WO2023240988A1

WO2023240988A1 - Control method, apparatus and system

Info

Publication number: WO2023240988A1
Application number: PCT/CN2022/141317
Authority: WO
Inventors: 黄建威; 陈瑜若; 张志波; 高小云; 吴信宜; 张天翼
Original assignee: 珠海格力智能装备有限公司; 珠海格力电器股份有限公司
Priority date: 2022-06-14
Filing date: 2022-12-23
Publication date: 2023-12-21
Also published as: CN115076588B; CN115076588A

Abstract

A manipulator guide rail slider lubrication control method. According to specification information and operation information of apparatuses to be lubricated (9-1, 9-2), a lubricant injection period of the apparatuses to be lubricated (9-1, 9-2) is accurately calculated and independently controlled, and a lubricant consumed during operation of the apparatuses to be lubricated (9-1, 9-2) is supplemented in time, so that lubricant waste can be avoided while lubrication is ensured. In addition, pressure monitoring and single lubricant injection condition monitoring of oil pipes (3, 10) are also realized, and the automatic lubrication operation is ensured. Further disclosed are a control apparatus (121), an electronic device, a control system, and a storage medium.

Description

A control method, device and system thereof

This disclosure claims the priority of the Chinese patent application filed with the China Patent Office on June 14, 2022, with the application number 202210670519.5 and the invention title "A control method, device and system", the entire content of which is incorporated herein by reference. Public.

Technical field

The present disclosure relates to the technical field of lubrication control, and in particular to a control method, device and system thereof.

Background technique

The device to be lubricated in the manipulator is the guide rail slider, which is lubricated with grease. A certain amount of grease can be stored in the slider for lubrication between the slider and the guide rail. Since the grease in the slider will continue to be lost with movement, in order to ensure sufficient lubrication between the slider and the guide rail, it is necessary to replenish the grease. The lubricating grease of the slider is usually injected manually or through a lubrication system.

Manual injection of lubricating grease has the following shortcomings: first, when there are a large number of slides on the manipulator, the workload of manually adding grease to each slide is very large and the labor intensity is high; second, affected by the structure of the manipulator, individual The guide rail slider is in a small or hidden position, which makes it inconvenient to manually refill the slider with oil. Thirdly, the amount of oil added to the slider cannot be controlled manually, and it is easy to add too much grease and cause waste, or to add too little grease. This leads to problems such as insufficient lubrication of the slider.

The existing lubrication system is also prone to problems such as waste of grease in the slider or insufficient lubrication.

Contents of the invention

In view of the above-mentioned problems in related technologies, the present disclosure discloses a control method, device and system, which accurately calculates and independently controls the lubricant injection cycle of each device to be lubricated according to the specification information, operating time, and operating stroke of the device to be lubricated, and promptly Replenish the lubricant lost during the operation of the device to be lubricated, so as to ensure lubrication without causing waste of lubricant.

The present disclosure provides a control method, including:

Obtain the operating time, operating stroke, rated lubricant injection amount, lubrication coefficient and single rated lubricant injection amount of the metering device of the device to be lubricated;

Calculate the movement speed based on the running time and running distance;

Based on the lubrication coefficient and the movement speed, calculate the lubrication frequency of the device to be lubricated;

Calculate the lubricant loss rate based on the rated lubricant injection amount and the lubrication frequency;

Calculate the lubrication cycle based on the single rated lubricant injection amount and the lubricant loss rate;

When the running time meets the lubrication cycle, the lubricant injection device is controlled to inject lubricant into the device to be lubricated through the connecting device.

In some embodiments, the following steps are also included: obtaining the pressure value of the connecting device; when the pressure value is less than the pressure setting limit value, sending an alarm signal, and the alarm signal is set to prompt that the connecting device is abnormal.

In some embodiments, the following steps are also included: obtaining the current lubricant injection amount; when the current lubricant injection amount reaches the set rated injection amount, the set rated injection amount is settable value, the lubricant injection device is controlled to close, and the connecting device is controlled to close to stop injecting lubricant into the device to be lubricated.

The present disclosure also provides a control device, including:

The first acquisition module is configured to obtain the operating time, operating stroke, rated lubricant injection amount, lubrication coefficient and single rated lubricant injection amount of the metering device of the device to be lubricated;

The first determination module is configured to calculate the movement speed based on the running time and the running stroke;

a second determination module configured to calculate the lubrication frequency of the device to be lubricated based on the lubrication coefficient and the movement speed;

a third determination module configured to calculate the lubricant loss rate based on the rated lubricant injection amount and the lubrication frequency;

a fourth determination module configured to calculate the lubrication cycle based on the single rated lubricant injection amount and the lubricant loss rate;

The first control module, when the running time meets the lubrication cycle, controls the lubricant injection device and the connecting device to open to inject lubricant.

The present disclosure also provides an electronic device, including:

A memory and a processor. A computer program is stored on the memory. When the computer program is executed by the processor, any one of the above control methods is executed.

The present disclosure also provides a control system, including a controller, a lubricant injection device, a connecting device, a switch device and a metering device. The controller is communicatively connected to the lubricant injection device and the switch device. The switch device is connected to the lubricant injection device through the connecting device. The device and the metering device are connected, the metering device is connected to the device to be lubricated through the connecting device, the lubricant injection device is configured to inject lubricant according to the instructions of the controller, the switch device is configured to open or close according to the controller, the metering device The device is configured to control the amount of lubricant injected in a single injection;

The controller is set to calculate the lubrication cycle based on the specification information and operating information of the device to be lubricated. When the operating time of the device to be lubricated meets the lubrication cycle, control the lubricant injection device to inject lubricant and open the switch device;

The calculation of the lubrication cycle based on the specification information and operating information of the device to be lubricated includes: calculating the movement speed based on the operating time and operating stroke of the device to be lubricated; and calculating the movement speed of the device to be lubricated based on the lubrication coefficient of the device to be lubricated and the movement speed. The lubrication frequency; the lubricant loss rate is calculated based on the rated lubricant injection amount of the device to be lubricated and the lubrication frequency; the lubrication cycle is calculated based on the single rated lubricant injection amount of the metering device and the lubricant loss rate.

In some embodiments, a pressure monitoring device is also included. The pressure monitoring device is communicatively connected to the controller. The pressure monitoring device is also connected to a connecting device and is configured to monitor the pressure value of the connecting device connected to the metering device. It also includes a flow monitoring device. , the flow monitoring device is communicated with the controller, and is also connected with the metering device and the device to be lubricated respectively, and is set to monitor the amount of lubricant actually injected into the device to be lubricated;

The controller sends a pressure signal based on the pressure value of the pressure monitoring device; and sends an oil injection amount signal based on the lubricant dose monitored by the flow monitoring device.

Specifically, the connection device includes an oil pipe and a coupling body, the connection device connected to the metering device is a coupling body, and the coupling body is configured to accommodate lubricant.

In some embodiments, the oil pipe is a resin oil pipe.

The present disclosure provides a storage medium. The computer program stored in the storage medium can be executed by one or more processors and can be used to implement any of the above control methods.

Technical effect

1. Using the manipulator of the disclosed solution, each guide rail slider contained in it can receive a regular and quantitative supply of lubricating grease according to its own specifications, operating speed, and operating stroke, ensuring the lubrication effect, ensuring the operation stability of the guide rail slider, and extending the use life;

2. Use the manipulator of the disclosed solution to monitor the oil pipe failure situation by monitoring the pressure value of the oil pipe, and realize lubrication quality control by monitoring the current grease injection amount of each slider.

Description of the drawings

The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings.

Figure 1 is a schematic structural diagram of an electronic device for lubricant control provided by an embodiment of the present disclosure;

Figure 2 is a schematic diagram of the application mode of the lubricant control method provided by the embodiment of the present disclosure;

Figure 3 is a schematic structural diagram of a robot guide rail slider lubrication control device applying the control method of the present disclosure;

Figure 4 is an application model diagram of a manipulator guide rail slider lubrication control device applying the control method of the present disclosure;

Figure 5 is a work flow chart of the robot guide rail slider lubrication control device applying the control method of the present disclosure.

Explanation of reference symbols:

In Figure 3: 1. Controller; 2. Electric lubrication pump; 3. Resin oil pipe; 4. Oil separator; 5-1, first solenoid valve; 5-2, second solenoid valve; 6-1, first Connecting body; 6-2, second connecting body; 7-1, first measuring piece; 7-2, second measuring piece; 8-1, first flow meter; 8-2, second flow meter; 9- 1. The first slider;

9-2. Second slider; 10. Nylon oil pipe; 11-1. First pressure switch; 11-2. Second pressure switch; 12. Feedback loop; 13. Control loop.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present disclosure. Those of ordinary skill in the art will not make any All other embodiments obtained under the premise of creative work belong to the scope of protection of this disclosure.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or a different subset of all possible embodiments, and Can be combined with each other without conflict.

If similar descriptions of "first\second\third" appear in the application documents, add the following description. In the following description, the terms "first\second\third" involved are only used to distinguish similar terms. The objects do not represent a specific ordering of the objects. It is understood that the "first\second\third" can be interchanged in a specific order or sequence if permitted, so that the embodiments of the disclosure described here can be Implementation in sequences other than those illustrated or described herein.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing embodiments of the disclosure only and is not intended to limit the disclosure.

Based on the problems existing in related technologies, embodiments of the present disclosure provide a control method, which method is applied to electronic devices. The electronic devices can be servers, mobile terminals, computers, cloud platforms, etc. The functions implemented by the control device provided by the embodiments of the present disclosure can be implemented by calling the program code by the processor of the electronic device, where the program code can be stored in a computer storage medium.

Taking an electronic device as a server as an example for illustration, the structure of the electronic device according to the embodiment of the present disclosure is shown in Figure 1. The electronic device includes a processor 110, a memory 120, an external communication interface 130 and a user interface 140. The various components in the electronic device are coupled together through bus system 150 . It will be appreciated that the bus system 150 is configured to enable connected communications between these components. In addition to the data bus, the bus system 150 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the various buses are labeled bus system 150 in FIG. 1 .

The processor 110 may be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware Components, etc., wherein the general processor can be a microprocessor or any conventional processor, etc.

User interface 140 includes output devices 141 that enable presentation of media content, including speakers and/or visual displays. User interface 140 also includes input devices 142, including user interface components that facilitate user input, such as a microphone, a touch screen display, a camera, and other input buttons and controls.

Memory 120 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard disk drives, optical disk drives, etc. Memory includes, for example, one or more storage devices that are physically remote from the processor.

Memory 120 includes volatile memory or non-volatile memory, and may include both volatile and non-volatile memory. Non-volatile memory can be read-only memory (ROM, Read Only Memory), and volatile memory can be random access memory (RAM, Random Access Memory). The memory 120 described in embodiments of the present disclosure is intended to include any suitable type of memory.

In some embodiments, the memory 120 is capable of storing data to support various operations, examples of which include programs, modules, and data structures, or subsets or supersets thereof, as exemplarily described below.

In some embodiments, the control device provided by the embodiment of the present disclosure can be implemented in software. Figure 1 shows the control device stored in the memory, which can be software in the form of programs, plug-ins, etc., including the following software modules: An acquisition module is configured to obtain the operating time, operating stroke, rated lubricant injection amount, lubrication coefficient and single rated lubricant injection amount of the metering device of the device to be lubricated; a first determination module is configured to obtain the operating time, operating stroke, rated lubricant injection amount, lubrication coefficient and single rated lubricant injection amount of the metering device; The operating stroke calculates the movement speed; the second determination module is configured to calculate the lubrication frequency of the device to be lubricated based on the lubrication coefficient and the movement speed; the third determination module is configured to calculate the lubrication frequency based on the rated lubricant injection amount and the lubrication frequency to calculate the lubricant loss rate; the fourth determination module is configured to calculate the lubrication cycle based on the single rated lubricant injection amount and the lubricant loss rate; the first control module, when the running time meets the lubrication cycle, The lubricant injection device and the connecting device are controlled to open to inject lubricant. These modules are logical and therefore can be combined or further divided in any way according to the functions implemented.

As before, the control method provided by the embodiments of the present disclosure can be implemented by various types of electronic devices, such as terminals. Referring to Figure 2, Figure 2 is a schematic diagram of an application mode of a lubricant control method provided by an embodiment of the present disclosure, which includes the following steps:

Step 211, obtain the operating time, operating stroke, rated lubricant injection amount, lubrication coefficient and single rated lubricant injection amount of the metering device of the device to be lubricated;

In the above steps, the rated lubricant injection amount is related to the specifications and attributes of the device to be lubricated, and the lubrication coefficient is related to the operating stroke and operating time;

In the above steps, the information obtained above can be written by the user before the electronic device is used, or can be measured by sensors and the like after the electronic device is put into use;

In a specific application, the device to be lubricated includes the guide rail slide of a robot.

Step 212: Calculate the movement speed based on the running time and running stroke;

In the above steps, the movement speed is the ratio of the running distance to the running time.

Step 213: Calculate the lubrication frequency of the device to be lubricated based on the lubrication coefficient and the movement speed;

In the above steps, the lubrication coefficient is related to the operating time and operating stroke.

In some embodiments, the lubrication coefficient is also affected by the specifications of the device to be lubricated, including materials.

In the above steps, the lubrication frequency is the ratio of the lubrication coefficient and the movement speed.

Step 214: Calculate the lubricant loss rate based on the rated lubricant injection amount and the lubrication frequency;

In the above steps, the lubricant loss rate is the ratio of the rated lubricant injection amount and the lubrication frequency.

Step 215: Calculate the lubrication cycle based on the single rated lubricant injection amount and the lubricant loss rate;

In the above steps, the lubrication cycle is the ratio of the rated lubricant injection amount to the lubricant loss rate.

Step 216: When the running time meets the lubrication cycle, control the lubricant injection device to inject lubricant into the device to be lubricated through the connecting device.

In some embodiments, in addition to the above steps, the following steps are also included:

Obtain the pressure value of the connecting device; when the pressure value is less than the pressure setting limit value, an alarm signal is issued, and the alarm signal is set to prompt that the connecting device is abnormal.

In the above steps, after the user receives the alarm signal and handles the abnormal problem of the connecting device, the electronic device repeats the above steps until the abnormal problem of the connecting device is solved.

Obtain the current lubricant injection amount value; when the current lubricant injection amount value reaches the set rated injection amount value, the set rated injection amount value is a settable value, control the lubricant injection device to close, and The control connection device is closed to stop injecting lubricant into the device to be lubricated.

The current lubricant injection amount refers to the lubricant amount injected into the device to be lubricated that is monitored in real time.

In some embodiments, the above-mentioned electronic equipment is used in the control system. In addition to the electronic equipment (controller), it also includes a lubricant injection device, a connecting device, a switching device and a metering device. The controller, the lubricant injection device, and the switch The device is connected through communication. The switching device is respectively connected to the lubricant injection device and the metering device through the connection device. The metering device is connected to the device to be lubricated through the connection device. The lubricant injection device is configured to inject lubricant according to the instructions of the controller. The switch device The metering device is set to open or close according to the controller, and the metering device is set to control the dose of lubricant injected in a single time; the controller is set to calculate the lubrication cycle based on the specification information and operating information of the device to be lubricated. When the device to be lubricated When the running time of the device meets the lubrication cycle, the lubricant injection device is controlled to inject lubricant and open the switch device.

In some embodiments, a pressure monitoring device is also included. The pressure monitoring device is communicatively connected to the controller. The pressure monitoring device is also connected to the connecting device and is configured to monitor the pressure value of the connecting device connected to the metering device. It also includes a flow monitoring device. , the flow monitoring device is communicatively connected to the controller, and is also connected to the metering device and the device to be lubricated respectively, and is set to monitor the amount of lubricant actually injected into the device to be lubricated; the controller sends out a pressure signal based on the pressure value of the pressure monitoring device; According to the lubricant dosage monitored by the flow monitoring device, the oil injection amount signal is sent.

In some embodiments, the connection device includes an oil pipe and a coupling body, the connection device connected to the metering device is a coupling body, and the coupling body is configured to accommodate lubricant.

In some embodiments, the device to be lubricated is a guide rail slider in a manipulator, the lubricant injection device is an electric lubrication pump, the connection device includes an oil pipe and a coupling body, the switch device is a solenoid valve, the metering device is a metering piece, and the flow rate The monitoring device is a flow meter, and the pressure monitoring device is a pressure switch. Figure 3 is a schematic structural diagram of a manipulator guide rail slider lubrication control device according to an embodiment of the present disclosure, including a controller 1, an electric lubrication pump 2, an oil separator 4, a first solenoid valve 5-1, and a second solenoid valve 5 -2. The first connecting body 6-1, the second connecting body 6-2, the first measuring piece 7-1, the second measuring piece 7-2, the first flow meter 8-1, the second flow meter 8-2 , first slider 9-1, second slider 9-2, first pressure switch 11-1, second pressure switch 11-2 and oil pipes (3 and 10);

The controller 1 is connected with the electric lubrication pump 2, the first solenoid valve 5-1, the second solenoid valve 5-2, the first flow meter 8-1, the second flow meter 8-2, the first pressure switch 11-1, and the Two pressure switches 11-2 are connected for communication;

The oil separator 4 is connected to the electric lubrication pump 2, the first solenoid valve 5-1 and the second solenoid valve 5-2 respectively through the oil pipe 3, and the first connecting body 6-1 is connected to the first solenoid valve 5-1 through the oil pipe 3 respectively. , the first pressure switch 11-1 is connected, the first measuring piece 7-1 is connected to the first connecting body 6-1, the first flow meter 8-1 is connected to the first measuring piece 7-1 and the first slide through the oil pipe 10. Block 9-1 is connected, the second connecting body 6-2 is connected to the second solenoid valve 5-2 and the second pressure switch 11-2 respectively through the oil pipe 3, the second measuring piece 7-2 is connected to the second connecting body 6-2 Connection, the second flow meter 8-2 is connected to the second metering piece 7-2 and the second slider 9-2 respectively through the oil pipe 10;

The electric lubrication pump 2 is configured to provide power for the injection of lubricant; the oil separator 4 is configured to separate oil; the first and second solenoid valves (5-1 and 5-2) are configured to Control whether lubricant is injected or not; the first and second coupling bodies (6-1 and 6-2) are configured to accommodate lubricant, and the first and second metering pieces (7-1 and 7-2 ) is set to measure the dose of lubricant injected into the corresponding slider in a single time, and the first and second flow meters (8-1 and 8-2) are set to measure the dose of lubricant injected into the corresponding slider respectively; The first and second pressure switches (11-1 and 11-2) are configured to monitor corresponding pressures generated when lubricant is injected into the corresponding coupling body.

In some embodiments, the first slider 9-1 and the second slider 9-2 have different specifications.

In some embodiments, the first solenoid valve 5-1 and the second solenoid valve 5-2, the first coupling body 6-1 and the second coupling body 6-2, the first metering piece 7-1 and the second metering piece 7-2. The first flow meter 8-1 and the second flow meter 8-2, the first pressure switch 11-1 and the second pressure switch 11-2 use the same specification. In order to conveniently describe the operating principle and work flow of the lubrication system, the first solenoid valve 5-1 and the second solenoid valve 5-2, the first connecting body 6-1 and the second connecting body 6-2, and the first measuring piece 7 -1 and the second metering piece 7-2, the first flow meter 8-1 and the second flow meter 8-2, the first pressure switch 11-1 and the second pressure switch 11-2 are listed separately for the purpose of distinction.

In some embodiments, the oil pipe 3 is a resin oil pipe, and the oil pipe 10 is a nylon oil pipe. Because "electric lubrication pump 2 - oil separator 4 - first solenoid valve 5-1 - first connecting body 6-1 - first pressure switch 11-1 (or electric lubrication pump 2 - oil separator The lubricating oil circuit composed of 4 - second solenoid valve 5-2 - second connecting body 6-2 - second pressure switch 11-2)" has a large pressure and uses a resin oil pipe with strong pressure resistance 3 Connect the above oil circuit components. In practical applications, pressure-resistant pipes of other materials (such as copper pipes or aluminum pipes) are also used instead of resin oil pipes 3 to connect the above oil circuit components.

In some embodiments, the electric lubrication pump 2 is connected to one of the threaded ports of the oil separator 4 through the resin oil pipe 3 . The oil separator 4 is a three-way joint. In addition to the threaded hole connected to the electric lubrication pump 2, the other two threaded ports of the oil separator 4 pass through the resin oil pipe 3 and connect to the first solenoid valve 5-1 and the second solenoid valve 5-2 respectively. connect. The first solenoid valve 5-1 is connected to the first connecting body 6-1 through the resin oil pipe 3, and the first measuring piece 7-1 is installed on the first connecting body 6-1 through threads. The first measuring piece 7-1 is connected to the first flow meter 8-1 and the first slider 9-1 in sequence through the nylon oil pipe 10, and the first pressure switch 11-1 is installed at the rear end of the first connecting body 6-1. The second solenoid valve 5-2 is connected to the second connecting body 6-2 through the resin oil pipe 3, and the second measuring piece 7-2 is installed on the second connecting body 6-2 through threads. The second measuring piece 7-2 is connected to the second flow meter 8-2 and the second slider 9-2 in sequence through the nylon oil pipe 10, and the second pressure switch 11-2 is installed at the rear end of the second connecting body 6-2. In practical applications, it is necessary to configure more channels of oil distribution according to the specification, type and number of guide rail sliders used in the manipulator to meet the lubricating oil circuit connection requirements of all guide rail sliders on the manipulator.

In the above embodiment, the first flow meter 8-1, the second flow meter 8-2, the first pressure switch 11-1, and the second pressure switch 11-2 are connected to the controller 1 through lines to form a feedback loop 12. The electric lubrication pump 2, the first solenoid valve 5-1, and the second solenoid valve 5-2 are connected to the controller 1 through lines to form a control loop 13.

In the above embodiment, the application mode of the lubrication control method is explained by taking the first slider 9-1 and the second slider 9-2 with different specifications as an example. The different specifications determine the required rated grease filling amount of the two. The same. In addition, during the use of the manipulator, there are also differences in the running time and running stroke of the first slider 9-1 and the second slider 9-2. Therefore, it is necessary to adjust the operation time according to the first slider 9-1 and the second slider. 9-2 Calculate the respective lubrication cycles based on its own rated lubricant injection amount, operating time, and operating stroke. As shown in Figure 4, it is an application mode diagram of the manipulator guide rail slider lubrication control device applying the control method of the present disclosure. Taking the first slider 9-1 as an example, the lubricant is grease. Before use of the manipulator, the first measuring piece The single rated oil injection amount V _gauge of 7-1 (determined by the specifications of the first measuring piece 7-1) is written into the controller 1. When the manipulator is used, the rated oil injection amount V of the first slider 9-1 _{is slid} (determined by the specification of the first measuring piece 7-1). The specifications of the first slider 9-1), movement time t, and movement stroke l are input into the controller 1. The controller 1 calculates the maximum movement speed v of the first slider 9-1, thereby calculating the first slider 9-1. 1 Oil injection frequency f, f=A/v, A is the lubrication coefficient of the guide rail slider, which is related to the guide rail slider movement time t and the guide rail slider movement stroke l. Combined with the rated oil injection amount V _slip of the first slider 9-1, the grease loss rate υ is calculated. The grease loss rate υ=V _slip /f is finally calculated based on the single rated oil injection amount V of the first measuring piece _7-1 . , calculate the oil injection period T of the first slider 9-1, T= _Vmeter /υ.

In the above embodiment, when the accumulated running time of the manipulator reaches or exceeds the oil filling period T of the first slider 9-1, an oil filling command is issued, and the controller 1 controls the first solenoid valve 5-1 passage through the control loop 13, and simultaneously controls The electric lubrication pump 2 injects grease from the resin oil pipe 3 through the first solenoid valve 5-1 into the first connecting body 6-1. The first metering piece 7-1 injects the grease stored in itself under the pressure of the grease injected into the first connecting body 6-1 (the grease capacity stored in the first metering piece 7-1 is approximately equal to the single rated oil injection amount V _meter . When After the grease stored in itself is ejected under pressure, the first measuring piece 7-1 will automatically absorb the grease in the first connecting body 6-1 and reset to prepare for the next oil injection. Structure of the first measuring piece 7-1 Its working principle is a mature technology that has been disclosed and does not fall within the scope of this patent proposal, so it will not be described further). The grease injected from the first measuring piece 7-1 is sequentially injected into the first slider 9-1 through the nylon oil pipe 10 and the first flow meter 8-1 to replenish the grease lost during operation of the first slider 9-1. After the injection of grease is completed, the controller 1 resets (opens the circuit) the first solenoid valve 5-1 through the control loop 13 and turns off the electric lubrication pump 2. The lubrication control of the second slider 9-2 is similar to that of the first slider 9-1 and will not be described in detail here. The two grease injection controls do not affect each other.

Normal pressure in the oil pipe of the guide rail slider is a prerequisite for the smooth oil filling of the slider. Obtain the current oil filling information in time, and turn off the lubricant injection when the expected value is reached to avoid wasting grease. Therefore, as shown in Figure 5, it is a work flow chart of the robot guide rail slider lubrication control device according to the above embodiment of the present disclosure. Combined with the structural diagram shown in Figure 3, the working process of the first slider 9-1 is still taken as an example. enough explanation.

Before using the manipulator, set the rated pressure value (or pipeline pressure rating, omitted below) Ps and set the rated oil injection volume value (or oil injection volume rating, omitted below) Q. The set rated oil injection volume value Q is the set value. The V _meter can be set equal to the single rated oil injection volume, or can be changed to other values.

When the system sends an oil injection command to inject oil into the first slider 9-1, the controller 1 controls the passage of the first solenoid valve 5-1 through the control loop 13, and at the same time controls the electric lubrication pump 2 to start oil injection, and the grease passes through the first solenoid valve 5-1. 1 is injected into the first connecting body 6-1. At this time, the pressure generated by the electric lubrication pump 2 can be transmitted along the oil pipe 3 to the first pressure switch 11-1. The first pressure switch 11-1 sends a signal to the controller 1 through the feedback loop 12 Feedback the current pressure value P, the controller 1 compares the current pressure value P fed back by the first pressure switch 11-1 with the set rated pressure value Ps.

When the condition of the oil pipe 3 of the first slider 9-1 is normal, the pressure generated by the oil injection of the electric lubrication pump 2 can be completely transmitted to the first pressure switch 11-1, and the first pressure switch 11-1 feeds back the current pressure value to the controller 1 P1 is approximately equal to the set rated pressure value Ps. After receiving and comparing the current pressure value P fed back by the first pressure switch 11-1, the controller 1 sends a pressure OK signal, and the oil injection of the first slider 9-1 proceeds normally;

When the oil pipe 3 of the first slider 9-1 is blocked or blocked, the pressure generated by the oil injection from the electric lubrication pump 2 cannot be fully transmitted to the first pressure switch 11-1, and the first pressure switch 11-1 feeds back to the controller 1 The current pressure value P is less than the set rated pressure value Ps. After receiving the current pressure value P fed back by the first pressure switch 11-1 and comparing it, the controller 1 sends a pressure NG signal, and the lubrication control system alarms, prompting manual inspection of abnormalities; After the abnormality check is completed and confirmed, the system re-issues the oil injection command. The controller 1 controls the first solenoid valve 5-1 channel through the control loop 13 and controls the electric lubrication pump 2 to start oil injection. The first pressure switch 11-1 feeds back to the controller 1. The current pressure value P, the controller 1 compares the current pressure value P fed back by the first pressure switch 11-1 with the set rated pressure value Ps. If the current pressure value P fed back by the first pressure switch 11-1 to the controller 1 Approximately equal to the set rated pressure value Ps, the controller 1 sends a pressure OK signal; if the current pressure value P fed back by the first pressure switch 11-1 to the controller 1 is still less than the set pressure value Ps, the controller 1 continues to send out pressure NG signal, the lubrication control system alarms, and continuously prompts to check for abnormalities in the lubrication pipeline; the above process continues in a cycle until the current pressure value P fed back by the first pressure switch 11-1 to the controller 1 is approximately equal to the set rated pressure value Ps. until the controller 1 sends the pressure OK signal.

The first flow meter 8-1 is installed between the first measuring piece 7-1 and the first slider 9-1 to monitor the current oil injection quantity value qv. After the above working process, that is, when the pressure of the oil pipe 3 of the first slider 9-1 is normal (the controller 1 sends a pressure OK signal), the first measuring piece 7-1 can inject the grease pressure into the first connecting body 6-1. The grease stored in the first metering piece 7-1 is injected into the first slider 9-1 through the first flow meter 8-1. At this time, the first flow meter 8-1 feeds back the current oil injection quantity value qv to the controller 1 through the feedback loop 12. The controller 1 compares the current oil injection quantity value qv fed back by the first flow meter 8-1 with the set rated oil injection quantity value Q. Compare.

When the current oil injection quantity value qv fed back by the first flow meter 8-1 reaches the set rated oil injection quantity value Q, the controller 1 compares the current oil injection quantity value qv with the set rated oil injection quantity value Q and then sends an oil injection quantity OK signal. Then the first solenoid valve 5-1 is reset (open circuit) through the control loop 13, the electric lubrication pump 2 is turned off, and the first flow meter 8-1 and the first pressure switch 11-1 are reset through the feedback loop 12 (current oil filling The value qv is cleared, and the current pressure value P is cleared). Prepare to monitor the pipeline pressure and oil injection amount when the first slider 9-1 is filled with oil next time. This time the oil filling process of the first slider 9-1 is completed;

When the current oil injection quantity value qv fed back by the first flow meter 8-1 does not reach the set rated oil injection quantity value Q, the controller 1 sends an oil injection quantity NG signal, and the lubrication control system alarms, prompting manual troubleshooting for abnormalities;

After the abnormality check is completed and confirmed, the system re-issues the oil injection command. The controller 1 controls the first solenoid valve 5-1 channel through the control loop 13, and simultaneously controls the electric lubrication pump 2 to start oil injection. The first pressure switch 11-1 passes through the feedback loop 12 to The controller 1 feeds back the current pressure value P. When the oil injection pressure of the first slider 9-1 lubrication pipeline is normal, the controller 1 sends a pressure OK signal. At this time, the first flow meter 8-1 sends a signal to the controller 1 through the feedback loop 12. Feedback the current oil injection quantity value qv, controller 1 compares the current oil injection quantity value qv with the set rated oil injection quantity value Q, if the current oil injection quantity value qv fed back by the first flow meter 8-1 to the controller 1 reaches or exceeds the set value When the rated oil injection amount is Q, the controller 1 sends an oil injection amount OK signal, resets (opens the circuit) the first solenoid valve 5-1 through the control loop 13, closes the electric lubrication pump 2, and causes the first flow meter 8 to operate through the feedback loop 12 -1 and the first pressure switch 11-1 are reset, and the oil injection process ends;

If the current oil injection quantity value qv fed back by the first flow meter 8-1 to the controller 1 still does not reach the set rated oil injection quantity value Q, the controller 1 continues to send out the oil injection quantity NG signal, the lubrication control system alarms, and continuously prompts to check the lubrication pipe. The road is abnormal.

The above process continues to circulate until the current oil injection amount value qv fed back by the first flow meter 8-1 to the controller 1 reaches or exceeds the set rated oil injection amount value Q, and the controller 1 sends an oil injection amount OK signal.

The monitoring and feedback functions of the lubrication line pressure and oil injection amount of the second slider 9-2 refer to the operation of the first slider 9-1 mentioned above. The monitoring and feedback process of the lubrication system on the lubrication pipeline pressure and oil injection amount of the first slider 9-1 and the second slider 9-2 are carried out independently without affecting each other.

An embodiment of the present disclosure also provides a storage medium. The computer program stored in the storage medium can be executed by one or more processors and can be used to implement any of the above control methods.

The above are only embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, and should are covered by the protection scope of this disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

A control method that includes:

Obtain the operating time, operating stroke, rated lubricant injection amount, lubrication coefficient and single rated lubricant injection amount of the metering device of the device to be lubricated;

Calculate the movement speed based on the running time and running distance;

Based on the lubrication coefficient and the movement speed, calculate the lubrication frequency of the device to be lubricated;

Calculate the lubricant loss rate based on the rated lubricant injection amount and the lubrication frequency;

Calculate the lubrication cycle based on the single rated lubricant injection amount and the lubricant loss rate;

When the running time meets the lubrication cycle, the lubricant injection device is controlled to inject lubricant into the device to be lubricated through the connecting device.
The method of claim 1, further comprising:

Get the pressure value of the connecting device;

When the pressure value is less than the pressure setting limit value, an alarm signal is issued, and the alarm signal is set to prompt that the connection device is abnormal.
The method of claim 1, further comprising:

Get the current lubricant injection amount value;

When the current lubricant injection amount reaches the set rated injection amount, the set rated injection amount is a settable value, the lubricant injection device is controlled to close, and the connecting device is controlled to close to stop the lubricant injection amount. The device to be lubricated is filled with lubricant.
A control device including:

The first acquisition module is configured to obtain the operating time, operating stroke, rated lubricant injection amount, lubrication coefficient and single rated lubricant injection amount of the metering device of the device to be lubricated;

The first determination module is configured to calculate the movement speed based on the running time and the running stroke;

a second determination module configured to calculate the lubrication frequency of the device to be lubricated based on the lubrication coefficient and the movement speed;

a third determination module configured to calculate the lubricant loss rate based on the rated lubricant injection amount and the lubrication frequency;

a fourth determination module configured to calculate the lubrication cycle based on the single rated lubricant injection amount and the lubricant loss rate;

The first control module, when the running time meets the lubrication cycle, controls the lubricant injection device and the connecting device to open to inject lubricant.
An electronic device including:

A memory and a processor. A computer program is stored on the memory. When the computer program is executed by the processor, the control method according to any one of claims 1 to 3 is executed.
A control system includes a controller, a lubricant injection device, a connection device, a switch device and a metering device. The controller is communicatively connected to the lubricant injection device and the switch device. The switch device is connected to the lubricant injection device and the metering device respectively through the connection device. connection, the metering device is connected to the device to be lubricated through the connection device, the lubricant injection device is configured to inject lubricant according to the instructions of the controller, the switch device is configured to open or close according to the controller, and the metering device is configured to Control the dosage of lubricant injected in a single injection;

The controller is set to calculate the lubrication cycle based on the specification information and operating information of the device to be lubricated. When the operating time of the device to be lubricated meets the lubrication cycle, control the lubricant injection device to inject lubricant and open the switch device;

The calculation of the lubrication cycle based on the specification information and operating information of the device to be lubricated includes: calculating the movement speed based on the operating time and operating stroke of the device to be lubricated; and calculating the movement speed of the device to be lubricated based on the lubrication coefficient of the device to be lubricated and the movement speed. The lubrication frequency; the lubricant loss rate is calculated based on the rated lubricant injection amount of the device to be lubricated and the lubrication frequency; the lubrication cycle is calculated based on the single rated lubricant injection amount of the metering device and the lubricant loss rate.
The control system according to claim 6, further comprising a pressure monitoring device, the pressure monitoring device is communicatively connected to the controller, the pressure monitoring device is also connected to the connecting device, and is configured to monitor the pressure value of the connecting device connected to the metering device. ; It also includes a flow monitoring device, which is communicatively connected to the controller, is also connected to the metering device and the device to be lubricated, and is configured to monitor the amount of lubricant actually injected into the device to be lubricated;

The controller sends a pressure signal based on the pressure value of the pressure monitoring device; and sends an oil injection amount signal based on the lubricant dose monitored by the flow monitoring device.
The control system according to claim 7, wherein the connection device includes an oil pipe and a coupling body, the connection device connected to the metering device is a coupling body, and the coupling body is configured to accommodate lubricant.
The control system of claim 8, wherein the oil pipe includes a resin oil pipe.
A storage medium. The computer program stored in the storage medium can be executed by one or more processors and can be used to implement the control method according to any one of claims 1 to 3.