CN111750256B - Automatic grease supply system and method for wheels of sintering machine trolley - Google Patents
Automatic grease supply system and method for wheels of sintering machine trolley Download PDFInfo
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- CN111750256B CN111750256B CN201910250384.5A CN201910250384A CN111750256B CN 111750256 B CN111750256 B CN 111750256B CN 201910250384 A CN201910250384 A CN 201910250384A CN 111750256 B CN111750256 B CN 111750256B
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- 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
- F16N7/00—Arrangements for supplying oil or unspecified lubricant from a stationary reservoir or the equivalent in or on the machine or member to be lubricated
- F16N7/38—Arrangements for supplying oil or unspecified lubricant from a stationary reservoir or the equivalent in or on the machine or member to be lubricated with a separate pump; Central lubrication systems
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Abstract
The invention relates to a sintering machine trolley wheel automatic grease supply system and method, which comprises an industrial robot, a robot control cabinet, an oil gun, oil injection preparation position detection equipment, oil injection position detection equipment and grease supply equipment, wherein the oil gun is arranged on the industrial robot; the oiling preparation position detection equipment is arranged on the outer side of the trolley track, and the signal output end of the oiling preparation position detection equipment is connected with the robot control cabinet; the oil gun is installed at the end of a flange of the industrial robot, and the control output end of the robot control cabinet is connected with the industrial robot and the grease supply equipment; the oil injection position detection equipment is arranged on the oil gun; and the grease feeding equipment is connected with the control output end of the robot control cabinet. The automatic oiling device can automatically oil the wheels of the trolley, has high automation degree, and is used for solving the problems that the existing oiling device has low automation degree, can not meet the actual requirement of the field production process, and has high operation labor intensity.
Description
Technical Field
The invention relates to the technical field of sintering machines, in particular to an automatic grease supply system and method for wheels of a sintering machine trolley.
Background
At present, sintering plants at home and abroad mainly adopt a belt type sintering machine form, a flexible transmission device of the sintering machine drives a trolley to run on a track, and the trolley runs on the track in a four-wheel supporting form. The trolley is driven by a star wheel at the head of the sintering machine to run on the track, receives bedding materials and mixed materials from the head of a worktable of the sintering machine, is ignited by an ignition furnace, is ignited by air draft at the lower part of an air box, is sintered by air draft, reaches the tail to discharge the burnt hot ores on a thermal crusher, then runs to the head from the tail on a return track, is turned over to the track of the worktable again, is charged again for sintering, and the integral structure of the sintering machine is shown in figure 1.
At present, a belt type sintering machine is generally adopted in the production of sintered ores at home and abroad, because the running environment of a trolley of the sintering machine is severe, high temperature and more dust exist, and the bearing and a clamping sleeve of the trolley are easy to enter ash, wear and age, the wheel of the trolley needs to be periodically oiled, the lubrication condition of the bearing is improved, and the service life of the wheel is prolonged.
The currently popular oil injection method at home and abroad is manual online oil injection, extreme pressure lithium-based grease is injected into a butter gun by a pneumatic high-pressure grease pump, an operator holds the butter gun by hand and squats beside an operating trolley wheel, and grease is sequentially injected into wheel bearing grease nipples, as shown in fig. 2. Because the oil needs to be periodically pumped on line, the wheels of the trolley are operated during operation, so that the trolley is in contact with a human machine, and certain safety risk exists for operating personnel; meanwhile, the sintering machine has high temperature, dust and noise, and the labor intensity of the oil-spraying operation is very high.
An existing mechanical positioning type pneumatic grease feeding device is shown in fig. 3, and the working principle is as follows: and a guide rod communicated with a two-position three-way electromagnetic valve III extends out and is arranged in front of the wheel to be greased. The trolley moves forwards along the track, touches the guide rod and then drags the walking mechanism of the grease feeder to walk synchronously. After walking about 15mm, the machine control valve vi is touched, so that the grease feeding gun head extends out and is aligned with the wheel grease nipple, and meanwhile, the grease feeding of the grease nipple is pressed tightly.
After the grease is fed, the grease feeding gun head automatically retracts and touches a mechanical control valve VII, so that the guide rod retracts and is separated from the contact with the wheel surface. And simultaneously, the travelling mechanism returns to the original position, then the guide rod extends to the front of the next wheel to prepare for grease feeding of the next wheel, and the procedure of automatically feeding grease to each wheel is continuously and circularly completed.
The existing refueling device has the problems that:
the stop lever positioning type automatic oiling device has the advantages of more field dust, frequent action, higher failure rate, short service life and low automation degree, is not matched with the current intelligent production of industrial 2.0, and cannot meet the actual demand of the current field production process.
Disclosure of Invention
The invention aims to provide an automatic grease feeding system and method for trolley wheels of a sintering machine.
In order to achieve the purpose, the scheme of the automatic grease supply system is as follows: an automatic grease feeding system for wheels of a sintering machine trolley comprises an industrial robot, a robot control cabinet, an oil gun, oil injection preparation position detection equipment, oil injection position detection equipment and grease feeding equipment;
the oil injection preparation position detection device is arranged on the outer side of the trolley track, the signal output end of the oil injection preparation position detection device is connected with the robot control cabinet, and the oil injection preparation position detection device is used for sending wheel in-place signals to the robot control cabinet when detecting that the trolley wheels reach the oil injection preparation position;
the oil gun is installed at the end of a flange of an industrial robot, the control output end of the robot control cabinet is connected with the industrial robot and grease supply equipment, and the robot control cabinet is used for controlling the industrial robot to act after receiving a wheel in-place signal and driving the oil gun to move to an oil injection position to wait for oil injection;
the oil injection position detection device is arranged on the oil injection gun and used for sending an accurate alignment signal to the robot control cabinet when detecting that the trolley wheels reach the oil injection position;
the grease supply equipment is connected with the control output end of the robot control cabinet, and the robot control cabinet is used for controlling the grease supply equipment to work and filling oil to wheels of the trolley after receiving the accurate alignment signal.
Further, according to the automatic grease feeding system for the sintering pallet wheel, the oil injection preparation position detection device comprises a first photoelectric limit switch and a second photoelectric limit switch, the first photoelectric limit switch and the second photoelectric limit switch are installed along the same horizontal line of the travelling direction of the pallet, and the first photoelectric limit switch and the second photoelectric limit switch are separated by the distance of one diameter of the outer edge of the pallet wheel.
Further, according to the automatic greasing system for the wheel of the sintering pallet, the oiling position detection device comprises a third photoelectric limit switch, and the third photoelectric limit switch is arranged on the grease gun.
Further, according to the automatic grease supply system for the trolley wheels of the sintering machine, the grease supply equipment comprises an oil storage tank, a grease pump and an electromagnetic valve, a signal input end of the electromagnetic valve is connected to a control output end of a robot control cabinet, an oil inlet of the grease pump is communicated with the oil storage tank, an oil outlet of the grease pump is communicated with an inlet of the electromagnetic valve, and an outlet of the electromagnetic valve is communicated with an oil injection gun.
Further, according to the automatic grease feeding system for the wheels of the trolley of the sintering machine, the automatic grease feeding system comprises a laser ranging sensor, the laser ranging sensor is installed between two photoelectric limit switches, the distance between the laser ranging sensor and the rail in the transverse direction is a fixed value, and the laser ranging sensor is used for detecting the distance between the laser ranging sensor and the end face of the wheel and sending a distance data signal to a robot control cabinet.
Further, according to the automatic grease feeding system for the wheels of the trolley of the sintering machine, the industrial robot is a six-axis or four-axis industrial robot.
Further, according to the automatic grease supply system for the sintering pallet wheel, provided by the invention, the third photoelectric limit switch is an arc-shaped photoelectric limit switch.
Further, according to the automatic greasing system for the wheel of the pallet truck of the sintering machine according to the present invention, the grease gun is mounted on the end flange of the industrial robot through a fixing plate.
The scheme of the automatic fat feeding method of the invention is as follows: an automatic grease feeding method adopting the automatic grease feeding system comprises the following steps:
and 7, the robot drives the oil gun to move to the oiling starting position again, the step 4 is returned, and the next wheel of the trolley arrives until the oiling of all wheels is finished.
Further, according to the automatic grease feeding method of the invention, in step 5, the oil filling butt joint position is calculated by the industrial robot according to the received distance from the laser ranging sensor to the end face of the wheel, the running speed of the trolley and the extending speed of the oil gun.
The invention achieves the following beneficial effects: the invention improves the prior method for grease injection of the trolley wheels of the sintering machine, and utilizes the automatic grease feeding device based on the industrial robot to inject grease, thereby greatly reducing the operation risk and labor intensity of the original manual grease feeding mode, improving the automation and intellectualization of field equipment operation, and having practical significance for promoting the 4.0 intelligent production of the steel plant industry.
The invention can effectively solve the problems of jamming, easy error collision with the wheel body, more faults in later period and short service life of the guide rod positioning type oiling machine, and has sensitive position detection by utilizing the photoelectric switch compared with the position detection by adopting a visual system and low manufacturing and maintenance cost.
Drawings
FIG. 1 is a schematic view of a sintering machine;
FIG. 2 is a schematic diagram of the current manual wheel oiling;
FIG. 3 is a prior art automatic oiling device for sintering machine introduction;
FIG. 4 is a schematic view of an automatic grease supply system of the present invention;
FIG. 5 is a schematic view of the grease gun of the present invention;
FIG. 6 is a top plan view of the precision alignment of the grease gun of the present invention.
Fig. 7 is a schematic view of the operation of the present invention on a trolley.
Fig. 8 is a flow chart of the operation of the present invention.
In the figure, 1-a first photoelectric limit switch, 2-a laser distance measuring sensor, 3-a second photoelectric limit switch, 4-an oil gun, 5-an electromagnetic valve, 6-a trolley, 7-a wheel, 8-a third photoelectric limit switch, 9-an oil gun head of the oil gun, 10-a fixed plate, 11-a tail end shaft of an industrial robot, 12-a trolley track, 13-a wheel rim, 14-an oil nozzle of the wheel, and 15-a photoelectric beam.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
The automatic grease feeding system comprises an industrial robot, a robot control cabinet, a grease gun, oiling preparation position detection equipment, oiling position detection equipment and grease feeding equipment.
Position check out test set is prepared in the oiling and is installed in the platform truck track outside, and the signal output part of position check out test set is prepared in the oiling connects the robot control cabinet, and position check out test set is prepared in the oiling is used for when detecting the platform truck wheel and reacing oiling and prepare the position, sends the wheel signal of targetting in place and gives the robot control cabinet.
The grease gun is installed at industrial robot's flange end, industrial robot and give fat equipment are connected to the control output of robot control cabinet, the robot control cabinet is used for after receiving the wheel signal that targets in place, and control industrial robot action drives the grease gun and removes to the oiling position and wait for the oiling.
The oiling position detection equipment is arranged on the oiling gun and used for sending an accurate alignment signal to the robot control cabinet when detecting that the trolley wheels reach the oiling position.
The grease supply equipment is connected with the control output end of the robot control cabinet, and the robot control cabinet is used for controlling the grease supply equipment to work and filling oil to wheels of the trolley after receiving the accurate alignment signal.
Automatic fat feeding system embodiment:
as shown in fig. 4, the oil filling preparation position detection device of the present embodiment includes a first photoelectric limit switch 1 and a second photoelectric limit switch 3, where the first photoelectric limit switch and the second photoelectric limit switch are located at the oil filling preparation position of the wheel, the first photoelectric limit switch and the second photoelectric limit switch are installed outside the trolley rail along the trolley traveling direction and are located on the same horizontal line, and the first photoelectric limit switch and the second photoelectric limit switch are separated by a distance of one trolley wheel outer edge diameter.
The oiling position detection equipment of this embodiment includes third photoelectricity limit switch, and third photoelectricity limit switch is convex photoelectricity limit switch, third photoelectricity limit switch installs on the grease gun for whether detect wheel and grease gun reach the oiling position, the oiling position includes oiling initial position and oiling end position.
Grease supply equipment includes batch oil tank, grease pump and solenoid valve, and wherein, the control output at the robot control cabinet is connected to the signal input part of solenoid valve, the oil inlet and the batch oil tank intercommunication of grease pump, the oil-out of grease pump and the entry intercommunication of solenoid valve, the export and the grease gun intercommunication of solenoid valve can control the break-make of oil circuit through the solenoid valve, and the grease pump adopts high-pressure lubricant pump, and minimum pressure 10MPa, the pressure size as long as guarantee grease get into the wheel can.
The trolley runs along the trolley track, when the output signal of the first photoelectric limit switch 1 is changed from off to on, and meanwhile the output signal of the second photoelectric limit switch 3 is changed from on to off, the rim of the detected wheel is indicated, the wheel reaches the oiling preparation position, then the wheel in-place signal is transmitted to the robot control cabinet, the robot control cabinet controls the robot to drive the oiling gun to move to the oiling initial position, and then the trolley wheel is waited to move to the oiling initial position.
And the trolley continues to run, when the photoelectric signal of the third photoelectric limit switch is changed from off to on, the third photoelectric limit switch detects a wheel ring, the wheel moves to the oiling starting position, the wheel is accurately aligned with the oiling gun arranged at the tail end of the robot, and the oiling gun head of the oiling gun is over against the wheel oil nozzle.
The accurate alignment signal of wheel and grease gun is sent to the robot control cabinet through third photoelectricity limit switch, and robot control cabinet control robot drives the glib gun head of grease gun and stretches along with wheel glib talker is preceding, drives the glib gun head and presses close to wheel glib talker, and when the grease gun removed to the oiling butt joint position, the glib gun head just in time overlapped on the wheel glib talker, and robot control cabinet output signal gives the solenoid valve, and the solenoid valve is opened, and the oil circuit intercommunication, the grease gun began to annotate the fat.
The grease gun moves along with the wheel grease nipple while filling grease, when the grease gun moves to the oiling end position, the electromagnetic valve is closed, then the robot drives the grease gun to withdraw backwards, and the grease gun moves to the oiling initial position to wait for the arrival of the next wheel, and the process is circulated until the grease injection of the wheels is finished.
The automatic grease feeding system is provided with a laser ranging sensor, the laser ranging sensor is arranged between two photoelectric limit switches, the distance between the laser ranging sensor and a rail in the transverse direction is a fixed value, and the laser ranging sensor is used for detecting the distance between the laser ranging sensor and the end face of a wheel and sending a distance data signal to a robot control cabinet. And the oiling butt joint position is obtained by the industrial robot through calculation according to the received distance from the laser ranging sensor to the end face of the wheel, the running speed of the trolley and the extending speed of the oil gun. The running speed of the trolley is obtained by a central control room of the sintering machine and is calculated by the rotating speed of a driving motor of the sintering machine, and the running speed belongs to the existing data of the central control room.
The industrial robot of this embodiment adopts six or four-axis industrial robot of standard, and working stroke satisfies that the adjacent two wheels of platform truck switch the working range who refuels, and arm end load more than 3kg, to six or four-axis industrial robot systems, the calculation of butt joint position belongs to general basic function, no longer gives unnecessary details.
The speed range of the trolley of the current sintering machine is 1.5-3m/min, if the running speed of the trolley is 2m/min, the distance between two wheels of the trolley is 0.75m, and the time of each wheel passing through the robot is about 22.5 s.
Automatic fat feeding method example:
the automatic fat feeding method comprises the following steps:
and 7, the robot drives the oil gun to move to the oiling starting position again, the step 4 is returned, and the next wheel of the trolley arrives until the oiling of all wheels is finished.
The invention improves the prior method for grease injection of the trolley wheels of the sintering machine, and utilizes the automatic grease feeding device based on the industrial robot to inject grease, thereby greatly reducing the operation risk and labor intensity of the original manual grease feeding mode, improving the automation and intellectualization of field equipment operation, and having practical significance for promoting the 4.0 intelligent production of the steel plant industry.
Claims (9)
1. The utility model provides an automatic fat system that gives of sintering machine platform truck wheel which characterized in that: the automatic grease feeding system comprises an industrial robot, a robot control cabinet, a grease gun, oiling preparation position detection equipment, oiling position detection equipment and grease feeding equipment;
the oil injection preparation position detection device is arranged on the outer side of the trolley track, the signal output end of the oil injection preparation position detection device is connected with the robot control cabinet, and the oil injection preparation position detection device is used for sending wheel in-place signals to the robot control cabinet when detecting that the trolley wheels reach the oil injection preparation position;
the oil gun is installed at the end of a flange of an industrial robot, the control output end of the robot control cabinet is connected with the industrial robot and grease supply equipment, and the robot control cabinet is used for controlling the industrial robot to act after receiving a wheel in-place signal and driving the oil gun to move to an oil injection position to wait for oil injection;
the oil injection position detection device is arranged on the oil injection gun and used for sending an accurate alignment signal to the robot control cabinet when detecting that the trolley wheels reach the oil injection position;
the grease feeding equipment is connected with a control output end of the robot control cabinet, the robot control cabinet is used for controlling the grease feeding equipment to work after receiving an accurate alignment signal and injecting oil to trolley wheels, the oil injection preparation position detection equipment comprises a first photoelectric limit switch and a second photoelectric limit switch, the first photoelectric limit switch and the second photoelectric limit switch are installed along the same horizontal line of the travelling direction of the trolley, and the distance between the first photoelectric limit switch and the second photoelectric limit switch is the distance of the outer edge diameter of one trolley wheel.
2. The automatic greasing system for sintering pallet wheels according to claim 1, wherein the grease position detection device comprises a third photoelectric limit switch mounted on the grease gun.
3. The automatic grease feeding system for sintering pallet wheels according to claim 1, wherein the grease feeding equipment comprises an oil storage tank, a grease pump and an electromagnetic valve, a signal input end of the electromagnetic valve is connected to a control output end of the robot control cabinet, an oil inlet of the grease pump is communicated with the oil storage tank, an oil outlet of the grease pump is communicated with an inlet of the electromagnetic valve, and an outlet of the electromagnetic valve is communicated with the grease gun.
4. The automatic grease feeding system for the wheels of the trolley of the sintering machine as claimed in claim 1, wherein the automatic grease feeding system comprises a laser ranging sensor, the laser ranging sensor is installed between two photoelectric limit switches, the distance between the laser ranging sensor and the rail is a fixed value, and the laser ranging sensor is used for detecting the distance between the laser ranging sensor and the end face of the wheel and sending a distance data signal to a robot control cabinet.
5. The automatic wheel grease feeding system for a pallet truck of a sintering machine as claimed in claim 1 wherein said industrial robot is a six-axis or four-axis industrial robot.
6. The automatic wheel grease feeding system for a sintering machine trolley according to claim 2, wherein the third photoelectric limit switch is a circular arc-shaped photoelectric limit switch.
7. The automatic wheel grease supply system for a pallet truck of a sintering machine as claimed in claim 1 wherein said grease gun is mounted on the end flange of the industrial robot by a fixing plate.
8. An automatic fat feeding method using the automatic fat feeding system according to claim 1, wherein the automatic fat feeding method comprises the steps of:
step 1, setting oil injection positions of an oil injection gun, including an oil injection starting position and an oil injection finishing position, and simultaneously setting oil injection preparation positions of trolley wheels;
step 2, detecting wheel position signals of the trolley in real time, and sending wheel in-place signals to a robot control cabinet when detecting that the wheels reach a set oiling preparation position;
step 3, the robot control cabinet controls the robot to drive the oil gun to move to an oil injection starting position;
step 4, when the wheels are detected to move to the oiling starting position, sending a signal for accurately aligning the wheels and the oiling gun to the robot control cabinet;
step 5, the robot control cabinet controls the robot to drive the oil gun to extend forwards and gradually approach to the wheel oil nozzles, when the oil gun extends forwards to an oil injection butt joint position, oil is injected to the trolley wheels, and meanwhile the robot drives the oil gun and the trolley wheels to synchronously move along the same direction;
step 6, when the oil gun moves to the oil injection end position, the current wheel oil injection is ended;
and 7, the robot drives the oil gun to move to the oiling starting position again, the step 4 is returned, and the next wheel of the trolley arrives until the oiling of all wheels is finished.
9. The automatic grease feeding method according to claim 8, wherein in step 5, the automatic grease feeding system is provided with a laser ranging sensor for detecting the distance from the laser ranging sensor to the end face of the wheel and sending a distance data signal to the robot control cabinet, and the oiling docking position is calculated by the industrial robot according to the received distance from the laser ranging sensor to the end face of the wheel, the running speed of the trolley and the extending speed of the oil gun.
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| CN201910250384.5A CN111750256B (en) | 2019-03-29 | 2019-03-29 | Automatic grease supply system and method for wheels of sintering machine trolley |
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| CN201910250384.5A CN111750256B (en) | 2019-03-29 | 2019-03-29 | Automatic grease supply system and method for wheels of sintering machine trolley |
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| CN111750256A CN111750256A (en) | 2020-10-09 |
| CN111750256B true CN111750256B (en) | 2021-09-17 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113757540B (en) * | 2021-08-16 | 2023-03-24 | 安徽工业大学 | Oiling system for tracking robot by machine vision guide |
| CN113753840B (en) * | 2021-09-18 | 2024-05-28 | 北京中冶重科科技发展有限公司 | Trolley intelligent robot oiling system |
| CN114383423B (en) * | 2022-02-23 | 2023-06-23 | 中冶长天(长沙)智能科技有限公司 | Online grease injection method and system for sintering trolley wheel shaft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102010001230A1 (en) * | 2010-01-26 | 2011-07-28 | Schunk Wien Gesellschaft M.B.H. | Lubrication assembly for wheel steering device at rail switch, has wheel steering rail arranged parallel to rail section, which forms guide track together with rail section for guide of wheel flange |
| CN102602422A (en) * | 2012-03-30 | 2012-07-25 | 南京贝奇尔机械有限公司 | Fixed type rail lubricating system |
| KR101903184B1 (en) * | 2016-11-30 | 2018-10-01 | 주식회사 케이엘티 | Oil injection apparatus |
| CN108332035B (en) * | 2018-04-04 | 2020-07-03 | 中冶长天国际工程有限责任公司 | Control system and method for grease adding amount in automatic grease adding of sintering trolley wheel bearing |
| CN208635566U (en) * | 2018-07-03 | 2019-03-22 | 江阴兴澄特种钢铁有限公司 | A kind of on-line automatic refueling device of sintering machine bogie wheels |
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