Motion control method and equipment of crawler loader equipment and storage medium

Abstract

The invention relates to a motion control method and equipment of crawler loader equipment and a storage medium, the crawler loader equipment comprises a crawler loader, a hydraulic driving module and a sensor, the hydraulic driving module is connected to the crawler loader, the sensor is arranged on the crawler loader, and the method comprises the steps that the motion state, detected by the sensor, of the crawler loader is obtained; when the motion state reaches a preset first threshold value, an instruction for supplying oil to the hydraulic driving module at a first speed is triggered; and when the motion state reaches a preset second threshold value, an instruction for stopping oil supply to the hydraulic driving module is triggered. When the motion state of the slagging-off machine meets the requirement, the oil supply speed can be reduced or oil supply can be stopped, then the vibration amplitude of the slagging-off machine in the working process is reduced, the situation that mechanical parts and a hydraulic system of the slagging-off machine are damaged due to violent mechanical impact generated by sudden stopping of the slagging-off machine is avoided, the replacement frequency of quick-wear parts in the slagging-off machine is reduced, and the service life of the slagging-off machine is prolonged. And the overall service life of the crawler loader equipment is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of the iron and steel metallurgical industry, and in particular to a motion control method, equipment, and storage medium for a slag scraper. Background Art

[0002] The slag scraper is one of the most important equipment in the desulfurization area of ​​a steel plant, and is mainly used for cleaning the slag surface during the molten iron desulfurization process.

[0003] In traditional molten iron desulfurization slag skimming operations, the start or stop of the slag skimmer is mainly controlled manually.

[0004] However, due to the tight production rhythm, large amount of scraping and casual manual operation, the scraper often stops and starts suddenly. The severe mechanical impact not only easily damages the mechanical parts of the scraper itself, but also easily damages the hydraulic system that controls the scraper. Summary of the Invention

[0005] The embodiments of the present application provide a motion control method, device and storage medium for a scraper device, aiming to solve the technical problem that the sudden stop of the scraper generates severe mechanical shock, which easily damages the mechanical components of the scraper itself and easily causes damage to the hydraulic system that controls the scraper.

[0006] In a first aspect, an embodiment of the present application provides a motion control method for a scraper device, wherein the scraper device includes a scraper, a hydraulic drive module, and a sensor, wherein the hydraulic drive module is connected to the scraper, and the sensor is provided on the scraper. The method includes:

[0007] Acquiring the motion state of the scraper detected by the sensor;

[0008] When the motion state reaches a preset first threshold, triggering an instruction to supply oil to the hydraulic drive module at a first speed, wherein the first speed is less than an initial oil supply speed of the hydraulic drive module;

[0009] When the motion state reaches a preset second threshold, an instruction to stop supplying oil to the hydraulic drive module is triggered, wherein the preset first threshold is smaller than the preset second threshold.

[0010] In some possible embodiments, the hydraulic drive module includes a first hydraulic motor, which has an output shaft; the scraper includes a scraper body, a scraper arm and a rotating assembly, the scraper arm is installed on the scraper body and rotates synchronously with the scraper body, the rotating assembly includes an active bearing gear, a driven bearing gear and a rotating component, the scraper body is rotatably connected to the rotating component through the driven bearing gear, the first hydraulic motor is provided at one end of the scraper body away from the driven bearing gear, the output shaft is passed through the scraper body and connected to the active bearing gear, the active bearing gear and the driven bearing gear are meshed with each other; the sensor includes a rotation sensor, which is provided on the driven bearing gear and is used to detect the rotation angle of the scraper body relative to the rotating component;

[0011] When the rotation angle of the scraper body relative to the rotating component reaches a preset first rotation threshold, triggering an instruction to supply oil to the first hydraulic motor at a first speed, wherein the first speed is less than an initial oil supply speed of the first hydraulic motor;

[0012] When the rotation angle of the scraper body relative to the rotating component reaches a preset second rotation threshold, an instruction to stop supplying oil to the first hydraulic motor is triggered.

[0013] In some possible embodiments, the rotating assembly further includes a first rotating stop and a second rotating stop, the first rotating stop being arranged at the top end of the rotating component, and the second rotating stop being arranged at the bottom end of the scraper body; when the rotation angle of the scraper body relative to the rotating component reaches a preset third rotation threshold, the second rotating stop abuts against the first rotating stop to limit the rotation of the scraper body.

[0014] In some possible embodiments, the hydraulic drive module includes a second hydraulic motor, the second hydraulic motor has a sprocket shaft, the slag scraper includes a slag scraper body, a slag scraper rod, a slag scraper arm and a transmission chain, the slag scraper arm is installed on the slag scraper body, the slag scraper rod is movably connected to the slag scraper arm, both ends of the transmission chain are fixed to the slag scraper rod, the transmission chain is connected to the outer periphery of the sprocket shaft, and under the drive of the second hydraulic motor, reciprocates with the rotation of the sprocket shaft, driving the slag scraper rod to perform telescopic movement relative to the slag scraper arm; the sensor includes a telescopic sensor, which is provided on the sprocket shaft and is used to determine the telescopic stroke of the slag scraper rod according to the number of rotations of the sprocket shaft;

[0015] When the telescopic stroke of the scraper bar reaches a preset first stroke threshold, an instruction to supply oil to the second hydraulic motor at a first speed is triggered, wherein the first speed is lower than an initial oil supply speed of the second hydraulic motor;

[0016] When the telescopic stroke of the scraper bar reaches a preset second stroke threshold, an instruction to stop supplying oil to the second hydraulic motor is triggered.

[0017] In some possible implementations, the scraping rod is provided with a first stopper and a second stopper, the first stopper and the second stopper are spaced apart and are respectively located at two ends of the scraping rod, and the scraping arm is provided with a first limit block and a second limit block, the first limit block and the second limit block are spaced apart and are respectively located at two ends of the scraping arm;

[0018] When the forward stroke of the scraper bar reaches a preset third stroke threshold, the second stopper contacts and cooperates with the first limit block to limit the forward movement of the scraper bar;

[0019] When the backward stroke of the scraper bar reaches a preset fourth stroke threshold, the first stop block contacts and cooperates with the second limit block to limit the backward movement of the scraper bar.

[0020] In some possible embodiments, the scraper includes a scraper body and a scraper arm, the scraper arm is mounted on the scraper body, the hydraulic drive module includes a pitch cylinder, the pitch cylinder includes a first hydraulic rod, a first hydraulic cylinder and a first piston, one end of the first hydraulic rod is movably connected to the first piston, and the other end of the first hydraulic rod extends to the outside of the first hydraulic cylinder and is connected to the scraper arm; the scraper arm performs pitch motion under the drive of the pitch cylinder;

[0021] The sensor includes a pitch sensor, which is arranged in the pitch cylinder and is used to detect the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder;

[0022] When the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder reaches a preset first pitch cylinder stroke threshold, triggering an instruction to supply oil to the pitch cylinder at a first speed, wherein the first speed is less than an initial oil supply speed of the pitch cylinder;

[0023] When the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder reaches a preset second pitch cylinder stroke threshold, an instruction to stop supplying oil to the pitch cylinder is triggered.

[0024] In some possible implementations, the scraper further includes a pitch support connected between the first hydraulic rod and the scraper arm.

[0025] In some possible embodiments, the scraper includes a scraper body, a scraper arm, and a lifting shaft, the scraper arm being mounted on the scraper body, the scraper arm being provided on the scraper body and connected to the lifting shaft; the hydraulic drive module includes a lifting cylinder, the lifting cylinder including a second hydraulic rod, a second hydraulic cylinder, and a second piston, one end of the second hydraulic rod being movably connected to the first piston, the other end of the first hydraulic rod extending to the outside of the first hydraulic cylinder and connected to the lifting shaft; the lifting shaft, driven by the lifting cylinder, can move up and down along the vertical direction of the scraper body and drive the scraper arm to perform lifting movements;

[0026] The sensor includes a lifting sensor, which is arranged in the lifting cylinder and is used to detect the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder;

[0027] When the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder reaches a preset first lift cylinder stroke threshold, triggering an instruction to supply oil to the lift cylinder at a first speed, wherein the first speed is less than an initial oil supply speed of the lift cylinder;

[0028] When the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder reaches a preset second lifting cylinder stroke threshold, an instruction to stop supplying oil to the lifting cylinder is triggered.

[0029] In a second aspect, an embodiment of the present application further provides a computer device, which includes a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above method when executing the computer program.

[0030] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program can implement the above method when executed by a processor.

[0031] The present application sets a sensor on the scraper, uses the sensor to detect the movement state of the scraper in real time, and when the movement state reaches a preset first threshold, triggers an instruction to supply oil to the hydraulic drive module at a first speed, and the first speed is less than the initial oil supply speed of the hydraulic drive module; when the movement state reaches a preset second threshold, triggers an instruction to stop supplying oil to the hydraulic drive module, that is, by detecting the movement data of the scraper when it is working, and when the movement state of the scraper meets the requirements, the oil supply speed is reduced or the oil supply is stopped, thereby reducing the vibration amplitude of the scraper when it is working, avoiding the severe mechanical impact caused by the sudden stop of the scraper to damage the mechanical components and hydraulic system of the scraper itself, thereby reducing the number of replacement times of wearing parts in the scraper and extending the overall service life of the scraper equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0033] In order to more clearly illustrate the embodiments of the present application 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0035] Figure 1 A schematic structural diagram of a scraper device provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the assembly of the scraper body and the rotating parts provided in an embodiment of the present application;

[0037] Figure 3 for Figure 2 The schematic diagram of the structure of the scraper body;

[0038] Figure 4 for Figure 2 A schematic structural diagram of a rotating component;

[0039] Figure 5 A schematic diagram of the structure of the driven bearing gear and the driving bearing gear meshing with each other provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of the connection between the transmission chain and the second hydraulic motor provided in an embodiment of the present application;

[0041] Figure 7 A schematic structural diagram of a slag scraper provided in an embodiment of the present application, wherein a first stopper and a second stopper are provided;

[0042] Figure 8 A schematic structural diagram of a slag scraper arm provided in an embodiment of the present application, in which a first limit block and a second limit block are provided;

[0043] Figure 9 A schematic diagram of the connection of the pitch components provided in an embodiment of the present application;

[0044] Figure 10A schematic diagram of the connection of a lifting component according to an embodiment of the present application;

[0045] Figure 11 A connection diagram of another embodiment of the lifting component provided in an embodiment of the present application;

[0046] Figure 12 A schematic diagram of the interaction of various components in the motion control method for a scraper device provided in an embodiment of the present application;

[0047] Figure 13 A schematic diagram of the structure of a computer device according to an embodiment of the present application.

[0048] Description of Figure Numbers:

[0049] Transmission chain 10, second hydraulic motor 11, telescopic sensor 12, sprocket shaft 13, chain connecting block 14, first stop 51, second stop 52, first limit block 53, second limit block 54, upper chain 111, lower chain 112, scraper body 100, second rotating stop 101, scraper rod 102, scraper arm 103, first hydraulic motor 20, driven bearing gear 21, rotation sensor 22, active bearing gear 23, rotating component 200, first rotating stop 202, pitch cylinder 30, pitch support 31, pitch sensor 32, lifting cylinder 40, lifting shaft 41, lifting sensor 42, connecting plate 43, connecting shaft 44, sleeve pressure plate 45. DETAILED DESCRIPTION

[0050] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0052] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0053] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0054] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0055] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0056] The slag scraper is one of the most important equipment in the desulfurization area of ​​a steel plant, and is mainly used for cleaning the slag surface during the molten iron desulfurization process.

[0057] In traditional molten iron desulfurization slag skimming operations, the start or stop of the slag skimmer is mainly controlled manually.

[0058] However, due to the tight production rhythm, large amount of scraping and casual manual operation, the scraper often stops and starts suddenly. The severe mechanical impact not only easily damages the mechanical parts of the scraper itself, but also easily damages the hydraulic system that controls the scraper.

[0059] In order to solve the technical problem in the prior art that the sudden stop of the scraper produces a severe mechanical shock, which easily damages the mechanical parts of the scraper itself and easily causes damage to the hydraulic system that controls the scraper, the present application provides a motion control method, equipment and storage medium for the scraper equipment, which can reduce the oil supply speed or stop the oil supply when the motion state of the scraper meets the requirements, thereby reducing the vibration amplitude of the scraper during operation, avoiding the severe mechanical shock caused by the sudden stop of the scraper to damage the mechanical parts and hydraulic system of the scraper itself, thereby reducing the number of replacement times of wearing parts in the scraper and extending the overall service life of the scraper equipment.

[0060] The scraper device provided in the present application includes a scraper, a hydraulic drive module, and a sensor. The hydraulic drive module is connected to the scraper, and the sensor is provided on the scraper. The motion control method of the scraper device may include the following steps:

[0061] Step 110: Acquire the motion state of the scraper detected by the sensor.

[0062] Step 120: When the motion state reaches a preset first threshold, trigger an instruction to supply oil to the hydraulic drive module at a first speed.

[0063] The first speed is lower than an initial oil supply speed of the hydraulic drive module.

[0064] Step 130: When the motion state reaches a preset second threshold, trigger an instruction to stop supplying oil to the hydraulic drive module.

[0065] The preset first threshold is smaller than the preset second threshold.

[0066] This embodiment sets a sensor on the scraper, uses the sensor to detect the movement state of the scraper in real time, and triggers an instruction to supply oil to the hydraulic drive module at a first speed when the movement state reaches a preset first threshold, and the first speed is less than the initial oil supply speed of the hydraulic drive module; when the movement state reaches a preset second threshold, triggers an instruction to stop supplying oil to the hydraulic drive module, that is, by detecting the movement data of the scraper when it is working, and when the movement state of the scraper meets the requirements, the oil supply speed is reduced or the oil supply is stopped, thereby reducing the vibration amplitude of the scraper when it is working, avoiding the severe mechanical impact caused by the sudden stop of the scraper to damage the mechanical components and hydraulic system of the scraper itself, thereby reducing the number of replacement times of wearing parts in the scraper and extending the overall service life of the scraper equipment.

[0067] In some possible implementations, the movement of the scraper equipment may include but is not limited to rotational movement, telescopic movement, pitching movement, and lifting movement. The following embodiments are described using these four movements as examples.

[0068] The first embodiment is described with the rotary motion of the scraper equipment, see Figure 1-Figure 5 , the hydraulic drive module includes a first hydraulic motor 20, which has an output shaft; the scraper includes a scraper body 100, a scraper arm 103 and a rotating assembly, the scraper arm 103 is installed on the scraper body 100 and rotates synchronously with the scraper body 100, the rotating assembly includes an active bearing gear 23, a driven bearing gear 21 and a rotating component 200, the scraper body 100 is rotatably connected to the rotating component 200 through the driven bearing gear 21, the first hydraulic motor 20 is provided at one end of the scraper body 100 away from the driven bearing gear 21, the output shaft is provided in the scraper body 100 and connected to the active bearing gear 23, the active bearing gear 23 and the driven bearing gear 21 are meshed with each other; the sensor includes a rotation sensor 22, which is provided on the driven bearing gear 21 and is used to detect the rotation angle of the scraper body 100 relative to the rotating component 200.

[0069] The scraper's rotational motion operates as follows: upon receiving a start command from the operator via the control panel, the control system sends an oil supply signal to the first hydraulic motor 20, causing it to begin operating at an initial oil supply rate. The output shaft of the first hydraulic motor 20 then rotates the active bearing gear 23, which in turn, through engagement with the driven bearing gear 21, drives the scraper body 100. A rotation sensor 22 mounted on the driven bearing gear 21 rotates along with the driven bearing gear 21, monitoring the rotation angle of the scraper body 100 relative to the rotating component 200 in real time. This information is then fed back to the control system. The control system is programmed with a pre-set interlocking condition. When the scraper arm 103's rotation angle meets the specified value, the oil supply to the first hydraulic motor 20 is reduced or stopped, thereby reducing the rotation amplitude of the scraper arm 103.

[0070] Corresponding to the rotating component 200 of the scraper equipment, the first embodiment of the motion control method of the scraper equipment provided in the present application may include the following steps:

[0071] Step 210 : Obtain the rotation angle of the scraper body 100 relative to the rotating component 200 detected by the rotation sensor 22 .

[0072] Step 220 : When the rotation angle of the scraper body 100 relative to the rotating component 200 reaches a preset first rotation threshold, trigger an instruction to supply oil to the first hydraulic motor 20 at a first speed.

[0073] The first speed is lower than an initial oil supply speed of the first hydraulic motor 20 .

[0074] Step 230 : When the rotation angle of the scraper body 100 relative to the rotating component 200 reaches a preset second rotation threshold, triggering an instruction to stop supplying oil to the first hydraulic motor 20 .

[0075] For example, assuming that the scraper body 100 is mechanically limited when rotated to 30°, the preset first rotation threshold may be 24°, 25°, 26°, etc., and the preset second rotation threshold may be 29°, 29.5°, etc.

[0076] It should be noted that in this application, the rotation angle of the scraper body 100 for mechanical limitation is not limited to 30°, and can also be other values ​​set by the user based on actual conditions. The specific values ​​of the preset first rotation threshold and the preset second rotation threshold can be set and adjusted according to the rotation angle of the scraper body 100 for mechanical limitation.

[0077] In some possible embodiments, the rotating assembly further includes a first rotating stop 202 and a second rotating stop 101, wherein the first rotating stop 202 is arranged at the top end of the rotating component 200, and the second rotating stop 101 is arranged at the bottom end of the scraper body 100; when the rotation angle of the scraper body 100 relative to the rotating component 200 reaches a preset third rotation threshold, the second rotating stop 101 abuts against the first rotating stop 202 to limit the rotation of the scraper body 100.

[0078] In some embodiments, the first rotating stop 202 can be provided at the top of the rotating component 200 and located at a position of 30° in the driven bearing gear 21. In this way, when the scraper body 100 and the scraper arm 103 rotate to a preset second rotation threshold such as 30°, the second rotating stop 101 on the scraper body 100 abuts against the first rotating stop 202 of the rotating component 200 to limit the scraper body 100 from continuing to rotate.

[0079] Since a mechanical limit block is provided between the scraper body 100 and the rotating component 200, when the scraper body 100 rotates to the rotation angle where the block is provided, the scraper body 100 will hit the block on the rotating component 200, thereby performing mechanical hard limiting. However, this hard limiting method will have a large impact force, which may easily cause damage to mechanical structures such as bearing gears and hydraulic systems.

[0080] Based on this, this embodiment sets a rotation sensor 22 on the bearing gear disc, i.e., the driven bearing gear 21, of the rotating component 200. The rotation sensor 22 rotates with the scraper arm 103 under the drive of the rotating motor, i.e., the first hydraulic motor 20, and measures the rotation angle of the scraper arm 103 in real time. When the scraper body 100 and the scraper arm 103 rotate to a preset first rotation threshold, such as 25°, the proportional valve of the hydraulic system slowly supplies oil to the first hydraulic motor 20 to decelerate the first hydraulic motor 20. When the scraper body 100 and the scraper arm 103 rotate to a preset second rotation threshold, such as 29°, the proportional valve no longer supplies oil to the first hydraulic motor 20, thereby ensuring that the second rotating block 101 on the scraper body 100 does not directly hit the first rotating block 202 on the rotating component 200, thereby protecting the first rotating block 202, the second rotating block 101 and the hydraulic system.

[0081] The telescopic movement of the scraper equipment is used as the second embodiment for explanation. Figure 1 、 Figure 6 、 Figure 7 and Figure 8 The hydraulic drive module includes a second hydraulic motor 11, which has a sprocket shaft 13. The scraper includes a scraper body 100, a scraper rod 102, a scraper arm 103 and a transmission chain 10. The scraper arm 103 is installed on the scraper body 100, the scraper rod 102 is movably connected to the scraper arm 103, and both ends of the transmission chain 10 are fixed to the scraper rod 102. The transmission chain 10 is connected to the outer periphery of the sprocket shaft 13 and, driven by the second hydraulic motor 11, moves back and forth with the rotation of the sprocket shaft 13, driving the scraper rod 102 to perform telescopic movement relative to the scraper arm 103; the sensor includes a telescopic sensor 12, which is provided on the sprocket shaft 13 and is used to determine the telescopic stroke of the scraper rod 102 according to the number of rotations of the sprocket shaft 13.

[0082] The transmission chain 10 includes an upper chain 111 , a lower chain 112 and a chain connecting block 14 . The chain connecting block 14 is used to firmly connect the upper chain 111 and the lower chain 112 together to form a complete transmission system.

[0083] The principle of the rotational movement of the scraper equipment is as follows: after the control system receives the start command issued by the operator through the control panel, it sends an oil supply signal to the second hydraulic motor 11, so that the second hydraulic motor 11 starts working at the initial oil supply speed. At this time, the second hydraulic motor 11 drives the sprocket shaft 13 to rotate, thereby driving the transmission chain 10 to reciprocate. Since both ends of the transmission chain 10 are fixed on the slag scraper rod 102, when the transmission chain 10 rotates forward, the lower chain 112 pulls the slag scraper rod 102 to move backward, and when the transmission chain 10 rotates reversely, the upper chain 111 pulls the slag scraper rod 102 to move forward. During the extension and retraction process, the extension and retraction sensor 12 provided on the sprocket shaft 13 rotates along with the sprocket shaft 13 under the drive of the second hydraulic motor 11, and determines the extension and retraction stroke of the slag scraper rod 102 according to the number of rotation circles of the sprocket shaft 13. When the extension and retraction stroke of the slag scraper rod 102 meets the requirements, the oil supply speed of the second hydraulic motor 11 is reduced or the oil supply is stopped, thereby reducing the extension and retraction amplitude of the slag scraper rod 102.

[0084] Corresponding to the telescopic component of the scraper equipment, the second embodiment of the motion control method of the scraper equipment provided by the present application may include the following steps:

[0085] Step 310 : Acquire the telescopic stroke of the scraper bar 102 detected by the telescopic sensor 12 .

[0086] Step 320: When the telescopic stroke of the scraper bar 102 reaches a preset first stroke threshold, trigger an instruction to supply oil to the second hydraulic motor 11 at a first speed.

[0087] The first speed is lower than an initial oil supply speed of the second hydraulic motor 11 .

[0088] Step 330 : When the telescopic stroke of the scraper bar 102 reaches a preset second stroke threshold, triggering an instruction to stop supplying oil to the second hydraulic motor 11 .

[0089] For example, assuming that the maximum telescopic stroke of the scraper bar 102 is 5000 mm, that is, the scraper bar 102 will be mechanically limited when it is extended to 5000 mm, the preset first stroke threshold may be 4400 mm, 4500 mm, 4600 mm, and the preset second stroke threshold may be 4800 mm, 4900 mm.

[0090] It should be noted that the maximum telescopic stroke of the slag scraper bar 102 in this application is not limited to 5000 mm, and can also be other values ​​set by the user based on actual conditions. The specific values ​​of the preset first stroke threshold and the preset second stroke threshold can be set and adjusted according to the maximum telescopic stroke of the slag scraper bar 102.

[0091] In some possible embodiments, the slag scraping rod 102 is provided with a first stopper 51 and a second stopper 52, which are spaced apart and respectively located at both ends of the slag scraping rod 102; the slag scraping arm 103 is provided with a first limit block 53 and a second limit block 54, which are spaced apart and respectively located at both ends of the slag scraping arm 103;

[0092] When the forward stroke of the scraper bar 102 reaches a preset third stroke threshold, the second stopper 52 contacts and cooperates with the first limit block 53 to limit the forward movement of the scraper bar 102 .

[0093] Exemplarily, the third stroke threshold can be the maximum telescopic stroke of the slag scraper rod 102, such as 5000 mm, that is, when the forward stroke of the slag scraper rod 102 reaches 5000 mm, the second stop block 52 on the slag scraper rod 102 contacts and cooperates with the first limit block 53 on the slag scraper arm 103 to perform mechanical limiting to limit the slag scraper rod 102 from continuing to move forward.

[0094] When the backward stroke of the scraper bar 102 reaches a preset fourth stroke threshold, the first stopper 51 contacts and cooperates with the second limit block 54 to limit the backward movement of the scraper bar 102 .

[0095] That is, when the scraper bar 102 reaches a backward stroke of 5000 mm, the first stopper 51 on the scraper bar 102 contacts and cooperates with the second limit block 54 on the scraper arm 103 to perform mechanical limiting to prevent the scraper bar 102 from further retreating.

[0096] Since the first limit block 53 and the second limit block 54 of the mechanical limit are respectively installed at the positions of the maximum forward stroke and the maximum backward stroke of the transmission chain 10, when the slag scraper rod 102 extends forward to the maximum forward stroke or retreats to the maximum backward stroke, the block on the slag scraper rod 102 will hit the limit block of the slag scraper arm 103, thereby performing mechanical hard limiting to prevent the slag scraper rod 102 from rushing out of the slag scraper arm 103. However, the impact force of this hard limiting method is huge, which can easily cause damage to mechanical structures such as chains and hydraulic systems.

[0097] Based on this, this embodiment installs a telescopic sensor 12 at the telescopic motor, i.e., the second hydraulic motor 11. The telescopic sensor 12 rotates with the sprocket shaft 13 under the drive of the telescopic motor, and calculates the stroke of the slag scraper rod 102 according to the number of rotations of the sprocket shaft 13. When it is detected that the telescopic stroke of the slag scraper rod 102 reaches a preset first stroke threshold, such as 4500 mm, the proportional valve of the hydraulic system can slowly supply oil (i.e., supply oil at a first speed that is less than the initial oil supply speed), so that the second hydraulic motor 11 is decelerated. When the telescopic sensor 12 detects that the telescopic stroke of the slag scraper rod 102 reaches a preset second stroke threshold, such as 4800 mm, the proportional valve no longer supplies oil to the second hydraulic motor 11, thereby reducing the violent impact of the slag scraper rod 102 on the slag scraper arm 103, and further protecting the first stop block 51, the second stop block 52, the first limit block 53, the second limit block 54 and the hydraulic system.

[0098] The pitching motion of the scraper equipment is used as the third embodiment for explanation. Figure 1 and Figure 9 The scraper includes a scraper body 100 and a scraper arm 103, the scraper arm 103 is installed on the scraper body 100, the hydraulic drive module includes a pitch cylinder 30, the pitch cylinder 30 includes a first hydraulic rod, a first hydraulic cylinder and a first piston, one end of the first hydraulic rod is movably connected to the first piston, and the other end of the first hydraulic rod extends to the outside of the first hydraulic cylinder and is connected to the scraper arm 103; the scraper arm 103 performs pitch movement under the drive of the pitch cylinder 30.

[0099] The sensor includes a pitch sensor 32 , which is disposed in the pitch cylinder 30 and is used to detect the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder.

[0100] The principle of the scraper's pitching motion is as follows: upon receiving a start command from the operator via the control panel, the control system sends an oil supply signal to the pitch cylinder 30, causing the pitch cylinder 30 to begin operating at an initial oil supply rate. At this point, the first hydraulic rod in the pitch cylinder 30 moves back and forth, driving the scraper arm 103 to pitch.

[0101] During the pitching movement, the pitch sensor 32 installed on the pitch cylinder 30 can measure the distance according to the relative movement of the first hydraulic rod and the first hydraulic cylinder.

[0102] Corresponding to the pitch component of the scraper equipment, the third embodiment of the motion control method of the scraper equipment provided in this application may include the following steps:

[0103] Step 410: Acquire the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder detected by the pitch sensor 32.

[0104] Step 420: When the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder reaches a preset first pitch cylinder stroke threshold, trigger an instruction to supply oil to the pitch cylinder 30 at a first speed.

[0105] The first speed is lower than the initial oil supply speed of the pitch cylinder 30 .

[0106] Step 430 : When the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder reaches a preset second pitch cylinder stroke threshold, trigger an instruction to stop supplying oil to the pitch cylinder 30 .

[0107] For example, assuming that the maximum stroke of the pitch cylinder 30 is 300 mm, the first pitch cylinder stroke threshold may be 250 mm, 260 mm, or 270 mm, and the preset second pitch cylinder stroke threshold may be 280 mm or 290 mm.

[0108] It should be noted that the maximum stroke of the pitch cylinder 30 in this application is not limited to 300 mm, but can also be other values ​​set by the user based on actual conditions. The specific values ​​of the preset first pitch cylinder stroke threshold and the preset second pitch cylinder stroke threshold can be set and adjusted according to the maximum stroke of the pitch cylinder 30.

[0109] Because the pitch angle of the scraper arm 103 is limited entirely by the maximum stroke of the pitch cylinder 30 itself, the heavy load on the scraper arm 103 during pitching, supported by the pitch cylinder 30, increases the impact of the first hydraulic rod inside the pitch cylinder 30 on the first hydraulic cylinder, potentially causing damage to the mechanical structure, such as fracture of the pitch cylinder 30, and internal leakage in the hydraulic system. To address this issue, this embodiment installs a pitch sensor 32 inside the pitch cylinder 30. The pitch sensor 32 measures the distance based on the relative movement of the first hydraulic rod and the first hydraulic cylinder. When the pitch sensor 32 detects that the pitch cylinder 30 has reached a stroke of 270 mm, the hydraulic system's solenoid valve slowly supplies oil to the pitch cylinder 30, decelerating the pitch. When the sensor detects that the pitch cylinder 30 has reached a stroke of 290 mm, the solenoid valve stops supplying oil to the pitch cylinder 30, thereby reducing the impact of the first hydraulic rod inside the pitch cylinder 30 on the first hydraulic cylinder and protecting the pitch cylinder 30 structure and the hydraulic system.

[0110] In some possible implementations, the scraper further includes a pitch support 31 , and the pitch support 31 is connected between the first hydraulic rod and the scraper arm 103 .

[0111] By providing the pitching support 31, the stability of the connection between the first hydraulic rod and the slag scraper arm 103 is enhanced, so that the first hydraulic rod can drive the slag scraper arm 103 to perform pitching movement.

[0112] The fourth embodiment is described with the lifting motion of the scraper equipment, see Figure 1 、 Figure 8 、 Figure 10 、 Figure 11 The scraper includes a scraper body 100, a scraper arm 103 and a lifting shaft 41, the scraper arm 103 is installed on the scraper body 100, the scraper arm 103 is provided on the scraper body 100 and connected to the lifting shaft 41; the hydraulic drive module includes a lifting cylinder 40, the lifting cylinder 40 includes a second hydraulic rod, a second hydraulic cylinder and a second piston, one end of the second hydraulic rod is movably connected to the first piston, the other end of the first hydraulic rod extends to the outside of the first hydraulic cylinder and is connected to the lifting shaft 41; the lifting shaft 41 is driven by the lifting cylinder 40, and can move up and down along the vertical direction of the scraper body 100, and drive the scraper arm 103 to perform lifting movement;

[0113] The sensor includes a lifting sensor 42 , which is disposed in the lifting cylinder 40 and is used to detect the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder.

[0114] In some embodiments, the scraper can further include a connecting plate 43, a connecting shaft 44, and a shaft sleeve pressure plate 45. The lifting shaft 41 is connected to the connecting shaft 44 via the connecting plate 43, and the connecting shaft 44 is pressed against the scraper arm 103 via the shaft sleeve pressure plate 45. Thus, when the control system receives a start command from the operator via the control panel, it sends an oil supply signal to the lifting cylinder 40, causing the lifting cylinder 40 to begin operating at an initial oil supply speed. At this point, the lifting cylinder 40 drives the lifting shaft 41 up and down. Since the lifting shaft 41 is fixed to the scraper arm 103, the lifting shaft 41 can further drive the scraper arm 103 to move up and down.

[0115] In some embodiments, the scraper body 100 may be provided with a sliding groove, and the lifting shaft 41 is located in the sliding groove on the scraper body 100 so as to perform lifting motion on the scraper body 100 .

[0116] Corresponding to the lifting components of the scraper equipment, the fourth embodiment of the motion control method of the scraper equipment provided in this application may include the following steps:

[0117] Step 510: Acquire the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder detected by the lifting sensor 42.

[0118] Step 520: When the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder reaches a preset first lifting cylinder stroke threshold, trigger an instruction to supply oil to the lifting cylinder 40 at a first speed.

[0119] The first speed is lower than the initial oil supply speed of the lifting cylinder 40 .

[0120] Step 530 : When the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder reaches a preset second lifting cylinder stroke threshold, trigger an instruction to stop supplying oil to the lifting cylinder 40 .

[0121] For example, taking the maximum stroke of the lifting cylinder 40 as 900 mm, the preset first lifting cylinder stroke threshold may be 840 mm, 850 mm, 860 mm, etc., and the preset second lifting cylinder stroke threshold may be 880 mm, 890 mm.

[0122] It should be noted that the maximum stroke of the lifting cylinder 40 in this application is not limited to 900 mm, but can also be other values ​​set by the user based on actual conditions. The specific values ​​of the preset first lifting cylinder stroke threshold and the preset second lifting cylinder stroke threshold can be set and adjusted according to the maximum stroke of the lifting cylinder 40.

[0123] Since the overall lifting of the slag scraper arm 103 depends entirely on the mass of the lifting cylinders 40 on both sides of the slag scraper body 100, when the slag scraper arm 103 is lifted, since the lifting cylinders 40 on both sides need to support the entire slag scraper arm 103 and the slag scraper rod 102, the impact of the second hydraulic rod inside the lifting cylinder 40 on the second hydraulic cylinder will increase, which may easily cause damage to the mechanical structure such as the breakage of the lifting cylinder 40 and the hydraulic system such as internal leakage.

[0124] Therefore, this embodiment installs a lifting sensor 42 inside the lifting cylinder 40. The lifting sensor 42 measures the distance according to the relative movement of the second hydraulic rod and the second hydraulic cylinder. When the lifting sensor 42 detects that the stroke of the lifting cylinder 40 reaches a preset first lifting cylinder stroke threshold, such as 850 mm, the solenoid valve of the hydraulic system slowly supplies oil to the lifting cylinder 40 to decelerate the lifting cylinder 40. When the lifting sensor 42 detects that the stroke of the lifting cylinder 40 reaches a preset second lifting cylinder stroke threshold, such as 890 mm, the solenoid valve no longer supplies oil to the lifting cylinder 40, thereby reducing the impact of the second hydraulic rod inside the lifting cylinder 40 on the second hydraulic cylinder, thereby protecting the lifting cylinder 40 and the hydraulic system.

[0125] The first speed in the above embodiment may be 10%, 20%, 30%, 40%, 50%, 60% or the like of the initial oil supply speed.

[0126] It should be noted that the initial fuel supply speed can be set by the user according to actual conditions. This application does not limit the initial fuel supply speed. The specific value of the first speed can be set and adjusted according to the initial fuel supply speed.

[0127] Based on the above embodiments, the principle of the motion control method of the scraper equipment provided by this application can be referred to Figure 12 ,like Figure 12 As shown, the voltage intensity signal is transmitted to the control PLC through the operating console handle. The control PLC controls the output signal according to the voltage size and outputs the output signal to the control valve station of the hydraulic station. The hydraulic station drives various actions of the scraper through the solenoid valve or proportional valve on the valve station. For example, the left and right rotation angles of the scraper are controlled by the rotary hydraulic motor, the forward and backward movement of the scraper plate is controlled by the telescopic hydraulic motor, the lifting angle of the scraper arm is controlled by the pitch hydraulic cylinder, and the overall height of the scraper arm is controlled by the lifting hydraulic cylinder. Since the displacement of each moving part will be detected in real time by the corresponding sensor and then fed back to the control PLC, the control PLC can adjust the parameters according to the real-time detection data of each sensor to form a closed-loop control of drive and detection.

[0128] This closed-loop control method can reduce the impact damage to mechanical, electrical and hydraulic components during the operation of the slag scraper, reduce the maintenance frequency, extend the service life of components, consolidate the production rhythm of molten iron pretreatment, and ensure the continuous and efficient supply of molten iron to downstream processes.

[0129] Corresponding to the above motion control method for a scraper, the present application further provides a motion control device for a scraper. The motion control device for a scraper includes a unit for executing the above motion control method for a scraper. The motion control device for a scraper can be configured in a terminal such as a desktop computer, a tablet computer, or a laptop computer.

[0130] like Figure 13 As shown, an embodiment of the present application provides a computer device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0131] Memory 113, for storing computer programs;

[0132] In one embodiment of the present application, the processor 111 is configured to execute the program stored in the memory 113 to implement the motion control method for the scraper device provided by any of the aforementioned method embodiments, including:

[0133] Acquiring the motion state of the scraper detected by the sensor;

[0134] When the motion state reaches a preset first threshold, triggering an instruction to supply oil to the hydraulic drive module at a first speed, wherein the first speed is less than an initial oil supply speed of the hydraulic drive module;

[0135] When the motion state reaches a preset second threshold, an instruction to stop supplying oil to the hydraulic drive module is triggered, wherein the preset first threshold is smaller than the preset second threshold.

[0136] Those skilled in the art will appreciate that all or part of the steps in the method of the above-described embodiment can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the steps in the method of the above-described embodiment.

[0137] Therefore, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the motion control method for a scraper device as provided in any of the aforementioned method embodiments.

[0138] Acquiring the motion state of the scraper detected by the sensor;

[0139] When the motion state reaches a preset first threshold, triggering an instruction to supply oil to the hydraulic drive module at a first speed, wherein the first speed is less than an initial oil supply speed of the hydraulic drive module;

[0140] When the motion state reaches a preset second threshold, an instruction to stop supplying oil to the hydraulic drive module is triggered, wherein the preset first threshold is smaller than the preset second threshold.

[0141] The storage medium is a physical, non-transient storage medium, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a magnetic disk, or an optical disk, etc. Any physical storage medium capable of storing program code. The computer-readable storage medium may be non-volatile or volatile.

[0142] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0143] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and other division methods may be used in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not implemented.

[0144] The steps in the method of the embodiment of the present application can be adjusted in order, combined, and deleted according to actual needs. The units in the device of the embodiment of the present application can be combined, divided, and deleted according to actual needs. In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit.

[0145] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0146] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0147] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, as long as these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0148] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A motion control method for a scraper device, characterized in that: The scraper equipment includes a scraper, a hydraulic drive module and a sensor, the hydraulic drive module is connected to the scraper, and the sensor is provided on the scraper. The method includes: Acquiring the motion state of the scraper detected by the sensor; When the motion state reaches a preset first threshold, triggering an instruction to supply oil to the hydraulic drive module at a first speed, wherein the first speed is less than an initial oil supply speed of the hydraulic drive module; When the motion state reaches a preset second threshold, an instruction to stop supplying oil to the hydraulic drive module is triggered, wherein the preset first threshold is smaller than the preset second threshold.

2. The method according to claim 1, characterized in that The hydraulic drive module includes a first hydraulic motor, the first hydraulic motor having an output shaft; the scraper includes a scraper body, a scraper arm and a rotating assembly, the scraper arm is installed on the scraper body and rotates synchronously with the scraper body, the rotating assembly includes an active bearing gear, a driven bearing gear and a rotating component, the scraper body is rotatably connected to the rotating component through the driven bearing gear, the first hydraulic motor is provided at one end of the scraper body away from the driven bearing gear, the output shaft is passed through the scraper body and connected to the active bearing gear, the active bearing gear and the driven bearing gear are meshed with each other; the sensor includes a rotation sensor, which is provided on the driven bearing gear for detecting the rotation angle of the scraper body relative to the rotating component; When the rotation angle of the scraper body relative to the rotating component reaches a preset first rotation threshold, triggering an instruction to supply oil to the first hydraulic motor at a first speed, wherein the first speed is less than an initial oil supply speed of the first hydraulic motor; When the rotation angle of the scraper body relative to the rotating component reaches a preset second rotation threshold, an instruction to stop supplying oil to the first hydraulic motor is triggered.

3. The method according to claim 2, characterized in that The rotating assembly also includes a first rotating stop and a second rotating stop, the first rotating stop is arranged at the top end of the rotating component, and the second rotating stop is arranged at the bottom end of the scraper body; when the rotation angle of the scraper body relative to the rotating component reaches a preset third rotation threshold, the second rotating stop abuts against the first rotating stop to limit the rotation of the scraper body.

4. The method according to claim 1, wherein The hydraulic drive module includes a second hydraulic motor, the second hydraulic motor has a sprocket shaft, the scraper includes a scraper body, a scraper rod, a scraper arm and a transmission chain, the scraper arm is installed on the scraper body, the scraper rod is movably connected to the scraper arm, both ends of the transmission chain are fixed to the scraper rod, the transmission chain is connected to the outer periphery of the sprocket shaft, and under the drive of the second hydraulic motor, reciprocates with the rotation of the sprocket shaft, driving the scraper rod to perform telescopic movement relative to the scraper arm; the sensor includes a telescopic sensor, which is provided on the sprocket shaft and is used to determine the telescopic stroke of the scraper rod according to the number of rotations of the sprocket shaft; When the telescopic stroke of the scraper bar reaches a preset first stroke threshold, an instruction to supply oil to the second hydraulic motor at a first speed is triggered, wherein the first speed is lower than an initial oil supply speed of the second hydraulic motor; When the telescopic stroke of the scraper bar reaches a preset second stroke threshold, an instruction to stop supplying oil to the second hydraulic motor is triggered.

5. The method according to claim 4, characterized in that The scraping rod is provided with a first stopper and a second stopper, the first stopper and the second stopper are arranged at intervals and are respectively located at the two ends of the scraping rod; the scraping arm is provided with a first limit block and a second limit block, the first limit block and the second limit block are arranged at intervals and are respectively located at the two ends of the scraping arm; When the forward stroke of the scraper bar reaches a preset third stroke threshold, the second stopper contacts and cooperates with the first limit block to limit the forward movement of the scraper bar; When the backward stroke of the scraper bar reaches a preset fourth stroke threshold, the first stop block contacts and cooperates with the second limit block to limit the backward movement of the scraper bar.

6. The method according to claim 1, characterized in that The scraper comprises a scraper body and a scraper arm, the scraper arm being mounted on the scraper body, the hydraulic drive module comprising a pitch cylinder, the pitch cylinder comprising a first hydraulic rod, a first hydraulic cylinder and a first piston, one end of the first hydraulic rod being movably connected to the first piston, the other end of the first hydraulic rod extending to the outside of the first hydraulic cylinder and connected to the scraper arm; the scraper arm performs pitching motion under the drive of the pitch cylinder; The sensor includes a pitch sensor, which is arranged in the pitch cylinder and is used to detect the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder; When the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder reaches a preset first pitch cylinder stroke threshold, triggering an instruction to supply oil to the pitch cylinder at a first speed, wherein the first speed is less than an initial oil supply speed of the pitch cylinder; When the movement stroke of the first hydraulic rod relative to the first hydraulic cylinder reaches a preset second pitch cylinder stroke threshold, an instruction to stop supplying oil to the pitch cylinder is triggered.

7. The method according to claim 6, characterized in that The scraper further includes a pitch support connected between the first hydraulic rod and the scraper arm.

8. The method according to claim 1, characterized in that The scraper comprises a scraper body, a scraper arm and a lifting shaft, the scraper arm being mounted on the scraper body, the scraper arm being provided on the scraper body and connected to the lifting shaft; the hydraulic drive module comprises a lifting cylinder, the lifting cylinder comprising a second hydraulic rod, a second hydraulic cylinder and a second piston, one end of the second hydraulic rod being movably connected to the first piston, the other end of the first hydraulic rod extending to the outside of the first hydraulic cylinder and connected to the lifting shaft; the lifting shaft, driven by the lifting cylinder, can move up and down along the vertical direction of the scraper body and drive the scraper arm to perform lifting movement; The sensor includes a lifting sensor, which is arranged in the lifting cylinder and is used to detect the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder; When the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder reaches a preset first lift cylinder stroke threshold, triggering an instruction to supply oil to the lift cylinder at a first speed, wherein the first speed is less than an initial oil supply speed of the lift cylinder; When the movement stroke of the second hydraulic rod relative to the second hydraulic cylinder reaches a preset second lifting cylinder stroke threshold, an instruction to stop supplying oil to the lifting cylinder is triggered.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 can be implemented.

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