CN110822269A - Intelligent grease feeding device for sintering machine and control method thereof - Google Patents
Intelligent grease feeding device for sintering machine and control method thereof Download PDFInfo
- Publication number
- CN110822269A CN110822269A CN201910980702.3A CN201910980702A CN110822269A CN 110822269 A CN110822269 A CN 110822269A CN 201910980702 A CN201910980702 A CN 201910980702A CN 110822269 A CN110822269 A CN 110822269A
- Authority
- CN
- China
- Prior art keywords
- unit
- feeding device
- module
- intelligent
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N9/00—Arrangements for supplying oil or unspecified lubricant from a moving reservoir or the equivalent
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention provides an intelligent grease feeding device for a sintering machine, which comprises a central control module, a robot, a positioning module and an oiling module, wherein the central control module is used for controlling the robot to move; the positioning module is used for determining the position information and/or the motion state information of the intelligent fat feeding device; the robot is used for moving the oiling module to a target position according to the position information and/or the motion state information; the central control module is used for sending an oiling action instruction to the oiling module, so that the oiling module executes adaptive oiling action.
Description
Technical Field
The invention relates to the technical field of sintering machine devices, in particular to an intelligent grease supply device for a sintering machine and a control method thereof.
Background
Because the sintering machine device needs to be operated continuously and uninterruptedly in the production process, and the sintering machine device works in a high-temperature and dusty environment, the service life of the trolley wheels of the sintering machine device is adversely affected, and lubricating grease needs to be supplemented to the trolley wheels of the sintering machine device periodically in order to ensure the normal work of the trolley wheels of the sintering machine device. At present, lubricating grease is supplemented to the wheels of the sintering machine device table through manual operation, but the mode of supplementing lubricating grease through manual operation has the problems of severe environment conditions of manual operation, narrow operation space, potential safety hazards of man-machine mixed operation during the manual operation, low efficiency of the manual operation, large manual operation amount and the like. Therefore, the prior art urgently needs a device which can realize intelligent supplementary oiling of a sintering machine device without manual operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent grease feeding device for a sintering machine and a control method thereof, wherein the intelligent grease feeding device for the sintering machine comprises a central control module, a robot, a positioning module and an oiling module; the positioning module is used for determining the position information and/or the motion state information of the intelligent fat feeding device; the robot is used for moving the oiling module to a target position according to the position information and/or the motion state information; the central control module is used for sending an oiling action instruction to the oiling module, so that the oiling module executes adaptive oiling action. Therefore, the intelligent grease feeding device for the sintering machine is different from a mode of realizing the grease injection action by manual operation in the prior art, the automatic grease injection action is realized by combining a robot with a corresponding visual positioning module, and the intelligent grease feeding device replaces a transmission technician with the robot, so that the accuracy and the efficiency of the grease injection action can be improved, and the risk of the grease injection action is reduced by performing the grease injection action on occasions with potential safety hazards such as man-machine mixed operation and the like; in addition, the intelligent grease feeding device calculates the position of the grease injection object and the relative position relation between the grease injection module and the grease injection object by means of the visual positioning module, so that the phenomenon of grease overflow in the grease injection process is avoided.
The invention provides an intelligent grease supply device for a sintering machine, which is characterized in that:
the intelligent grease feeding device for the sintering machine comprises a central control module, a robot, a positioning module and an oiling module; wherein the content of the first and second substances,
the positioning module is used for determining the position information and/or the motion state information of the intelligent fat feeding device;
the robot is used for moving the oil injection module to a target position according to the position information and/or the motion state information;
the central control module is used for sending an oiling action instruction to the oiling module so that the oiling module executes adaptive oiling action;
furthermore, the positioning module comprises an image acquisition sub-module, an image processing sub-module, a motion sensing sub-module, a motion analysis sub-module and a first communication sub-module; wherein the content of the first and second substances,
the image acquisition submodule is used for acquiring a static image and/or a dynamic image of the intelligent fat feeding device;
the image processing sub-module is used for carrying out image analysis processing on the static images and/or the dynamic images related to the intelligent fat feeding device so as to determine the position information of the intelligent fat feeding device;
the motion sensing submodule is used for detecting different motion actions of the intelligent fat feeding device;
the motion analysis submodule is used for analyzing and processing different motion actions of the intelligent fat feeding device so as to determine the motion state information of the intelligent fat feeding device;
the first communication submodule is used for transmitting the position information and/or the motion state information to the robot;
further, the image acquisition submodule comprises a first camera unit, a second camera unit and a first camera control unit, wherein the first camera unit and the second camera unit are used for acquiring a first image and a second image of the intelligent grease supply device in different directions respectively;
the first camera shooting control unit is used for controlling at least one of image acquisition frequency, image acquisition exposure time and image acquisition resolution of the first camera shooting unit and/or the second camera shooting unit;
the image processing submodule comprises a parallax image processing unit and a first position calculating unit; wherein
The parallax image processing unit is used for performing parallax contrast processing on the first image and the second image so as to determine parallax characteristic information between the first image and the second image;
the first position calculation unit is used for calculating the position information of the intelligent fat feeding device according to the parallax characteristic information;
further, the image acquisition submodule comprises a third camera shooting unit and a second camera shooting control unit; wherein the content of the first and second substances,
the second image pickup control unit is used for controlling the third image pickup unit to execute the same image pickup operation at different front and back times;
the third camera shooting unit is used for acquiring a third image and a fourth image corresponding to the intelligent fat feeding device at front and back different time points;
the image processing sub-module comprises an image variation determining unit and a second position calculating unit; wherein the content of the first and second substances,
the image change amount determination unit is configured to calculate an image change feature amount corresponding to a lapse of time between the third image and the fourth image;
the second position calculation unit is used for calculating the position information of the intelligent fat feeding device according to the image change characteristic quantity;
further, the image acquisition submodule comprises a fourth camera unit and a third camera control unit; wherein the content of the first and second substances,
the third camera shooting control unit is used for controlling the fourth camera shooting unit to execute full-color image acquisition operation;
the fourth camera unit is used for acquiring a plurality of full-color images related to the intelligent grease supply device;
the image processing submodule comprises an image color characteristic determining unit and a third position calculating unit; wherein the content of the first and second substances,
the image color characteristic determining unit is used for acquiring a plurality of HIS characteristic information corresponding to full-color images of the intelligent fat feeding device;
the third position calculating unit is used for calculating the position information of the intelligent fat feeding device according to the HIS characteristic information;
further, the motion sensing submodule comprises a motion direction sensing unit and a motion speed sensing unit; wherein the content of the first and second substances,
the motion direction sensing unit is used for acquiring motion direction information of the intelligent fat feeding device;
the motion speed sensing unit is used for acquiring motion speed information of the intelligent fat feeding device;
the motion analysis submodule comprises a motion characteristic component extraction unit and a motion state determination unit; wherein the content of the first and second substances,
the motion characteristic component extraction unit is used for extracting motion characteristic components of the intelligent fat feeding device from the motion direction information and/or the motion speed information;
the motion state determining unit is used for determining a motion action trend model of the intelligent fat feeding device according to the motion characteristic component and calculating the motion state information through the motion action trend model;
further, the robot includes a robot arm unit, a displacement determining unit, a pose determining unit, and a robot arm control unit; wherein the content of the first and second substances,
the mechanical arm unit is used for holding the oiling module, moving the oiling module and changing the pose of the oiling module;
the displacement determining unit is used for determining the three-dimensional displacement amount of the mechanical arm unit in the three-dimensional space according to the position information and/or the motion state information;
the pose determining unit is used for determining the space pose variation corresponding to the mechanical arm unit according to the position information and/or the motion state information;
the mechanical arm control unit is used for respectively determining a first action instruction or a second action instruction according to the three-dimensional displacement amount or the space pose variation amount so as to enable the mechanical arm unit to execute a linear displacement action or a pose transformation action relative to a three-dimensional space according to the first action instruction or the second action instruction;
further, the mechanical arm unit comprises a three-dimensional space displacement motor and a three-dimensional space torsion motor; wherein the content of the first and second substances,
the three-dimensional space displacement motor is used for driving the oil injection module to execute linear displacement motion relative to a three-dimensional space according to the first motion instruction so as to enable the oil injection module to move to a preset range of the intelligent grease feeding device;
the three-dimensional space torsion motor is used for driving the oil injection module to execute pose transformation action related to the three-dimensional space according to the second action instruction so as to enable an oil injection nozzle unit of the oil injection module to align to a grease inlet unit of the intelligent grease feeding device;
further, the oil injection module comprises an oil storage unit, an oil storage amount sensing unit, an oil injection nozzle unit and an oil injection action control unit; wherein the content of the first and second substances,
the oil storage unit is used for storing grease;
the oil storage amount sensing unit is used for detecting the residual amount of the real-time grease of the oil storage unit;
the oil filling nozzle unit is communicated with the oil storage unit and is used for injecting grease into a grease inlet unit of the intelligent grease feeding device;
the oil injection action control unit is used for controlling the oil injection time and/or the oil injection speed of the oil nozzle unit for injecting the oil into the oil inlet unit according to the oil injection action command.
The invention also provides a control method of the intelligent grease supply device for the sintering machine, which is characterized by comprising the following steps of:
step S1, acquiring the position information and/or the motion state information of the intelligent fat feeding device;
step S2, generating movement indication information for indicating the oiling module to move according to the position information and/or the motion state information;
step S3, driving the oiling module to a target position according to the movement indication information;
and step S4, sending an oil injection action instruction to the oil injection module according to the current oil residue information of the grease supply object so as to drive the oil injection module to execute adaptive oil injection action.
Compared with the prior art, the intelligent grease feeding device for the sintering machine comprises a central control module, a robot, a positioning module and an oiling module; the positioning module is used for determining the position information and/or the motion state information of the intelligent fat feeding device; the robot is used for moving the oiling module to a target position according to the position information and/or the motion state information; the central control module is used for sending an oiling action instruction to the oiling module, so that the oiling module executes adaptive oiling action. Therefore, the intelligent grease feeding device for the sintering machine is different from a mode of realizing the grease injection action by manual operation in the prior art, the automatic grease injection action is realized by combining a robot with a corresponding visual positioning module, and the intelligent grease feeding device replaces a transmission technician with the robot, so that the accuracy and the efficiency of the grease injection action can be improved, and the risk of the grease injection action is reduced by performing the grease injection action on occasions with potential safety hazards such as man-machine mixed operation and the like; in addition, the intelligent grease feeding device calculates the position of the grease injection object and the relative position relation between the grease injection module and the grease injection object by means of the visual positioning module, so that the phenomenon of grease overflow in the grease injection process is avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent grease supply device for a sintering machine according to the present invention.
Fig. 2 is a schematic flow chart of a control method of an intelligent grease supply device for a sintering machine, which is provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an intelligent grease supply device for a sintering machine according to an embodiment of the present invention. The intelligent grease feeding device for the sintering machine comprises a central control module, a robot, a positioning module and an oiling module; wherein the content of the first and second substances,
the positioning module is used for determining the position information and/or the motion state information of the intelligent fat feeding device;
the robot is used for moving the oiling module to a target position according to the position information and/or the motion state information;
the central control module is used for sending an oiling action instruction to the oiling module, so that the oiling module executes adaptive oiling action.
Preferably, the positioning module comprises an image acquisition sub-module, an image processing sub-module, a motion sensing sub-module, a motion analysis sub-module and a first communication sub-module;
preferably, the image acquisition sub-module is used for acquiring static images and/or dynamic images about the intelligent fat feeding device;
preferably, the image processing submodule is used for carrying out image analysis processing on the static image and/or the dynamic image of the intelligent fat feeding device so as to determine the position information of the intelligent fat feeding device;
preferably, the motion sensing submodule is used for detecting different motion actions of the intelligent fat feeding device;
preferably, the motion analysis submodule is used for analyzing and processing different motion actions of the intelligent fat feeding device so as to determine the motion state information of the intelligent fat feeding device;
preferably, the first communication submodule is used for transmitting the position information and/or the motion state information to the robot;
preferably, the image acquisition submodule comprises a first camera unit, a second camera unit and a first camera control unit, wherein the first camera unit and the second camera unit are used for acquiring a first image and a second image of the intelligent grease feeding device in different directions respectively;
preferably, the first camera control unit is configured to control at least one of an image capturing frequency, an image capturing exposure time, and an image capturing resolution of each of the first camera unit and/or the second camera unit;
preferably, the image processing sub-module includes a parallax image processing unit and a first position calculation unit;
preferably, the parallax image processing unit is configured to perform parallax contrast processing on the first image and the second image, so as to determine parallax characteristic information between the first image and the second image;
preferably, the first position calculating unit is configured to calculate position information of the intelligent fat feeding device according to the parallax feature information;
preferably, the image acquisition submodule comprises a third camera unit and a second camera control unit;
preferably, the second image pickup control unit is configured to control the third image pickup unit to perform the same image pickup operation at different times in front and rear;
preferably, the third camera unit is used for acquiring a third image and a fourth image corresponding to the intelligent fat feeding device at two different time points in front and at the back;
preferably, the image processing sub-module includes an image variation amount determining unit and a second position calculating unit;
preferably, the image change amount determination unit is configured to calculate an image change feature amount corresponding to a lapse of time between the third image and the fourth image;
preferably, the second position calculating unit is configured to calculate position information of the intelligent fat feeding device according to the image change feature quantity;
preferably, the image acquisition submodule comprises a fourth camera unit and a third camera control unit;
preferably, the third camera control unit is configured to control the fourth camera unit to perform a full-color image capturing operation;
preferably, the fourth camera unit is used for acquiring a plurality of full-color images related to the intelligent grease feeding device;
preferably, the image processing sub-module includes an image color feature determination unit and a third position calculation unit;
preferably, the image color characteristic determining unit is used for acquiring a plurality of HIS characteristic information corresponding to full-color images of the intelligent fat feeding device;
preferably, the third position calculating unit is configured to calculate position information of the intelligent fat feeding device according to the HIS feature information;
preferably, the motion sensing submodule comprises a motion direction sensing unit and a motion speed sensing unit;
preferably, the motion direction sensing unit is used for acquiring the motion direction information of the intelligent fat feeding device;
preferably, the movement speed sensing unit is used for acquiring the movement speed information of the intelligent fat feeding device;
preferably, the motion analysis submodule includes a motion feature component extraction unit and a motion state determination unit;
preferably, the motion characteristic component extraction unit is configured to extract a motion characteristic component of the intelligent fat feeding device from the motion direction information and/or the motion speed information;
preferably, the motion state determining unit is configured to determine a motion action trend model of the intelligent fat feeding device according to the motion characteristic component, and calculate the motion state information through the motion action trend model;
preferably, the robot includes a robot arm unit, a displacement determining unit, a pose determining unit, and a robot arm control unit;
preferably, the mechanical arm unit is used for holding the oiling module, moving the oiling module and changing the pose of the oiling module;
preferably, the displacement determining unit is configured to determine a three-dimensional displacement amount of the robot arm unit in a three-dimensional space according to the position information and/or the motion state information;
preferably, the pose determining unit is configured to determine a spatial pose variation amount corresponding to the robot arm unit according to the position information and/or the motion state information;
preferably, the robot arm control unit is configured to determine a first action instruction or a second action instruction according to the three-dimensional displacement amount or the spatial pose variation amount, respectively, so that the robot arm unit performs a linear displacement action with respect to a three-dimensional space or a pose transformation action with respect to the three-dimensional space according to the first action instruction or the second action instruction;
preferably, the robot arm unit includes a three-dimensional space displacement motor and a three-dimensional space torsion motor;
preferably, the three-dimensional space displacement motor is used for driving the oil injection module to perform linear displacement motion relative to a three-dimensional space according to the first motion instruction, so that the oil injection module moves to a preset range of the intelligent grease feeding device;
preferably, the three-dimensional space torsion motor is used for driving the oil injection module to execute a posture transformation action related to a three-dimensional space according to the second action instruction, so that the oil nozzle unit of the oil injection module is aligned to the grease inlet unit of the intelligent grease feeding device;
preferably, the oil injection module comprises an oil storage unit, an oil storage amount sensing unit, an oil injection nozzle unit and an oil injection action control unit;
preferably, the oil storage unit is used for storing grease; the oil storage amount sensing unit is used for detecting the residual amount of the real-time grease of the oil storage unit; the oil filling nozzle unit is communicated with the oil storage unit and is used for injecting grease into the grease inlet unit of the intelligent grease feeding device; the oil injection action control unit is used for controlling the oil injection time and/or the oil injection speed of the oil nozzle unit for injecting the oil into the oil inlet unit according to the oil injection action command;
preferably, the intelligent grease feeding device for the sintering machine further comprises a robot protection module;
preferably, the robot protection module comprises a heat dissipation sub-module and a heat insulation sub-module; the heat dissipation submodule comprises water cooling pipelines distributed on the surface of the robot; the thermal insulation submodule comprises a thermal insulation board formed by refractory thermal insulation ceramic fibers, and the thermal insulation board can move between the robot and the intelligent grease feeding device.
Fig. 2 is a schematic flow chart of a control method of an intelligent grease supply device for a sintering machine according to an embodiment of the present invention. The control method comprises the following steps:
step S1, acquiring the position information and/or the motion state information of the intelligent fat feeding device;
step S2, generating moving indication information for indicating the oiling module to move according to the position information and/or the motion state information;
step S3, driving the oiling module to the target position according to the movement indication information;
and step S4, sending an oil injection action instruction to the oil injection module according to the current oil residue information of the grease object, so as to drive the oil injection module to execute the adaptive oil injection action.
From the above embodiment, the intelligent grease feeding device for the sintering machine comprises a central control module, a robot, a positioning module and an oiling module; the positioning module is used for determining the position information and/or the motion state information of the intelligent fat feeding device; the robot is used for moving the oiling module to a target position according to the position information and/or the motion state information; the central control module is used for sending an oiling action instruction to the oiling module, so that the oiling module executes adaptive oiling action. Therefore, the intelligent grease feeding device for the sintering machine is different from a mode of realizing the grease injection action by manual operation in the prior art, the automatic grease injection action is realized by combining a robot with a corresponding visual positioning module, and the intelligent grease feeding device replaces a transmission technician with the robot, so that the accuracy and the efficiency of the grease injection action can be improved, and the risk of the grease injection action is reduced by performing the grease injection action on occasions with potential safety hazards such as man-machine mixed operation and the like; in addition, the intelligent grease feeding device calculates the position of the grease injection object and the relative position relation between the grease injection module and the grease injection object by means of the visual positioning module, so that the phenomenon of grease overflow in the grease injection process is avoided.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides an intelligence gives fat device for sintering machine which characterized in that:
the intelligent grease feeding device for the sintering machine comprises a central control module, a robot, a positioning module and an oiling module; wherein the content of the first and second substances,
the positioning module is used for determining the position information and/or the motion state information of the intelligent fat feeding device;
the robot is used for moving the oil injection module to a target position according to the position information and/or the motion state information;
the central control module is used for sending an oiling action instruction to the oiling module so that the oiling module executes adaptive oiling action.
2. The intelligent grease feeding device for the sintering machine according to claim 1, characterized in that:
the positioning module comprises an image acquisition sub-module, an image processing sub-module, a motion sensing sub-module, a motion analysis sub-module and a first communication sub-module; wherein the content of the first and second substances,
the image acquisition submodule is used for acquiring a static image and/or a dynamic image of the intelligent fat feeding device;
the image processing sub-module is used for carrying out image analysis processing on the static images and/or the dynamic images related to the intelligent fat feeding device so as to determine the position information of the intelligent fat feeding device;
the motion sensing submodule is used for detecting different motion actions of the intelligent fat feeding device;
the motion analysis submodule is used for analyzing and processing different motion actions of the intelligent fat feeding device so as to determine the motion state information of the intelligent fat feeding device;
the first communication submodule is used for transmitting the position information and/or the motion state information to the robot.
3. The intelligent grease feeding device for the sintering machine according to claim 2, wherein:
the image acquisition submodule comprises a first camera unit, a second camera unit and a first camera control unit, wherein the first camera unit and the second camera unit are used for acquiring a first image and a second image of the intelligent grease supply device in different directions respectively;
the first camera shooting control unit is used for controlling at least one of image acquisition frequency, image acquisition exposure time and image acquisition resolution of the first camera shooting unit and/or the second camera shooting unit;
the image processing submodule comprises a parallax image processing unit and a first position calculating unit; wherein
The parallax image processing unit is used for performing parallax contrast processing on the first image and the second image so as to determine parallax characteristic information between the first image and the second image;
the first position calculation unit is used for calculating the position information of the intelligent fat feeding device according to the parallax characteristic information.
4. The intelligent grease feeding device for the sintering machine according to claim 2, wherein:
the image acquisition submodule comprises a third camera shooting unit and a second camera shooting control unit; the second image pickup control unit is used for controlling the third image pickup unit to execute the same image pickup operation at different times in front and back;
the third camera shooting unit is used for acquiring a third image and a fourth image corresponding to the intelligent fat feeding device at front and back different time points;
the image processing sub-module comprises an image variation determining unit and a second position calculating unit; wherein the content of the first and second substances,
the image change amount determination unit is configured to calculate an image change feature amount corresponding to a lapse of time between the third image and the fourth image;
and the second position calculating unit is used for calculating the position information of the intelligent fat feeding device according to the image change characteristic quantity.
5. The intelligent grease feeding device for the sintering machine according to claim 2, wherein:
the image acquisition submodule comprises a fourth camera shooting unit and a third camera shooting control unit; the third camera shooting control unit is used for controlling the fourth camera shooting unit to execute full-color image acquisition operation;
the fourth camera unit is used for acquiring a plurality of full-color images related to the intelligent grease supply device;
the image processing submodule comprises an image color characteristic determining unit and a third position calculating unit;
wherein the content of the first and second substances,
the image color characteristic determining unit is used for acquiring a plurality of HIS characteristic information corresponding to full-color images of the intelligent fat feeding device;
and the third position calculating unit is used for calculating the position information of the intelligent fat feeding device according to the HIS characteristic information.
6. The intelligent grease feeding device for the sintering machine according to claim 2, wherein:
the motion sensing submodule comprises a motion direction sensing unit and a motion speed sensing unit; the motion direction sensing unit is used for acquiring motion direction information of the intelligent fat feeding device;
the motion speed sensing unit is used for acquiring motion speed information of the intelligent fat feeding device;
the motion analysis submodule comprises a motion characteristic component extraction unit and a motion state determination unit;
wherein the content of the first and second substances,
the motion characteristic component extraction unit is used for extracting motion characteristic components of the intelligent fat feeding device from the motion direction information and/or the motion speed information;
the motion state determining unit is used for determining a motion action trend model of the intelligent fat feeding device according to the motion characteristic component, and then calculating the motion state information through the motion action trend model.
7. The intelligent grease feeding device for the sintering machine according to claim 1, characterized in that:
the robot comprises a mechanical arm unit, a displacement determining unit, a pose determining unit and a mechanical arm control unit; wherein the content of the first and second substances,
the mechanical arm unit is used for holding the oiling module, moving the oiling module and changing the pose of the oiling module;
the displacement determining unit is used for determining the three-dimensional displacement amount of the mechanical arm unit in the three-dimensional space according to the position information and/or the motion state information;
the pose determining unit is used for determining the space pose variation corresponding to the mechanical arm unit according to the position information and/or the motion state information;
the mechanical arm control unit is used for respectively determining a first action instruction or a second action instruction according to the three-dimensional displacement amount or the space pose variation amount, so that the mechanical arm unit executes linear displacement action or pose transformation action relative to the three-dimensional space according to the first action instruction or the second action instruction.
8. The intelligent grease feeding device for the sintering machine according to claim 7, wherein:
the mechanical arm unit comprises a three-dimensional space displacement motor and a three-dimensional space torsion motor; the three-dimensional space displacement motor is used for driving the oil injection module to execute linear displacement motion relative to a three-dimensional space according to the first motion instruction, so that the oil injection module moves to a preset range of the intelligent grease feeding device;
the three-dimensional space torsion motor is used for driving the oil injection module to execute pose transformation action related to the three-dimensional space according to the second action instruction, so that the oil injection nozzle unit of the oil injection module is aligned to the grease inlet unit of the intelligent grease feeding device.
9. The intelligent grease feeding device for the sintering machine according to claim 1, characterized in that:
the oil injection module comprises an oil storage unit, an oil storage amount sensing unit, an oil injection nozzle unit and an oil injection action control unit; wherein the content of the first and second substances,
the oil storage unit is used for storing grease;
the oil storage amount sensing unit is used for detecting the residual amount of the real-time grease of the oil storage unit;
the oil filling nozzle unit is communicated with the oil storage unit and is used for injecting grease into a grease inlet unit of the intelligent grease feeding device;
the oil injection action control unit is used for controlling the oil injection time and/or the oil injection speed of the oil nozzle unit for injecting the oil into the oil inlet unit according to the oil injection action command.
10. A control method of an intelligent grease feeding device for a sintering machine according to any one of claims 1 to 9, characterized by comprising the steps of:
step S1, acquiring the position information and/or the motion state information of the intelligent fat feeding device;
step S2, generating movement indication information for indicating the oiling module to move according to the position information and/or the motion state information;
step S3, driving the oiling module to a target position according to the movement indication information;
and step S4, sending an oil injection action instruction to the oil injection module according to the current oil residue information of the grease supply object so as to drive the oil injection module to execute adaptive oil injection action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910980702.3A CN110822269A (en) | 2019-10-16 | 2019-10-16 | Intelligent grease feeding device for sintering machine and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910980702.3A CN110822269A (en) | 2019-10-16 | 2019-10-16 | Intelligent grease feeding device for sintering machine and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110822269A true CN110822269A (en) | 2020-02-21 |
Family
ID=69549568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910980702.3A Pending CN110822269A (en) | 2019-10-16 | 2019-10-16 | Intelligent grease feeding device for sintering machine and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110822269A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102890785A (en) * | 2011-07-19 | 2013-01-23 | 上海上大海润信息系统有限公司 | Method for service robot to recognize and locate target |
| CN104516337A (en) * | 2013-10-01 | 2015-04-15 | 美国博通公司 | Gesture-Based Industrial Monitoring |
| CN105180904A (en) * | 2015-09-21 | 2015-12-23 | 大连理工大学 | High-speed moving target position and posture measurement method based on coding structured light |
| CN107530883A (en) * | 2015-05-22 | 2018-01-02 | 川崎重工业株式会社 | Lubricant injected system |
| CN107816620A (en) * | 2017-11-29 | 2018-03-20 | 国家电网公司 | A kind of disconnecting switch lubricant refilling device |
| US20180135802A1 (en) * | 2016-11-15 | 2018-05-17 | Industrial Robot Supply, Inc. | Automatic Grease Dispensing System |
| CN108332035A (en) * | 2018-04-04 | 2018-07-27 | 中冶长天国际工程有限责任公司 | The control system and method for stuffing amount in the automatic stuffing of pallet wheel bearing |
| CN108506711A (en) * | 2018-04-04 | 2018-09-07 | 中冶长天国际工程有限责任公司 | Sintering machine bogie wheels stuffing track detection device, control system and control method |
| CN108506709A (en) * | 2018-04-04 | 2018-09-07 | 中冶长天国际工程有限责任公司 | The automatic stuffing device of sintering machine bogie wheels mechanical hand, control method and system |
| CN108506710A (en) * | 2018-04-04 | 2018-09-07 | 中冶长天国际工程有限责任公司 | A kind of sintering machine bogie wheels stuffing method for controlling trajectory and control system |
| CN208885360U (en) * | 2018-10-16 | 2019-05-21 | 重庆聿远机器人科技有限公司 | A kind of engine automatic oiling device |
| CN110145675A (en) * | 2019-05-17 | 2019-08-20 | 天津市三特电子有限公司 | Wheel of sintering trolley automatic oiling method and selfoiling system |
-
2019
- 2019-10-16 CN CN201910980702.3A patent/CN110822269A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102890785A (en) * | 2011-07-19 | 2013-01-23 | 上海上大海润信息系统有限公司 | Method for service robot to recognize and locate target |
| CN104516337A (en) * | 2013-10-01 | 2015-04-15 | 美国博通公司 | Gesture-Based Industrial Monitoring |
| CN107530883A (en) * | 2015-05-22 | 2018-01-02 | 川崎重工业株式会社 | Lubricant injected system |
| CN105180904A (en) * | 2015-09-21 | 2015-12-23 | 大连理工大学 | High-speed moving target position and posture measurement method based on coding structured light |
| US20180135802A1 (en) * | 2016-11-15 | 2018-05-17 | Industrial Robot Supply, Inc. | Automatic Grease Dispensing System |
| CN107816620A (en) * | 2017-11-29 | 2018-03-20 | 国家电网公司 | A kind of disconnecting switch lubricant refilling device |
| CN108332035A (en) * | 2018-04-04 | 2018-07-27 | 中冶长天国际工程有限责任公司 | The control system and method for stuffing amount in the automatic stuffing of pallet wheel bearing |
| CN108506711A (en) * | 2018-04-04 | 2018-09-07 | 中冶长天国际工程有限责任公司 | Sintering machine bogie wheels stuffing track detection device, control system and control method |
| CN108506709A (en) * | 2018-04-04 | 2018-09-07 | 中冶长天国际工程有限责任公司 | The automatic stuffing device of sintering machine bogie wheels mechanical hand, control method and system |
| CN108506710A (en) * | 2018-04-04 | 2018-09-07 | 中冶长天国际工程有限责任公司 | A kind of sintering machine bogie wheels stuffing method for controlling trajectory and control system |
| CN208885360U (en) * | 2018-10-16 | 2019-05-21 | 重庆聿远机器人科技有限公司 | A kind of engine automatic oiling device |
| CN110145675A (en) * | 2019-05-17 | 2019-08-20 | 天津市三特电子有限公司 | Wheel of sintering trolley automatic oiling method and selfoiling system |
Non-Patent Citations (3)
| Title |
|---|
| 徐德等: "《机器人视觉测量与控制》", 31 January 2016 * |
| 李辉等: "《空间站多臂机器人运动控制研究》", 31 March 2019 * |
| 罗庆生等: "《仿生四足机器人技术》", 30 April 2016 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107263468B (en) | SCARA robot assembly method using digital image processing technology | |
| CN105607651B (en) | A kind of quick vision guide alignment system and method | |
| CN206989895U (en) | A kind of laser and machine vision judge dimensional chain for assembly servicing unit | |
| CN113674345A (en) | Two-dimensional pixel-level three-dimensional positioning system and positioning method | |
| CN102107352A (en) | Bearing-crankshaft intelligent press mounting method and system for scroll air-conditioning compressor | |
| CN100417952C (en) | Vision servo system and method for automatic leakage detection platform for sealed radioactive source | |
| CN108506710A (en) | A kind of sintering machine bogie wheels stuffing method for controlling trajectory and control system | |
| CN105700037A (en) | Apparatus and method for detecting less installed screw on engine cylinder cover | |
| CN109278021A (en) | It is a kind of for grabbing the robot tool system of thin-wall case class workpiece | |
| CN106733686B (en) | A kind of assembly line object positioning method of view-based access control model and code-disc data fusion | |
| CN100336635C (en) | Stereoscopic vision monitoring device with five degrees of freedom | |
| CN110822269A (en) | Intelligent grease feeding device for sintering machine and control method thereof | |
| CN115091028A (en) | Welding method and device based on laser real-time tracking, electronic equipment and medium | |
| CN102990177B (en) | Method for improving programming speed and precision of automatic tin soldering robot | |
| CN112884848A (en) | Intelligent crown block control system, method and terminal based on binocular vision | |
| CN206322007U (en) | The automated production line control system controlled based on PLC | |
| CN205507114U (en) | Engine cylinder lid screw neglected loading detection device | |
| CN104179963A (en) | Control method for gear selecting/shifting mechanism and transmission control unit | |
| CN114929436A (en) | System and method for controlling robot, electronic device, and computer-readable medium | |
| CN208239771U (en) | A kind of CCD automatic focusing mechanism | |
| CN211826137U (en) | Automatic optical equipment motion control system for flexible circuit board | |
| CN204366365U (en) | A kind of machine vision location pressing system | |
| CN103412278A (en) | Electric energy meter component comparison system and method | |
| CN103159136A (en) | An active vision control-based precise positioning system for crown blocks | |
| CN202974878U (en) | Off-line detection system of circuit board |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200221 |
|
| RJ01 | Rejection of invention patent application after publication |