be mounted on the oiling trolley 4, or the corresponding servo motor may be mounted on the oiling gun 2, and the corresponding rack may be mounted on the follower trolley 1. For another example, a ball screw may be used to realize the movement of the follower trolley 1, the oiling trolley 4, and the oiling gun 2. In actual application, the gear and rack may be transformed into a chain and a sprocket, and the sprocket may be driven by a servo motor; or they may be transformed into a screw rod and a nut, and the screw rod may be driven by a servo motor; or even a linear motor or other structure may be used to complete the operation.

[0051] The lifting and lowering of the positioning rudder 3 can be completed by using existing structures such as hydraulic cylinders, air cylinders and linear motors. During installation, if a hydraulic cylinder is used, the cylinder body can be installed on the positioning rudder 3 and the piston rod can be installed on the oil injection vehicle 4, or the cylinder body can be installed on the oil injection vehicle 4 and the piston rod can be installed on the positioning rudder 3. The specific installation can be determined according to the installation space. The installation method of the air cylinder and the linear motor is similar to the installation method of the hydraulic cylinder, so it will not be described here one by one. In this embodiment, the air cylinder is used to realize the lifting and lowering of the positioning rudder 3.

[0052] During installation, the frame 8 is fixedly installed on both sides of the sintering machine, and the installation position is suitable for filling lubricating oil on the wheels of the sintering trolley.

[0053] The working principle of the above-mentioned sintering trolley greasing machine is that during the operation of the sintering trolley, the wheels of the sintering trolley to be oiled are captured and locked, and the wheels are followed for a distance, which is equal to the oiling time (the oiling time starts from the time when the positioning rudder presses the sintering trolley wheel to the time when the positioning rudder retreats to the standby position) multiplied by the trolley wheel speed. During this process, the oiling process of the wheel oiling nozzle is completed, and then it returns to the initial position to enter the second oiling cycle, and this reciprocating and continuous process is carried out, and the oiling operation covers all the oil nozzles of the trolley wheel.

[0054] The above technology is only a sintering trolley greasing machine involving oil filling vehicle technology. Other existing automatic greasing machine technologies are not listed one by one in this embodiment. The working principle of the sintering trolley greasing machine described in this embodiment is as follows:

[0055] The positioning rudder 3 rises, and according to the distance measured by the external laser rangefinder 9, the oiling vehicle 4 is controlled to extend to the refueling position toward the sintering trolley, and the positioning rudder 3 is suspended and in a standby state; when the oiling plate on the wheel of the sintering trolley is closer and closer to the mounting wheel 11, the wheel sensing probe 12 is finally triggered, and the positioning rudder 3 is pressed down at this time, and the oiling gun 2 is collinear with the central axis of the oiling nozzle on the wheel of the sintering trolley, and the oiling plate pushes the positioning rudder 3 and the sintering trolley to move forward at the same speed through the mounting wheel 11; the positioning rudder 3 pushes the oiling vehicle 4 forward, thereby driving the follower vehicle 1 to run at the same speed as the sintering trolley; the oiling gun delivery device 6 is started to push the oiling gun 2 to run in the direction of the oiling nozzle; the oiling gun 2 continues to run toward the oiling nozzle, and when the insertion depth sensor 13 contacts the oiling plate, if the displacement value of the insertion depth sensor 13 is greater than the set value, the oiling gun 2 stops running, and the lubrication pipeline solenoid valve 10 opens to pump the oil into the sintering trolley. Wheel oiling of the sintering trolley; the setting value range of the insertion depth sensor 13 is 3 to 5 mm. When used, the setting value is determined according to the actual working conditions on site, and 3, 3.5, 5 and any number between 3 and 5 can be used; the oiling time for oiling the wheels of the sintering trolley is 2 to 5 seconds. When used, the oiling time is determined according to the actual working conditions on site, and 2, 3, 4, 4.5, 5 and any number between 2 and 5 can be used; after the oiling is completed, the oiling gun delivery device 6 drives the oiling gun 2 to disengage from the oiling nozzle and return to the standby position; the oiling gun 2 disengagement time ≤0.5s; after the oiling gun 2 disengages, the positioning rudder 3 rises, and the oiling trolley 4 returns to the standby position state, and then, the follow-up trolley 1 is started to run in the opposite direction of the sintering trolley to the initial standby position of the follow-up trolley 1, ready to enter the second oiling cycle; the time for the oiling trolley 4 to return to the standby position state is ≤1s, and the time for the positioning rudder 3 to rise is ≤0.5s.

[0056] like Figure 1 As shown, the method for correcting the position of the oiling car of the above-mentioned sintering trolley greasing machine is as follows:

[0057] S1. Obtain wheel horizontal distance reference value L1 基准 ;

[0058] like Figure 2 As shown, the horizontal distance L1 between all wheels of the sintering machine and the acquisition point is obtained by an external laser rangefinder 9 in the direction where the wheels are heading towards the oiling vehicle 4, and the minimum value L1 of the L1 value is determined by sorting. min and maximum value L1 max , using formula L1 基准 =L1 min +(L1 max -L1 min ) / 2, calculate the reference value L1 of the horizontal distance of the wheel 基准 .

[0059] S2. Obtaining the refueling position reference value D1 of the refueling vehicle 4 基准 ;

[0060] like Figure 3 As shown, when the current horizontal distance of the wheel obtained by the external laser rangefinder 9 is the reference value L1, the oiling vehicle 4 extends the D1 value. The D1 value is preset according to the vertical distance between the standby position (generally the origin position) of the oiling vehicle and the external wheel oiling plate when the grease machine equipment is installed. When the wheel sensing probe 12 senses that the wheel is in place, the positioning rudder 3 is controlled to press down to clamp the external trolley wheel; when the clamping wheel 15 is pressed to the middle of the wheel end cover of the trolley wheel, and the shortest distance from the clamping wheel 15 to the edge of the wheel end cover is 2mm to 3mm (that is, as shown in FIG. Figure 7 The extended position D1 value is recorded as the refueling position reference value D1 基准 .

[0061] S3, establishing a current wheel horizontal distance data buffer;

[0062] For the current wheel, obtain the horizontal distance value Li j between the current wheel and the acquisition point for multiple times, where j=j+1, j represents the number of acquisitions of the current wheel, and i represents that the current wheel is the i-th wheel;

[0063] Specifically, the horizontal distance value Lij between the current wheel and the acquisition point is obtained at a collection frequency of 100ms, and it is determined whether Lij is within the valid range [L11 min , L11 max ]; among which L11 min Equal to L1 基准 Subtract a value, L11 max Equal to L1 基准 Add the a value, if it is within this range, then Li j is stored in the wheel horizontal distance source data buffer; the a value in this embodiment is 10, and in actual application, 5, 20 or other values ​​between 5 and 20 can also be used.

[0064] S4, set the maximum number of acquisitions of the current wheel horizontal distance to m, the value of m is based on the acquisition frequency of the wheel horizontal distance obtained by PLC, and the time T1 seconds for the laser to pass through the wheel oiling plate. Assuming T1 = 5 seconds, the acquisition frequency v = 100ms / time, then the value of m = T1 / v*0.6 = 50 times*0.6 = 30 times, and determine whether the acquisition number j is greater than or equal to m. If so, execute S5, otherwise execute S3;

[0065] S5, sorting the m values ​​of the current wheel horizontal distance data buffer from small to large to obtain a sorted horizontal distance data buffer;

[0066] S6. Determine the current effective horizontal distance L of the wheel i有效 ;

[0067] The values ​​in the sorted horizontal distance data buffer are divided into three sections from small to large, and all the data in the middle section are averaged, and the average value is recorded as the current wheel effective horizontal distance L i有效 ;

[0068] When taking all the data in the middle section, the starting position is m / 3, and the number of data values ​​taken is m / 3. For example, when m=30, the effective value of the horizontal distance of the wheel is as follows: i有效 :

[0069]

[0070] The i value represents the i-th wheel.

[0071] S7, judge L i有效 Is it in [L1 min , L1 max ], if yes, execute S8, otherwise execute S11;

[0072] S8, calculate the wheel horizontal distance deviation value E1, that is, E1 = L i有效 -L1 基准 ;

[0073] S9, according to the deviation value E1, the refueling position Di value of the oil filling vehicle 4 is corrected; specifically, the formula Di=D1 is used 基准 +E1 corrects the low value of the refueling position.

[0074] S10, set D max and D min , determine whether the Di value is in [D min , D max ], if yes, execute S12; otherwise, execute S11; where D max is the maximum extension position of the oil filling vehicle 4 and Dmin is the minimum extension position of the oil filling vehicle 4, and this value is determined by the mechanical structure of the oil filling vehicle 4;

[0075] S11, refueling position Di = D1 基准 , the oiling truck does not extend, and the abnormal oiling of the wheel is recorded;

[0076] S12, refueling position correction ends.

[0077] Embodiment 2

[0078] This embodiment relates to a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method for correcting the position of the oiling vehicle of the sintering trolley greasing machine described in Embodiment 1 are implemented. The computer device can be a mobile phone, a tablet computer, a personal communication service (PCS) phone, a virtual reality (VR) electronic device, an augmented reality (AR) device, a wireless terminal in industrial control (industrial control) and other electronic devices, and no specific restrictions are made here.

[0079] Embodiment 3

[0080] The present embodiment relates to a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for correcting the position of the oiling car of the sintering trolley greasing machine described in the first embodiment are implemented.

[0081] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0082] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0083] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A method for correcting the position of an oiling trolley of a sintering trolley greasing machine, wherein the sintering trolley greasing machine comprises a reciprocating oiling trolley (4), wherein the running direction of the oiling trolley (4) is perpendicular to the running direction of the wheels of the sintering trolley, and wherein: The method comprises the following steps: S1. Obtain wheel horizontal distance reference value L1 基准 ; The horizontal distance L1 between all wheels of the sintering machine and the acquisition point is obtained in the direction where the wheels are heading towards the oiling car (4), and the minimum value L1 of the L1 value is determined by sorting. min and maximum value L1 max , according to the minimum value L1 min and maximum value L1 max Determine the reference value L1 of the horizontal distance of the wheels 基准 ; S2. Obtaining the refueling position reference value D1 of the refueling vehicle (4) 基准 ; S3, establishing a current wheel horizontal distance data buffer; For the current wheel, obtain the horizontal distance value Lij between the current wheel and the acquisition point for multiple times, where j=j+1, j represents the number of acquisitions of the current wheel, and i represents that the current wheel is the i-th wheel; S4, set the maximum number of acquisition times of the current wheel horizontal distance to m, and determine whether the acquisition number j is greater than or equal to m. If so, execute S5, otherwise execute S3; S5, sorting the m values ​​of the current wheel horizontal distance data buffer from small to large to obtain a sorted horizontal distance data buffer; S6. Determine the current effective horizontal distance L of the wheel i有效 ; The values ​​in the sorted horizontal distance data buffer are divided into three sections from small to large, and all the data in the middle section are averaged, and the average value is recorded as the current wheel effective horizontal distance L i有效 ; S7, judge L i有效 Is it in [L1 min , L1 max ], if yes, execute S8, otherwise execute S11; S8, calculate the wheel horizontal distance deviation value E1, that is, E1 = L i有效 -L1 基准 ; S9, according to the deviation value E1, the refueling position Di value of the oil filling vehicle is corrected; S10, set D max and D min , determine whether the Di value is in [D min , D max ], if yes, execute S12; Otherwise, execute S11; wherein D max is the maximum extended position of the oil filling vehicle (4), D min is the minimum extended position of the oil filling vehicle (4); S11, refueling position Di = D1 基准 , the oiling truck does not extend, and the abnormal oiling of the wheel is recorded; S12, refueling position correction ends.

2. The method for correcting the position of the oil filling vehicle of the sintering trolley greasing machine according to claim 1 is characterized in that: The formula L1 is used in S1 基准 =L1 min +(L1 max -L1 min ) / 2, calculate the reference value L1 of the horizontal distance of the wheel 基准 .

3. The method for correcting the position of the oil filling vehicle of the sintering trolley greasing machine according to claim 1 is characterized in that: In S3, the horizontal distance value Lij between the current wheel and the acquisition point is acquired at a collection frequency of 100 ms, and it is determined whether Lij is within the valid range [L11 min , L11 max ]; among which L11 min Equal to L1 基准 Subtract a value, L11 max Equal to L1 基准 Add the a value, if it is within the range, store Lij in the wheel horizontal distance source data buffer.

4. The method for correcting the position of the oil filling vehicle of the sintering trolley greasing machine according to claim 1, characterized in that: The oiling trolley (4) is provided with an oiling gun (2) for adding grease to the sintering trolley and capable of reciprocating movement; the running direction of the oiling gun (2) is parallel to the running direction of the oiling trolley (4); the oiling trolley (4) is also provided with a positioning rudder (3) that can be raised and lowered, and the positioning rudder (3) is provided with three rollers for pressing the end cover of the wheel of the sintering trolley from top to bottom, the three rollers are on the same arc surface, and the central axis of the oiling gun (2) coincides with the arc center line formed by the three rollers; when the three rollers press the end cover, the central axis of the oiling gun (2) and the oil receiving nozzle on the wheel of the sintering trolley are in line with each other; The three rollers are respectively a mounting wheel (11), a clamping wheel (15) and a guide wheel (14) from front to back. The mounting wheel (11) is mounted on the front end of the positioning rudder (3), and the clamping wheel (15) and the guide wheel (14) are mounted on the upper end of the positioning rudder (3). When the wheel end cover on the sintering trolley contacts the mounting wheel (11), when the wheel moves forward, the mounting wheel (11) is pushed to move, thereby driving the follower vehicle (1) to move along the moving direction of the sintering trolley. Refueling position reference value D1 基准 The specific method is as follows: When the current wheel horizontal distance is obtained to be the reference value L1, the oiling vehicle (4) extends the D1 value, and when the wheel is sensed to be in place, the positioning rudder 3 is controlled to press down to clamp the external trolley wheel; when the clamping wheel (15) presses to the middle of the wheel end cover of the trolley wheel, and the shortest distance from the clamping wheel (15) to the edge of the wheel end cover is 2mm to 3mm, the extended position D1 value at this time is recorded as the oiling position reference value D1 基 准 .

5. The method for correcting the position of the oil filling vehicle of the sintering trolley greasing machine according to claim 1, characterized in that: When all the data in the middle segment are taken in S6, the starting position is m / 3, and the number of data values ​​taken is m / 3.

6. The method for correcting the position of the oil filling vehicle of the sintering trolley greasing machine according to claim 1, characterized in that: The formula Di=D1 is used in S9 基准 +E1 corrects the low value of the refueling position.

7. The method for correcting the position of the oil filling vehicle of the sintering trolley greasing machine according to claim 3, characterized in that: The value of a ranges from 5 to 20.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for correcting the position of the oiling car of the sintering cart greasing machine according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for correcting the position of the oiling car of the sintering cart greasing machine according to any one of claims 1 to 7 are implemented.

Images