Submerged roll sliding bearing zinc slag cleaning device and control method thereof

Abstract

The application provides a submerged roller sliding bearing zinc residue cleaning device, which comprises an arm frame body, at least two roller supporting mechanisms, a moving mechanism and a cleaning mechanism, wherein the submerged roller is rotatably connected to the arm frame body through a sliding bearing; the at least two roller supporting mechanisms are oppositely arranged on the arm frame at intervals, and each roller supporting mechanism has a supporting part which can rotate towards the side of the submerged roller; the device is used for supporting the submerged roller through the rotation of the supporting part, moving the movable part to make the cleaning part extend into the gap of the sliding bearing, and rotating along the circumferential direction of the submerged roller to clean the zinc residue and other impurities in the sliding bearing of the submerged roller, so that the cleaning efficiency is effectively improved; the roller supporting mechanism can stably support the submerged roller during the cleaning process, so that shaking or deviation is avoided, the accuracy and safety of the cleaning are ensured, the wear and damage of the submerged roller and the sliding bearing are reduced, and the cleaning effect of the sliding bearing of the submerged roller is improved.

Description

Technical Field

[0001] The invention relates to the technical field of hot-dip galvanizing equipment, and in particular to a zinc slag cleaning device for a sinking roller sliding bearing and a control method thereof. Background Art

[0002] The sinking roller device is one of the key components in the continuous plate and strip hot-dip galvanizing process. It is mainly used for the surface galvanizing of thin strip steel in the cold rolling mill. During the galvanizing process, the thin strip after passing through the rolling mill is immersed in molten zinc liquid and passes through the structure of the sinking roller system to achieve the production of galvanized steel plates. The sinking roller sliding bearing plays an important role in the steel production process. Zinc slag has a serious impact on its operation, and it is necessary to ensure the cleanliness of the sliding bearing to ensure the stable operation of the equipment.

[0003] The Chinese patent publication number CN2811322Y, published on August 30, 2006, discloses a hot-dip galvanizing tank dipping roller device, comprising a dipping roller and a bearing movably connected to the dipping roller. The outer periphery of the dipping roller is provided with a strengthening layer. The bearing is a sliding bearing, which consists of a sleeve and a bearing shell. The sleeve is arranged in the bearing shell. The contact parts of the sleeve and the bearing shell are both provided with a strengthening layer. The sleeve is fixedly connected to the shaft of the dipping roller.

[0004] The existing methods for removing zinc slag from the sliding bearings of the sunken roller are mainly implemented through manual, pneumatic and simple mechanical structure methods. Manual cleaning requires workers to use hand tools to clean the zinc slag deposited on the bearings. This method is inefficient and has safety hazards, which can easily cause worker injuries. Pneumatic cleaning is to blow away the zinc slag on the bearing surface through high-pressure airflow. This method has the risk of the airflow carrying away zinc powder in the environment, causing environmental pollution. Mechanical cleaning of the zinc slag deposited on the bearings with a simple mechanical structure will increase the wear on the bearing surface, thereby reducing the efficiency and effect of cleaning the sliding bearings of the sunken roller. Summary of the Invention

[0005] In view of this, the present invention proposes a zinc slag cleaning device for a sinking roller sliding bearing and a control method thereof, which can effectively clean zinc slag and other impurities inside the sinking roller sliding bearing without the need for manual intervention, with high cleaning efficiency. At the same time, wear on the bearing surface can be avoided during cleaning, thereby improving the efficiency and effect of cleaning the sliding bearing of the sinking roller.

[0006] The technical solution of the present invention is implemented as follows: On the one hand, the present invention provides a zinc slag cleaning device for a sunken roller sliding bearing, comprising an arm frame body and at least two roller mechanisms, a moving mechanism and a cleaning mechanism, wherein:

[0007] The sinking roller is rotatably connected to the boom body through a sliding bearing;

[0008] At least two roller mechanisms are arranged on the arm frame body at intervals and relative to each other, and each roller mechanism has a supporting portion that can rotate toward one side of the sinking roller;

[0009] At least two moving mechanisms are respectively provided on the corresponding supporting parts and are located on a side away from the sinking roller, and each moving mechanism has a movable part that can move along the axial direction of the sinking roller;

[0010] At least two cleaning mechanisms are provided on the corresponding movable parts, each cleaning mechanism has a cleaning part that can rotate along the circumferential direction of the sinking roller, and the cleaning part corresponds to the gap position of the sliding bearing;

[0011] The supporting part rotates to lift the sinking roller, and the movable part moves to make the cleaning part extend into the gap of the sliding bearing and rotate along the circumferential direction of the sinking roller to clean.

[0012] On the basis of the above technical solution, preferably, the arm frame body includes a mounting seat and at least two front arm frames, wherein:

[0013] At least two front arm frames are fixed on the mounting seat and are arranged opposite to each other at intervals, and one end of the front arm frame away from the mounting seat is inclined toward the sinking roller side;

[0014] The sliding bearings are arranged on two opposite front arm frames, and the axis centers of the sliding bearings on both sides are at the same axis position, and the sinking rollers are arranged between the sliding bearings on both sides.

[0015] On the basis of the above technical solution, preferably, the roller mechanism further includes at least two rear arms, a first driving member and a pressure detection member, wherein,

[0016] At least two rear arms are fixed on the mounting base and are arranged opposite to each other at intervals;

[0017] The supporting part is rotatably connected to the rear arm frame and is located on a side of the rear arm frame close to the sinking roller and abuts against each other;

[0018] A slot is provided on the supporting portion, and the diameter of the slot is the same as the diameter of the end of the sinking roller shaft;

[0019] The first driving member is arranged on a side of the rear arm frame close to the sinking roller, and the output shaft of the first driving member passes through the rear arm frame and is fixed to the supporting part;

[0020] The first driving member drives the supporting portion to rotate toward one side of the sinking roller, so that the shaft end of the sinking roller abuts against the groove;

[0021] The pressure detection component is fixed on the output shaft of the first driving component and is used to detect whether the supporting part is rotated into place.

[0022] On the basis of the above technical solution, preferably, the moving mechanism further includes a bracket, a second driving member, a screw rod and a limiting member, wherein,

[0023] The bracket is fixed on the supporting part;

[0024] The second driving member is fixed to a side of the bracket away from the supporting portion and is arranged perpendicular to the supporting portion;

[0025] The screw is fixed on the output shaft of the second driving member, and the other end is rotatably connected to the supporting part;

[0026] The movable part is threadedly connected to the outer side of the screw rod, and both sides of the movable part abut against the inner wall of the bracket;

[0027] The limiting member is fixed on the supporting portion and is arranged on a side close to the movable portion, and is used for limiting the position of the movable portion.

[0028] On the basis of the above technical solution, preferably, the cleaning mechanism also includes two rotating shafts, both of which are rotatably connected to the movable part and are arranged at intervals, and the axial direction of the rotating shaft is consistent with that of the sinking roller; each rotating shaft is provided with two connecting parts on the side away from the supporting part, and a steel wire rope is provided between the corresponding two connecting parts, and the two ends of the steel wire rope are respectively hinged to the adjacent connecting parts, and the cleaning part is fixed on the end face of the rotating shaft close to the sinking roller, and it is arranged relative to the gap of the sliding bearing.

[0029] On the basis of the above technical solution, preferably, a window is provided on the supporting portion, the position of the window corresponds to the position of the rotating shaft on the other side, and a third driving member is provided on the side of the movable portion close to the supporting portion, the output shaft of the third driving member is fixedly connected to the shaft end of the rotating shaft close to the side of the bracket, and the third driving member passes through and extends to the outside of the window, and the cross-sectional size of the window is larger than the cross-sectional size of the third driving member.

[0030] On the basis of the above technical solution, preferably, it further comprises at least two acceleration detection members, which are respectively arranged on the corresponding front arms and are used to detect abnormal vibration of the sinking roller.

[0031] In a second aspect, the present invention further provides a control method for a sinking roller sliding bearing zinc slag cleaning device, which uses the above-mentioned sinking roller sliding bearing zinc slag cleaning device, comprising the following steps:

[0032] S1, the acceleration detection element detects abnormal vibration of the sinking roller. If abnormal vibration is detected, the motor torque control algorithm is used to control the first driving element to rotate the supporting part toward the sinking roller, so that the shaft end of the sinking roller abuts against the notch;

[0033] S2, the pressure detection component detects the pressure value to determine whether the supporting part has moved into place. If the pressure value detected by the pressure detection component does not reach the preset pressure threshold, the process returns to step S1. If the pressure value detected by the pressure detection component reaches the preset pressure threshold, the process proceeds to step S3.

[0034] S3, regulating the second driving member through a motor torque control algorithm to move the cleaning portion into the gap of the sliding bearing;

[0035] S4, controlling the third driving member through a motor torque control algorithm to drive the cleaning unit to rotate along the axis of the sliding bearing to clean the zinc slag in the gap of the sliding bearing;

[0036] S5, the acceleration detection part detects abnormal vibration of the sinking roller. If abnormal vibration is detected, the process returns to step S4. If no abnormal vibration is detected, the cleaning is completed.

[0037] On the basis of the above technical solution, preferably, the motor torque control algorithm includes optimizing the conduction angle and the turn-off angle parameters, wherein:

[0038] Optimizing the conduction angle parameters, including presetting a control condition for the maximum torque-to-current ratio, wherein the control condition is to optimize the current and angle combination under minimum inductance and current conditions so that the motor can generate the maximum torque-to-current ratio;

[0039] Based on the control conditions, the optimal conduction angle is calculated as follows:

[0040] ;

[0041] Where, i on is the conduction angle, i m is the conduction angle corresponding to the minimum inductance area, R is the phase resistance, V dc is the DC voltage, oh is the rotor speed, L a ( I,θ ) is the inductance, I ref is the reference current, K a =d L a ( I,θ ) / d i , I is the motor current, i is the angle of the motor.

[0042] Based on the above technical solution, preferably, the optimization of the cut-off angle parameter includes iteratively obtaining the optimal cut-off angle based on a moth search optimization algorithm, which includes the following sub-steps:

[0043] Establishing the turn-off angle i off and torque ripple T r , copper loss P cu and efficiency or The objective function between is expressed as:

[0044] ;

[0045] Where, F obj is the objective function, T rb is the base value of torque fluctuation, P cub is the base value of copper loss, or b is the base value of efficiency, w r is the weight factor of torque fluctuation, w cu is the weighting factor for copper loss, w η is the weighting factor of efficiency, where w r + w cu + w η =1;

[0046] Initialize parameters and set the number of iterations t =1, initialize the number of moth population individuals NP, the maximum number of iterations, the maximum walking step length, the index value and the acceleration factor;

[0047] The corresponding torque fluctuation, copper loss and efficiency are obtained according to each turn-off angle, and the fitness value of each turn-off angle is calculated according to the objective function. The turn-off angle represents the position of the moth.

[0048] Sort all moth individuals according to their fitness values, assign moth individuals with sorting numbers between i=1 and NP / 2 to the Levy flight population, and assign moth individuals with sorting numbers between NP / 2+1 and NP to the straight flight population;

[0049] For all moth individuals in the Lévy flight population, update their positions through Lévy flight. i moth individuals, the update expression is:

[0050]

[0051] Where, For the t The position of the moth of the generation, For the t The updated position of the moth of the generation, t is the current iteration number, L(s) is the Levy distribution function; a is the scaling factor;

[0052] a The expression for the scale factor is:

[0053]

[0054] Where S max is the maximum walking stride length;

[0055] Levy distribution function L(s) The expression is:

[0056]

[0057] Where s is the step size of the Levy distribution, is the gamma function, β is the scaling exponent of the optimal Levy flight search strategy, and its value is 1.5;

[0058] For all moths in the straight-line flying population, the iterative position is updated by flying towards the light source. A random number from a standard uniform distribution is drawn, and the random number is between 0 and 1. The obtained random number is checked to see if it is greater than 0.5. If the random number is greater than 0.5, the moths away from the light source fly straight towards the light source. For the i-th moth, the update expression is:

[0059]

[0060] Where, For the t The best moth of our generation, is the acceleration factor, λ is the scale factor, and its value is equal to the random number drawn;

[0061] When the random number is greater than 0.5, the moth flies to the final position outside the light source. For the i-th moth, the update expression is:

[0062]

[0063] The fitness value of each moth after the update is calculated, and the iteration is performed until the maximum number of iterations is reached. The optimal moth position and the corresponding torque fluctuation, copper loss and efficiency are output.

[0064] The zinc slag cleaning device for the sunken roller sliding bearing and the control method thereof of the present invention have the following beneficial effects compared with the prior art:

[0065] (1) The supporting part is rotated to lift the sinking roller, and the movable part moves so that the cleaning part extends into the gap of the sliding bearing, and rotates along the circumferential direction of the sinking roller to clean the zinc slag and other impurities in the sliding bearing of the sinking roller, which effectively improves the cleaning efficiency. The roller mechanism enables the sinking roller to be stably supported during the cleaning process to avoid shaking or deviation, ensuring the accuracy and safety of cleaning, and at the same time helping to reduce the wear and damage of the sinking roller and the sliding bearing, thereby improving the cleaning effect of the sliding bearing of the sinking roller;

[0066] (2) The acceleration detection parts, pressure detection parts and limit parts can realize the automatic cleaning of the device, reduce manual intervention, improve the automation degree of cleaning operation and improve cleaning efficiency;

[0067] (3) The conduction angle and turn-off angle parameters are optimized through the motor torque control algorithm to meet the requirements of maximum torque current ratio control MTPA, minimum torque fluctuation and high efficiency, so as to obtain the optimal performance of the automatic zinc slag removal device for the sunken roller sliding bearing, so that it can operate with lower torque fluctuation and higher operating stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0069] Figure 1 A perspective view of a zinc slag cleaning device for a sunken roller sliding bearing according to the present invention;

[0070] Figure 2 A three-dimensional diagram of a zinc slag cleaning device for a sunken roller sliding bearing according to the present invention from another perspective;

[0071] Figure 3 A three-dimensional diagram of a moving mechanism of a zinc slag cleaning device for a sunken roller sliding bearing according to the present invention;

[0072] Figure 4 A three-dimensional diagram of a cleaning mechanism of a zinc slag cleaning device for a sunken roller sliding bearing according to the present invention;

[0073] Figure 5 A zinc slag cleaning device for a sunken roller sliding bearing according to the present invention Figure 4 A partial enlarged schematic diagram in the middle;

[0074] Figure 6A three-dimensional diagram from another perspective of a cleaning mechanism of a zinc slag cleaning device for a sunken roller sliding bearing according to the present invention;

[0075] Figure 7 A schematic diagram of a cleaning mechanism and sliding bearing of a zinc slag cleaning device for a sunken roller sliding bearing of the present invention;

[0076] Figure 8 This is a flow chart of a control method of a zinc slag cleaning device for a sunken roller sliding bearing according to the present invention. DETAILED DESCRIPTION

[0077] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0078] like Figure 1-7 As shown, the present invention provides a zinc slag cleaning device for a submerged roller sliding bearing, comprising an arm frame body 1 and at least two roller mechanisms 2, a moving mechanism 3 and a cleaning mechanism 4.

[0079] The sinking roller is rotatably connected to the boom body 1 through a sliding bearing.

[0080] As a preferred embodiment, the arm body 1 in this embodiment includes a mounting seat 11 and at least two forearm frames 12, wherein at least two forearm frames 12 are fixed on the mounting seat 11 and are arranged relative to each other at intervals, and the end of the forearm frame 12 away from the mounting seat 11 is inclined toward the sinking roller side; the sliding bearings are arranged on the two opposite forearm frames 12, and the axis centers of the sliding bearings on both sides are in the same axial position, and the sinking roller is arranged between the sliding bearings on both sides.

[0081] It should be noted that the sliding bearing includes a bearing seat, a bearing shell and a sleeve. The sleeve is fixed on the front arm frame 12, and the shaft end of the sinking roller extends into the sleeve, so that the sinking roller can rotate between the two front arms 12 through the sliding bearings on both sides.

[0082] In addition, the present embodiment further includes at least two acceleration detection components 5 , which are respectively provided on the corresponding front arm frames 12 and are used to detect abnormal vibration of the sinking roller.

[0083] It should be noted that, in this embodiment, the acceleration detection part 5 is an acceleration sensor, which measures the real-time vibration signal of the sinking roller through the acceleration sensor to reflect whether the sliding bearing is in a normal working state, thereby providing a criterion for starting and stopping the slag cleaning device; when the acceleration sensor detects an abnormal vibration signal, the device starts to run and cleans the sinking roller sliding bearing; and when the abnormal vibration signal detected by the acceleration sensor disappears, it means that the sinking roller sliding bearing has been cleaned, and at this time, the various parts of the device return to their initial positions and the cleaning work is completed.

[0084] At least two roller mechanisms 2 are arranged on the boom body 1 at intervals and relative to each other. Each roller mechanism 2 has a supporting portion 21 that can rotate toward the side of the sinking roller.

[0085] As a preferred embodiment, the roller mechanism 2 in this embodiment also includes at least two rear arms 22, a first drive member 23 and a pressure detection member 24, wherein at least two rear arms 22 are fixed on the mounting seat 11 and are arranged relative to each other at intervals; the supporting part 21 is rotatably connected to the rear arm 22, and is located on the side of the rear arm 22 close to the sinking roller, and abuts against each other; a slot 200 is provided on the supporting part 21, and the diameter of the slot 200 is the same as the diameter of the shaft end of the sinking roller; the first drive member 23 is arranged on the side of the rear arm 22 close to the sinking roller, and the output shaft of the first drive member 23 passes through the rear arm 22 and is fixed to the supporting part 21; the first drive member 23 drives the supporting part 21 to rotate toward the side of the sinking roller, so that the shaft end of the sinking roller abuts in the slot 200; the pressure detection member 24 is fixed on the output shaft of the first drive member 23, and is used to detect whether the supporting part 21 has rotated into place.

[0086] It should be noted that when it is necessary to clean the zinc slag on the sliding bearing, the first driving member 23 is started to drive the supporting part 21 to rotate toward the side of the sinking roller. As the supporting part rotates, the notch 200 gradually approaches and eventually docks with the axial end of the sinking roller. When the notch completely wraps the axial end, the pressure detection member 24 detects sufficient contact pressure, indicating that the supporting part has rotated into place; in this state, the supporting part 21 provides stable support for the sinking roller, ensuring that the position of the sinking roller will not shift due to the cleaning operation during the cleaning process. The roller mechanism 2 enables the sinking roller to obtain more stable support during the cleaning process, reducing the risk of incomplete cleaning or equipment damage due to vibration or deviation. In addition, through the cooperation of the first driving member 23 and the pressure detection member 24, the automatic rotation and in-place detection of the supporting part are realized, which reduces manual intervention and improves the degree of automation of the cleaning operation.

[0087] At least two moving mechanisms 3 are respectively provided on the corresponding supporting parts 21 and are located on a side away from the sinking roller. Each moving mechanism 3 has a movable part 31 that can move along the axial direction of the sinking roller.

[0088] As a preferred embodiment, the moving mechanism 3 in this embodiment also includes a bracket 32, a second driving member 33, a screw rod 34 and a limit member 35, wherein the bracket 32 ​​is fixed on the supporting part 21; the second driving member 33 is fixed on the side of the bracket 32 ​​away from the supporting part 21, and is arranged perpendicular to the supporting part 21; the screw rod 34 is fixed on the output shaft of the second driving member 33, and the other end is rotatably connected to the supporting part 21; the movable part 31 is threadedly connected to the outside of the screw rod 34, and both sides of the movable part 31 are in contact with the inner wall of the bracket 32; the limit member 35 is fixed on the supporting part 21, and is located on the side close to the movable part 31, for limiting the moving position of the movable part 31.

[0089] It should be noted that when it is necessary to adjust the position of the cleaning mechanism 4 relative to the sinking roller, the second driving member 33 is started to drive the screw rod 34 to rotate. As the screw rod 34 rotates, the movable part 31 moves along the axial direction of the screw rod 34, driving the cleaning mechanism 4 to move closer to or away from the sinking roller; when the movable part 31 moves to the predetermined position, the limit member 35 plays a role to prevent the movable part 31 from continuing to move, thereby ensuring that the cleaning mechanism 4 can be accurately positioned in the cleaning area of ​​the sliding bearing, improving the cleaning accuracy and effect, and the cleaning mechanism starts to work to clean the zinc slag on the surface of the sliding bearing. During the cleaning process, the position of the movable part can be adjusted at any time as needed to adapt to the zinc slag cleaning needs at different positions or depths, so that the cleaning mechanism can flexibly respond to the zinc slag cleaning needs at different positions or depths, thereby improving the adaptability of the device.

[0090] At least two cleaning mechanisms 4 are respectively provided on the corresponding movable parts 31 , and each cleaning mechanism 4 has a cleaning part 41 that can rotate along the circumferential direction of the sinking roller, and the cleaning part 41 corresponds to the gap position of the sliding bearing.

[0091] As a preferred embodiment, the cleaning mechanism 4 in this embodiment further includes two rotating shafts 42, both of which are rotatably connected to the movable portion 31 and are spaced apart, and the rotating shafts 42 are consistent with the axial direction of the sinking roller; each rotating shaft 42 is provided with two connecting members 43 on the side away from the supporting portion 21, and a steel wire rope 44 is provided between the corresponding two connecting members 43, and the two ends of the steel wire rope 44 are respectively hinged to the adjacent connecting members 43, and the cleaning portion 41 is fixed to the end of the rotating shaft 42 on the side close to the sinking roller. On the surface, it is arranged opposite to the gap of the sliding bearing; a window 210 is provided on the supporting portion 21, and the position of the window 210 corresponds to the position of the rotating shaft 42 on the other side. A third driving member 45 is provided on the side of the movable portion 31 close to the supporting portion 21, and the output shaft of the third driving member 45 is fixedly connected to the shaft end of the rotating shaft 42 close to the side of the bracket 32, and the third driving member 45 passes through and extends to the outside of the window 210, and the cross-sectional size of the window 210 is larger than the cross-sectional size of the third driving member 45.

[0092] It should be noted that the cleaning portion 41 includes a mounting portion and a plurality of claws. The mounting portion is fixed on the end face of the rotating shaft 42 close to the sinking roller. The plurality of claws are fixed on the side of the mounting portion away from the rotating shaft 42. The plurality of claws are evenly distributed on the mounting portion in a ring shape along the axis of the rotating shaft 42. The plurality of claws extend into the gap between the sleeve and the bearing shell of the sliding bearing and are in close contact with the gap of the sliding bearing.

[0093] When it is necessary to clean the zinc slag on the sliding bearing, the third driving member 45 is started to drive the rotating shaft 42 on the side close to the bracket 32 ​​to rotate back and forth. Since the rotating shafts 42 are connected by the wire rope 44 and the connecting member 43, the rotating shaft 42 on the other side will also rotate during the rotation, causing the claws of the cleaning part 41 to reciprocate. The claws of the cleaning part 41 are in close contact with the gap of the sliding bearing, which ensures the thoroughness of the cleaning, reduces the residual zinc slag, and improves the cleaning efficiency.

[0094] The window 210 formed on the supporting portion 21 allows the third driving member 45 to move within the window 210 when the cleaning mechanism 4 moves horizontally, thereby maintaining sufficient space to avoid interference.

[0095] In this embodiment, the supporting part 21 rotates to lift the sinking roller, and the movable part 31 moves to allow the cleaning part 41 to extend into the gap of the sliding bearing, and rotates along the circumferential direction of the sinking roller to clean zinc slag and other impurities in the sliding bearing of the sinking roller. The device effectively improves the cleaning efficiency by directly cleaning the zinc slag in the gap of the sliding bearing. The setting of the roller mechanism enables the sinking roller to be stably supported during the cleaning process, avoiding shaking or deviation, ensuring the accuracy and safety of cleaning, and at the same time helping to reduce wear and damage of the sinking roller and the sliding bearing, thereby improving the cleaning effect of the sliding bearing of the sinking roller.

[0096] Specifically, the first driving member 23 , the second driving member 33 and the third driving member 45 in this embodiment are all motors.

[0097] Precise cleaning and a stable support structure help reduce wear and damage to the sinking rollers and sliding bearings, thereby extending the service life of the equipment

[0098] like Figure 8 As shown, the present invention also provides a control method for a sinking roller sliding bearing zinc slag cleaning device, which uses the above-mentioned sinking roller sliding bearing zinc slag cleaning device, including the following steps:

[0099] S1, the acceleration detection member 5 detects abnormal vibration of the sinking roller. If abnormal vibration is detected, the first driving member 23 is controlled by the motor torque control algorithm to rotate the supporting part 21 toward the side of the sinking roller, and the shaft end of the sinking roller abuts in the notch 200;

[0100] S2, the pressure detection element 24 detects the pressure value to determine whether the supporting portion 21 has moved into position. If the pressure value detected by the pressure detection element 24 does not reach the preset pressure threshold, the process returns to step S1. If the pressure value detected by the pressure detection element 24 reaches the preset pressure threshold, the process proceeds to step S3.

[0101] S3, regulating the second driving member 33 through the motor torque control algorithm to move the cleaning portion 41 into the gap of the sliding bearing;

[0102] S4, controlling the third driving member 45 through the motor torque control algorithm to drive the cleaning unit 41 to rotate along the axis of the sliding bearing to clean the zinc slag in the gap of the sliding bearing;

[0103] S5, the acceleration detection member 5 detects abnormal vibration of the sinking roller. If abnormal vibration is detected, the process returns to step S4. If no abnormal vibration is detected, the cleaning is completed.

[0104] Working principle: When the acceleration detection part 5 detects abnormal vibration, it means that impurities such as zinc slag have accumulated inside the sliding bearing on the sinking roller, which is enough to affect the operation of the equipment. At this time, the motor torque control algorithm is used to control the first driving part 23 to rotate the supporting part 21 toward the shaft head of the sinking roller. The shaft head of the sinking roller is abutted in the slot 200. At this time, the pressure detection part 24 detects a significant pressure increase, indicating that the supporting part 21 has moved to the correct position. The motor torque control algorithm is then used to control the second driving part 33 to make the cleaning part 41 move horizontally into the gap of the sliding bearing until the movable plate 31 moves to the limit part. The cleaning unit 41 stops at position 35. At this time, the cleaning unit 41 enters the gap between the sliding bearing composed of the sleeve and the bearing shell. The third driving member 45 is controlled by the motor torque control algorithm to drive the cleaning unit 41 to rotate along the axis of the sliding bearing to clean the zinc slag in the gap of the sliding bearing. After the cleaning unit 41 completes the cleaning, if the acceleration detection member 5 can still detect abnormal vibration, the cleaning will continue. If the acceleration detection member 5 does not detect abnormal vibration, the cleaning is completed. The previous cleaning action is then reversed, and the various structures return to their initial positions, thus completing the cleaning work of the device.

[0105] The motor torque control algorithm in this embodiment includes optimizing the conduction angle and turn-off angle parameters to meet the requirements of maximum torque current ratio control (MTPA), minimum torque ripple, and high efficiency. First, the conduction angle is analyzed and estimated to provide the maximum torque current ratio control (MTPA) condition. Second, a moth search algorithm is used to optimize the parameters of the optimal turn-off angle to obtain an optimal turn-off angle that can provide the lowest torque ripple, lowest copper loss, and highest efficiency, thereby achieving the optimal performance of the automatic zinc slag removal device for the sunken roller sliding bearing, so that it can operate with lower torque ripple and higher operating stability.

[0106] The conduction angle parameters are optimized, including presetting a control condition for the maximum torque-to-current ratio, wherein the control condition is to optimize the combination of current and angle in the minimum inductance region and current conditions so that the motor can generate the maximum torque-to-current ratio;

[0107] It should be noted that for the motor, the ideal conduction angle is 15°, so each phase will generate more than 15° of torque. In addition, the conditions for the maximum torque current ratio to control MTPA also include the angle θ corresponding to the minimum inductance region. m The peak phase current at the end reaches its reference value, so for a period of time [θ m ,θ m Optimum torque generation within +15°

[0108] Based on the control conditions, the optimal conduction angle is calculated as follows:

[0109] ;

[0110] Where, i on is the conduction angle, i m is the conduction angle corresponding to the minimum inductance area, R is the phase resistance, V dc is the DC voltage, oh is the rotor speed, L a ( I,θ ) is the inductance, I ref is the reference current, K a =d L a ( I,θ ) / d i , I is the motor current, i is the angle of the motor.

[0111] It should be noted that this formula determines the optimal conduction angle that provides the most efficient operation, accurately accounting for the effects of back EMF voltage at low and high speeds, and has higher accuracy.

[0112] Optimizing the cutoff angle parameters includes iteratively obtaining the optimal cutoff angle based on a moth search optimization algorithm, including the following sub-steps:

[0113] Establishing the turn-off angle i off and torque ripple T r , copper loss Pcu and efficiency or The objective function between is expressed as:

[0114] ;

[0115] Where, F obj is the objective function, T rb is the base value of torque fluctuation, P cub is the base value of copper loss, or b is the base value of efficiency, w r is the weight factor of torque fluctuation, w cu is the weighting factor for copper loss, w η is the weighting factor of efficiency, where w r + w cu + w η =1.

[0116] Initialize parameters and set the number of iterations t =1, initialize the number of moth population individuals NP, the maximum number of iterations, the maximum walking step length, the index value and the acceleration factor;

[0117] The corresponding torque fluctuation, copper loss and efficiency are obtained according to each turn-off angle, and the fitness value of each turn-off angle is calculated according to the objective function. The turn-off angle represents the position of the moth.

[0118] Sort all moth individuals according to their fitness values, assign moth individuals with sorting numbers between i=1 and NP / 2 to the Levy flight population, and assign moth individuals with sorting numbers between NP / 2+1 and NP to the straight flight population;

[0119] For all moth individuals in the Lévy flight population, update their positions through Lévy flight. i moth individuals, the update expression is:

[0120]

[0121] Where, For the t The position of the moth of the generation, For the t The updated position of the moth of the generation, t is the current iteration number, L(s) is the Levy distribution function; a is the scaling factor;

[0122] a The expression for the scale factor is:

[0123]

[0124] Where S max is the maximum walking step length. This formula improves the convergence, makes it easier for the iterative algorithm to converge, and makes the convergence process smoother.

[0125] Levy distribution function L(s) The expression is:

[0126]

[0127] Where s is the step size of the Levy distribution, is the gamma function, β is the scaling exponent of the optimal Levy flight search strategy, and its value is 1.5;

[0128] For all moths in the straight-line flying population, the iterative position is updated by flying towards the light source. A random number from a standard uniform distribution is drawn, and the random number is between 0 and 1. The obtained random number is checked to see if it is greater than 0.5. If the random number is greater than 0.5, the moths away from the light source fly straight towards the light source. For the i-th moth, the update expression is:

[0129]

[0130] Where, For the t The best moth of our generation, is the acceleration factor, λ is the scale factor, and its value is equal to the random number drawn;

[0131] When the random number is greater than 0.5, the moth flies to the final position outside the light source. For the i-th moth, the update expression is:

[0132]

[0133] The fitness value of each moth after the update is calculated, and the iteration is performed until the maximum number of iterations is reached. The optimal moth position and the corresponding torque fluctuation, copper loss and efficiency are output.

[0134] The optimal shut-off angle is searched through the moth search optimization algorithm. By continuously iterating the shut-off angle, the shut-off angle is continuously approached to the size of the optimal shut-off angle, and finally an optimal shut-off angle is obtained that can produce the smallest torque fluctuation, the lowest copper loss and the highest efficiency, thereby obtaining the best performance of the automatic zinc slag removal device for the sunken roller sliding bearing, so that it can operate with lower torque fluctuation and higher operating stability.

[0135] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A zinc slag cleaning device for a sunken roller sliding bearing, characterized in that: It comprises an arm frame body (1), at least two roller mechanisms (2), a moving mechanism (3) and a cleaning mechanism (4), wherein: The sinking roller is rotatably connected to the boom body (1) via a sliding bearing; At least two roller mechanisms (2) are arranged on the arm frame body (1) at intervals and relative to each other, and each roller mechanism (2) has a supporting portion (21) that can rotate toward one side of the sinking roller; At least two moving mechanisms (3) are respectively provided on the corresponding supporting parts (21) and are located on a side away from the sinking roller, and each moving mechanism (3) has a movable part (31) that can move along the axial direction of the sinking roller; The moving mechanism (3) further comprises a bracket (32), a second driving member (33), a screw rod (34) and a limiting member (35), wherein the bracket (32) is fixed on the supporting portion (21); the second driving member (33) is fixed on a side of the bracket (32) away from the supporting portion (21) and is arranged perpendicular to the supporting portion (21); the screw rod (34) is fixed on the output shaft of the second driving member (33), and the other end is rotatably connected to the supporting portion (21); the movable portion (31) is threadedly connected to the outer side of the screw rod (34), and both sides of the movable portion (31) are in contact with the inner wall of the bracket (32); the limiting member (35) is fixed on the supporting portion (21) and is arranged on a side close to the movable portion (31), and is used to limit the position of the movable portion (31). At least two cleaning mechanisms (4) are respectively arranged on the corresponding movable parts (31), and each cleaning mechanism (4) has a cleaning part (41) that can rotate along the circumferential direction of the sinking roller, and the cleaning part (41) corresponds to the gap position of the sliding bearing; It also includes at least two acceleration detection components (5), which are respectively arranged on the corresponding front arm frames (12) and are used to detect abnormal vibration of the sinking roller; The supporting part (21) rotates to lift the sinking roller, and the movable part (31) moves to allow the cleaning part (41) to extend into the gap of the sliding bearing and rotate along the circumferential direction of the sinking roller to perform cleaning.

2. The zinc slag cleaning device for the sunken roller sliding bearing according to claim 1, characterized in that: The arm frame body (1) comprises a mounting seat (11) and at least two front arm frames (12), wherein: At least two front arm frames (12) are fixed on the mounting seat (11) and are arranged relative to each other at intervals, and one end of the front arm frame (12) away from the mounting seat (11) is inclined toward the sinking roller side; The sliding bearings are arranged on two opposite front arm frames (12), and the axis centers of the sliding bearings on both sides are located at the same axis position, and the sinking roller is arranged between the sliding bearings on both sides.

3. The zinc slag cleaning device for the sunken roller sliding bearing according to claim 2, characterized in that: The roller mechanism (2) further includes at least two rear arms (22), a first driving member (23) and a pressure detection member (24), wherein: At least two rear arm frames (22) are fixed on the mounting seat (11) and are arranged relative to each other at intervals; The supporting portion (21) is rotatably connected to the rear arm frame (22), and is located on a side of the rear arm frame (22) close to the sinking roller, and abuts against each other; A notch (200) is provided on the supporting portion (21), and the diameter of the notch (200) is the same as the diameter of the end of the sinking roller shaft; The first driving member (23) is arranged on a side of the rear arm frame (22) close to the sinking roller, and the output shaft of the first driving member (23) passes through the rear arm frame (22) and is fixed to the supporting portion (21); The first driving member (23) drives the supporting portion (21) to rotate toward one side of the sinking roller, so that the shaft end of the sinking roller abuts against the groove (200); The pressure detection member (24) is fixed on the output shaft of the first driving member (23) and is used to detect whether the supporting portion (21) is rotated into place.

4. The zinc slag cleaning device for the sunken roller sliding bearing according to claim 3, characterized in that: The cleaning mechanism (4) further comprises two rotating shafts (42), both of which are rotatably connected to the movable portion (31) and are arranged at intervals, and the rotating shafts (42) are aligned with the axial direction of the sinking roller; two connecting members (43) are provided on the side of each rotating shaft (42) away from the supporting portion (21), a steel wire rope (44) is provided between the two corresponding connecting members (43), and the two ends of the steel wire rope (44) are respectively hinged to the adjacent connecting members (43); the cleaning portion (41) is fixed on the end face of the rotating shaft (42) close to the sinking roller, and is arranged relative to the gap of the sliding bearing.

5. The zinc slag cleaning device for the sunken roller sliding bearing according to claim 4, characterized in that: A window (210) is provided on the supporting portion (21), and the position of the window (210) corresponds to the position of the rotating shaft (42) on the other side. A third driving member (45) is provided on the side of the movable portion (31) close to the supporting portion (21). The output shaft of the third driving member (45) is fixedly connected to the shaft end of the rotating shaft (42) close to the bracket (32), and the third driving member (45) passes through and extends to the outside of the window (210). The cross-sectional size of the window (210) is larger than the cross-sectional size of the third driving member (45).

6. A control method for a sinking roller sliding bearing zinc slag cleaning device, using the sinking roller sliding bearing zinc slag cleaning device according to claim 5, characterized in that: The following steps are involved: S1, the acceleration detection member (5) detects abnormal vibration of the sinking roller. If abnormal vibration is detected, the first driving member (23) is controlled by the motor torque control algorithm to rotate the supporting part (21) toward the side of the sinking roller, and the shaft end of the sinking roller abuts in the slot (200); S2, the pressure detection member (24) detects the pressure value to determine whether the supporting portion (21) has moved into position. If the pressure value detected by the pressure detection member (24) does not reach the preset pressure threshold, the process returns to step S1. If the pressure value detected by the pressure detection member (24) reaches the preset pressure threshold, the process proceeds to step S3. S3, regulating the second driving member (33) by a motor torque control algorithm to cause the cleaning portion (41) to translate into the gap of the sliding bearing, wherein the motor torque control algorithm includes optimizing the on-angle and off-angle parameters to meet the requirements of maximum torque-to-current ratio control, minimum torque fluctuation, and high efficiency; S4, controlling the third driving member (45) through a motor torque control algorithm to drive the cleaning portion (41) to rotate along the axis of the sliding bearing to clean the zinc slag in the gap of the sliding bearing; S5, the acceleration detection member (5) detects abnormal vibration of the sinking roller. If abnormal vibration is detected, the process returns to step S4. If no abnormal vibration is detected, the cleaning is completed.

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