CN116838921A - Intelligent diagnosis and fat-feeding system and method for trolley wheels - Google Patents
Intelligent diagnosis and fat-feeding system and method for trolley wheels Download PDFInfo
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- CN116838921A CN116838921A CN202310639193.4A CN202310639193A CN116838921A CN 116838921 A CN116838921 A CN 116838921A CN 202310639193 A CN202310639193 A CN 202310639193A CN 116838921 A CN116838921 A CN 116838921A
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- 238000003745 diagnosis Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012544 monitoring process Methods 0.000 claims description 47
- 239000000446 fuel Substances 0.000 claims description 32
- 238000001514 detection method Methods 0.000 claims description 30
- 238000004140 cleaning Methods 0.000 claims description 19
- 238000004458 analytical method Methods 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000000670 limiting effect Effects 0.000 claims description 10
- 238000012795 verification Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 3
- 150000002632 lipids Chemical class 0.000 claims 3
- 238000012840 feeding operation Methods 0.000 abstract description 2
- 238000005245 sintering Methods 0.000 abstract description 2
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 239000000945 filler Substances 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003723 Smelting Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013523 data management Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
Classifications
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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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- 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
- F16N23/00—Special adaptations of check valves
-
- 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
- F16N29/00—Special means in lubricating arrangements or systems providing for the indication or detection of undesired conditions; Use of devices responsive to conditions in lubricating arrangements or systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/25—Integrating or interfacing systems involving database management systems
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Databases & Information Systems (AREA)
- Theoretical Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent diagnosis and fat-feeding system and method for trolley wheels, and relates to the technical field of sintering equipment. The system is used for replacing manual fat feeding operation, can realize automatic, intelligent and high-efficiency fat feeding, improves the field operation environment, avoids the safety risk of combining manual oiling with man-machine, reduces labor intensity and workload, and improves the operation efficiency.
Description
Technical Field
The invention relates to the technical field of sintering equipment, in particular to an intelligent diagnosis fat-feeding system and method for trolley wheels.
Background
In large-scale factories such as modern metallurgical plants and steel plants, a trolley is an important device for smelting, and according to different working conditions, one or more trolleys connected end to end usually circularly run on a running track.
Traditionally, adopt artifical fat liquoring mode, in actual production, often be hundred trolley circulation operations, trolley wheel's quantity is more, and be in running state, adopt artifical fat liquoring mode, the workman follows the trolley and removes, constantly carry out the operation of fat liquoring, because temperature around the trolley is higher, dust, adverse circumstances such as air current, make workman intensity of labour big, there is great potential safety hazard, the fuel filling can't accurate control, all rely on experience, and the grease leaks easily and causes extravagant, influence the environment, give fat inefficiency, and, artifical fat liquoring mode can't establish unified data management archives for the trolley of whole production line.
With the continuous development of information revolution, industrial internet and robots are used as representatives of intelligent manufacturing, and are applied to various industrial sites, such as automatic grease feeding for trolley wheels, and in the trolley operation process, an automatic oiling gun is mounted on a robot arm, so that the trolley wheels in operation are automatically oiled and maintained, but in actual working conditions, the trolley wheels are not absolutely straight, and the automatic oiling gun can encounter various obstacles and collisions in the process of being inserted into wheel oiling ports, so that mechanical components are easy to damage. Accordingly, the present invention is directed to providing an intelligent diagnostic fat liquoring system for trolley wheels for automatic fat liquoring of trolley wheels, which improves the above-mentioned problems.
Disclosure of Invention
The invention aims to provide an intelligent diagnosis fat-feeding system and method for trolley wheels, wherein the intelligent diagnosis fat-feeding method adopts the intelligent diagnosis fat-feeding system arranged at two sides of a trolley to replace manual fat-feeding operation, thereby realizing automatic, intelligent and high-efficiency fat-feeding, improving the field operation environment, avoiding the safety risk of combining manual oiling with man-machine, reducing the labor intensity and the workload, improving the operation efficiency and saving the fat.
In order to achieve the above purpose, the present invention provides the following technical solutions: an intelligent diagnostic fat-liquoring system for trolley wheels, comprising:
the system comprises a oiling database, a working condition judgment module and a control module, wherein the content of the oiling database comprises real-time data and historical data of oiling of trolley wheels, the data comprise oiling time, pressure, flow and the like, the oiling data of diagnostic trolley wheels are collected, and the working condition is judged;
the end of the arm of the robot is connected with an automatic anti-collision oil gun communicated with the oil injection pump through an oil way, and verification equipment is connected between the automatic anti-collision oil gun and the oil injection pump;
the detection system comprises a vision sensor system and a speed measuring system;
the cleaning system is arranged at a position close to the trolley wheel of the trolley to be refueled and is used for cleaning greasy dirt, dust and the like on the oiling port of the trolley wheel to be refueled;
the analysis system comprises an automatic positioning oiling judgment system and an oiling diagnosis system;
and the control system is used for controlling the automatic anti-collision oiling gun to move to the corresponding position according to the running path and the speed for monitoring or oiling according to the judgment result of the analysis system, controlling the automatic anti-collision oiling gun to move with the trolley at the same speed in the oiling process, and controlling the automatic anti-collision oiling gun to return after oiling is completed.
Preferably, each trolley corresponding to the oiling database has a unique trolley number and a wheel number, and the oiling data statistical information is built in a number identification system and is used for acquiring the oiling data statistical information of the trolley wheels and uploading and storing the oiling data statistical information in the oiling database when the trolley wheels are detected.
Preferably, the verification device comprises a wheel number identification device, a flow detection sensor, a pressure detection sensor and a control valve, wherein the wheel number identification device is used for identifying the trolley wheels with identification marks next time, the number detection sensor corresponds to the number data in the number identification system one by one, the flow detection sensor is used for monitoring the real-time oil outlet total quantity of the automatic anti-collision oiling gun, namely the oiling quantity of the corresponding trolley wheels, when the trolley wheels identified by the wheel number identification device are oiled, the pressure detection sensor is used for monitoring the real-time pressure of the automatic anti-collision oiling gun when the trolley wheels are oiled, and the initial pressure of the trolley wheels before oiling and the final pressure of the trolley wheels when oiling is completed.
Preferably, the visual sensor system has a monitoring area coincident with an identification area of the wheel number identification device, and is used for monitoring information of the trolley wheel entering the preset position entering and exiting the monitoring area, and feeding back to the analysis system.
Preferably, the speed measuring system comprises a bracket, a speed measuring wheel, a first support plate, a second support plate, a first rotary support column, a second rotary support column, a torsion spring, a linear encoder and an angle encoder, wherein the first support plate is fixedly arranged on the bracket, the second support plate is rotationally connected with the first support plate through the first rotary support column, the torsion spring is sleeved on the first rotary support column between the first support plate and the second support plate, support arms at the upper end and the lower end of the torsion spring are respectively fixed on the first support plate and the second support plate, the angle encoder is concentrically arranged on the first rotary support column, the second support plate is far away from one end of the first rotary support column and is rotationally connected with the second rotary support column, the speed measuring wheel is arranged at the upper end of the second support column, and the linear encoder is arranged at the lower end of the second support column.
Preferably, the automatic anti-collision oil gun comprises: one or more anticollision institution of establishing ties, anticollision institution's one end is connected on robotic arm, and the nozzle is connected to the other end, anticollision institution includes: the shell of one end open hollow cylinder structure is located spacing dish of the open end of shell, locates reset lever and spring in the shell, with spacing dish matches and outwards passes in the shell the rocker of spacing dish and out, the hole has been seted up at the inner bottom surface center of shell, spacing dish with the shell cooperation forms the cavity, the center of spacing dish is equipped with first through-hole, be equipped with three or more hemisphere protruding on the medial surface of spacing dish, with the center pin of spacing dish is the center pin, hemisphere protruding is circumference evenly distributed, the reset lever includes the body of rod and locates the backup pad of body of rod one end, the external diameter of body of rod other end with the internal diameter phase-match of hole, the other end of body of rod stretches into in the hole, the upper surface orientation of backup pad limiting dish one side, spring one end contacts the inner bottom surface of shell, the other end contacts the lower surface of backup pad, the rocker is including being located umbrella-shaped boss in the cavity, the opposite side of umbrella-shaped boss is the umbrella-shaped face, and the opposite side is the first face is the conflict, the backup pad is the first face is the cylinder surface, and is equipped with one end is the first end is the same as a hemisphere face, the corresponding to be equipped with the recess and the first end is extended to the hemisphere face, the end is connected with the first end is the cylinder surface, the corresponding to the hemisphere is the circumference.
The invention also provides a technical scheme that: an intelligent diagnosis fat-feeding method for trolley wheels comprises the following steps:
s1: establishing a oiling database of the trolley and wheels of the trolley;
s2: dynamically positioning the trolley wheels, analyzing the oiling data of the positioned trolley wheels in the oiling database by adopting an oiling diagnosis system, judging whether oiling or monitoring is needed, if so, carrying out the next step, if not, adding the judging result into the oiling database, and returning to S2 to continuously dynamically position the next trolley wheels;
s3: dynamically positioning the oiling gun, and calculating the moving track and the moving speed of the oiling gun by the analysis system according to the positioning information of the trolley wheels and the oiling gun;
s4: moving the oiling gun according to the calculated result in the step S3, and monitoring or oiling the positioned trolley wheels;
s5: ending the monitoring of the oiling, the flow and the pressure according to the on-line monitoring system of the oiling gun and recording the monitoring to the oiling database;
s6: returning the oiling gun;
s7: and (2) continuously positioning the next trolley wheel, and circulating to S2.
Preferably, S2 comprises:
S2.1: monitoring the moving speed of the trolley by adopting the speed measuring system;
s2.2: the vision sensing system is adopted to monitor the vision entering and removing of the trolley wheels, and the speed of the trolley is assisted to be judged;
s2.3: performing off-tracking monitoring on the trolley;
s2.4: and (3) comparing the two trolley speeds with the S2.1 and the S2.2, if the speeds of the two trolley speeds are within the error range, continuing the step S3, and if the speeds are greater than the error range, judging that the system is in error, and not continuing the step S3.
Preferably, before S4, the cleaning device is further used for cleaning the oil filler of the trolley wheel.
Preferably, the online monitoring system of the fuel dispenser in S5 includes the pressure detection sensor for detecting a pressure of the fuel dispensed from the fuel dispenser and the flow detection sensor for detecting a flow of the fuel dispensed from the fuel dispenser.
Compared with the prior art, the invention has the beneficial effects that:
according to the intelligent diagnosis fat-liquoring system for the trolley wheels, historical oiling data and real-time oiling data of the trolley wheels are summarized to the oiling database, real-time positions and speeds of the trolley wheels are monitored through the detection system, the analysis system analyzes according to the data of the detection system, judges the required running path and speed of the automatic anti-collision oiling gun, moves according to the analyzed running path and speed under the control of the control system, automatically fatliquors the trolley wheels, controls the automatic anti-collision oiling gun to return to a position after the fat feeding is finished, and reciprocates in the manner, intelligent diagnosis fat-liquoring is carried out on the trolley wheels, accurate positioning of the trolley is achieved, fat is intelligently fed, and the fat is saved.
The intelligent diagnosis fat-feeding system for the trolley wheels monitors the deviation of the trolley through the detection system and the analysis system, judges the deviation amount of the trolley and provides a basis for the moving path of the automatic anti-collision oil gun.
According to the intelligent diagnosis fat-feeding system for the trolley wheels, through the design of the automatic anti-collision oiling gun, calculation errors and rigid collision generated when the oiling gun is in abnormal contact with the trolley under other conditions are avoided, and the anti-collision performance and the service life of the automatic anti-collision oiling gun are improved.
According to the intelligent diagnosis and fat-feeding method for the trolley wheels, the unified oiling database is established, the oiling database is analyzed by utilizing the oiling diagnosis system, the trolley wheels which are not added can be accurately judged, the oiling rules of the trolley wheels are set, the trolley wheels which are subjected to automatic oiling operation in a certain time are filtered, accurate maintenance is achieved, and excessive maintenance is avoided, so that manpower and material resources are wasted.
According to the intelligent diagnosis and fat-feeding method for the trolley wheels, a unified oiling database is established, so that the running state of the trolley wheels is conveniently checked and managed, the information of the oiling database is regularly analyzed, the trolley wheels with overlarge oiling amount are screened out according to the oiling time interval and the comparison judgment of the oiling amount of each trolley wheel, and shutdown maintenance is performed, so that safety accidents in running are prevented.
Drawings
FIG. 1 is a schematic perspective view of a diagnostic fat-liquoring system for intelligent diagnosis of trolley wheels according to the present invention;
FIG. 2 is a schematic diagram of the intelligent diagnostic fat-liquoring system for trolley wheels according to the present invention;
FIG. 3 is a schematic perspective view of a speed measurement system according to the present invention;
FIG. 4 is a schematic side view of the speed measurement system of the present invention;
fig. 5 (a) is a schematic diagram of a calculation principle of the speed measurement system in the present invention, and fig. 5 (B) is a partial enlarged view of a portion B in fig. 5 (a);
FIG. 6 is a schematic perspective view of an automatic anti-collision fuel dispenser of the present invention;
FIG. 7 is a schematic structural view of an anti-collision structure in an automatic anti-collision fuel dispenser of the present invention, (a) being a side view, (b) being a cross-sectional view taken along the direction A-A of (a);
FIG. 8 is an exploded view of an anti-collision structure in an automated anti-collision fuel dispenser of the present invention;
FIG. 9 is an exploded view of the rocker and the stopper in the automatic anti-collision fuel dispenser of the present invention, (a) from above the side of the stopper, and (b) from above the side of the rocker;
FIG. 10 is a flow chart of the intelligent diagnostic fat-liquoring system for trolley wheels according to the present invention.
In the figure: 1. a robot; 11. automatic anti-collision oil gun; 111. a fuel gun; 112. an anti-collision mechanism; 1121. a housing; 11211. a hole; 11212. a hollow boss; 11213. a second threaded hole; 11214. a third threaded hole; 1122. a limiting disc; 11221. a first through hole; 11222. hemispherical protrusions; 11223. a third through hole; 1123. a reset lever; 11231. a rod body; 11232. a support plate; 112321, flanges; 1124. a spring; 1125. a rocker; 11251. umbrella-shaped boss; 112511, umbrella-shaped face; 112512, a first surface; 112513 hemispherical grooves; 11252. a column; 112521, connection end; 112522, first threaded hole; 1126. a flange plate; 11261. a second through hole; 11262. a connection hole; 1127. a screw; 12. an oil injection pump; 13. an oil path; 14. calibrating equipment; 141. wheel number identification means; 2. a detection system; 21. a vision sensor system; 22. a speed measuring system; 221. a bracket; 222. a tachometer wheel; 223. a first support plate; 2231. a first baffle; 224. a second support plate; 2241. a second baffle; 225. a first rotary support column; 226. a second rotating support column; 227. a torsion spring; 228. a linear encoder; 229. an angle encoder; 230. an air pipe; 3. a cleaning system; 4. a robot control cabinet; 5. a trolley wheel; 6. and (5) a trolley.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, in the description of the present invention, the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," "first," "last," and the like indicate an orientation or a positional relationship based on that shown in the drawings, merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and the terms "first," "second," and the like used in the description of the present invention do not denote any order, quantity, or importance, but are merely used to distinguish one component from another, and thus are not to be construed as limiting the present invention.
Furthermore, it should be understood that the dimensions of the various elements shown in the figures are not drawn to actual scale, e.g., the thickness or width of some layers may be exaggerated relative to other layers for ease of description.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined or illustrated in one figure, no further detailed discussion or description thereof will be necessary in the following description of the figures.
For ease of understanding, the basic structure and terms involved in the present invention will be explained first:
the coordinate system is defined in the invention, and the line segments, the distance, the length, the angle and the like are vectors.
As shown in fig. 1 to 2, the present invention provides a technical solution: an intelligent diagnostic fat-liquoring system for trolley wheels, comprising:
the oiling database comprises real-time data and historical data of oiling of the trolley wheels 5, wherein the data comprises oiling time, pressure, flow and the like, the oiling data of the trolley wheels 5 are collected and diagnosed, and working conditions are judged;
the robot 1, the arm end is connected with the automatic anti-collision oil gun 11 communicated with the oil filling pump 12 through the oil way 13, and connect the verification equipment 14 between the automatic anti-collision oil gun 11 and the oil filling pump 12, when the trolley wheel 5 is linked, the trolley wheel 5 is identified and verified, the trolley wheel is followed to execute the oiling action, and the oiling data and state of the trolley wheel are detected and fed back to the oiling database;
The detection system 2 comprises a visual sensor system 21 and a speed measuring system 22, and is used for monitoring the running speed of the trolley 6, positioning the real-time running position and providing a basis for the movement path of the automatic anti-collision oiling gun 11 on the arm of the robot 1;
the cleaning system 3 is arranged at a position close to the trolley wheels to be refueled of the trolley 6 and is used for cleaning greasy dirt, dust and the like on the oiling openings of the trolley wheels to be refueled;
the analysis system comprises two parts, namely an automatic positioning oiling judgment system and an oiling diagnosis system. Specifically, the automatic positioning and oiling judgment system analyzes the running path and speed of the automatic anti-collision oiling gun 11 according to the positioning data of the detection system 2 and the automatic anti-collision oiling gun 11, so that when the trolley wheels run to the corresponding positions, the automatic anti-collision oiling gun 11 on the arm of the control robot 1 also reaches the corresponding positions to monitor or carry out oiling; the oiling diagnosis system is used for analyzing whether the trolley wheels 5 need to be monitored or oiled or not and the oiling amount according to the information of an oiling database and the preset monitoring or oiling rule;
and the control system is used for controlling the automatic anti-collision oiling gun to move to the corresponding position according to the running path and the speed for monitoring or oiling according to the judgment result of the analysis system, controlling the automatic anti-collision oiling gun to move with the trolley at the same speed in the oiling process, and controlling the automatic anti-collision oiling gun to return after oiling is completed.
Each trolley 6 corresponding to the oiling database is provided with a unique trolley 6 number for assigning an A parameter, trolley wheels of the trolley 6 are provided with unique wheel numbers for assigning B parameters, and the trolley wheels 5 oiling data statistical information of the parameters AB established in the number identification system is used for acquiring the oiling data statistical information of the trolley 6 to which the trolley wheels 5 belong by the verification equipment 14 and uploading and storing the oiling data statistical information in the oiling database when the trolley wheels 5 are detected.
The verification device 14 comprises a wheel number identification device 141, a flow detection sensor, a pressure detection sensor and a control valve; the wheel number identifying device 141 is used for identifying the trolley wheels with the identifying marks next time and corresponds to the number data in the number identifying system one by one; the flow detection sensor is used for monitoring the real-time oil output total amount of the oil gun 111, namely the oil filling amount of the corresponding trolley wheel when the trolley wheel identified by the corresponding wheel number identification device 141 is filled with oil; a pressure detection sensor for monitoring a real-time pressure of the truck wheel identified by the corresponding wheel number identification device 141 when the truck wheel is being refueled, and an initial pressure of the truck wheel before refueled and a final pressure of the truck wheel when refueled by the fuel dispenser 111; the control valve is used for controlling the opening or closing of the automatic anti-collision oil gun.
The wheel number identification device, the flow detection sensor and the pressure detection sensor generate verification data of the number, the refueling flow, the initial pressure and the final pressure of the corresponding trolley wheels when the identification or monitoring task is completed, and upload and store the verification data to a refueling database.
Specifically, the analysis system and the control system are provided in the robot control cabinet 4.
Specifically, the wheel number identifying device 141 may adopt that the trolley wheel 5 itself has a steel mark, and when the trolley wheel enters the identifying area, the information of the trolley wheel is identified by means of image identification.
The vision sensor system 21, the monitoring area coincides with the identification area of the wheel number identification device 141, is used for monitoring the information of the trolley wheel entering the preset position entering and exiting the monitoring area, and feeds back to the analysis system, and a laser sensor is selected in this embodiment.
As shown in fig. 3 to 4, the speed measuring system 22 monitors the running speed of the trolley 6 to which the trolley wheels belong in the area in real time, and has the following specific structure: including support 221, the speed measuring wheel 222, first extension board 223, second extension board 224, first rotatory support column 225, second rotatory support column 226, torsional spring 227, linear encoder 228 and angle encoder 229, first extension board 223 is fixed to be established on support 221, second support board 224 passes through first rotatory support column 225 swivelling joint on first support board 223, torsional spring 227 cover is located on first rotatory support column 225 between first support board 223 and the second support board 224, the support arm at both ends is fixed respectively on first support board 223 and the second support board 224 about torsional spring 227, set up angle encoder 229 on the first rotatory support column 225 concentrically, the one end swivelling joint second rotatory support column 226 of second support column 224 keeping away from first rotatory support column 225, the speed measuring wheel 222 is established to the upper end of second support column, linear encoder 228 is established to the lower extreme.
Specifically, the bracket 221 is used to be fixed on the ground or other structures, and the wheel number identification device 141 and the speed measurement system 22 are installed on the same upright in this embodiment.
Specifically, in the present embodiment, the upper surface of the first support plate 223 is provided with a first baffle 2231, the lower surface of the second support plate 224 is provided with a second baffle 2241, and the arms at the upper and lower ends of the torsion spring 227 respectively abut against the first baffle 2231 and the second baffle 2241.
Specifically, the linear encoder 228 is further connected to a gas cooling device (not shown) through a gas pipe 230.
It should be noted that, a planar structure is required to be disposed at a position on the side wall of the trolley 6, where the position corresponds to the height of the tachometer wheel 222, and the tachometer wheel 222 is attached to the planar structure to roll along with the trolley 6, when the trolley 6 runs along the standard running path, the tachometer wheel 222 is attached to the planar structure, the torsion spring 227 is in a pressed state at this time, when the trolley 6 deviates in a direction away from the tachometer system 22, the torsion spring 227 is restored, and an acting force is generated to push the second support plate 224 to rotate around the first rotation support column 225, so that the tachometer wheel 222 always keeps attached to the planar structure of the trolley 6; when the trolley 6 is deviated in the direction of the speed measuring system 22, the torsion spring 227 is further compressed, and the speed measuring wheel 222 is always kept attached to the planar structure of the trolley 6.
As shown in fig. 5, in use, the analysis system analyzes according to the data of the detection system 2, and controls the automatic anti-collision fuel truck 11 to operate, specifically as follows:
the circumference of the tachometer wheel 222 is L, and the number of turns r in unit time is calculated by the number of pulses of the linear encoder 228 in one turn and the number of pulses of the linear encoder 228 in unit time 0 I.e. the number of turns of the tachometer wheel 222 per unit time is also r 0 The moving speed v=l×r of the carriage 6 per unit time 0 ；
When the trolley runs along the standard track, i.e. no deviation occurs, the rotation center of the first rotation support column 225 is from the rotation center O of the tachometer wheel 222 2 Line segment of OO 2 Line segment OO 2 The projected line segment in the traveling direction of the carriage is marked with OH, the initial angle (line segment OO 2 Angle between the travelling direction of the trolley) O 2 OH＝θ 0 Then, the rotation center of the first rotation support column 225 is shifted to the rotation center O of the tachometer wheel 222 2 Distance of (i.e. line segment OO) 2 Length of (2)
When the bogie 6 is deviated, the rotation angle Δθ is detected by the angle encoder 229, and the rotation center of the tachometer wheel 222 is defined by O 2 Move to O 1 Location, line segment OO 1 The length of (2) is still l;
line segment OO 1 An angle theta with the traveling direction of the trolley 0 +Δθ, the amount of deviation Δl=l× (sin θ 0 -sin(θ 0 +Δθ))；
The distance from the position of the automatic anti-collision nozzle 11 to the predetermined fueling position is d, and the distance from the actual fueling position is d+Δl=d+l× (sinθ 0 -sin(θ 0 +Δθ))；
The vision sensor system 21, when the trolley wheel is monitored, the distance is D from the time when the trolley wheel runs to the actual oiling position;
according to the moving speed v of the trolley 6, the distance D when the trolley wheels run to the actual refueling positions is obtained, and the time t=D/v when the trolley wheels reach the actual refueling positions is obtained;
therefore, the automated guided fuel dispenser 11 needs to be moved a distance d+Δl during time t and set in the analysis system according to this rule to move the automated guided fuel dispenser 11 for monitoring or fueling.
From the vision sensor system 21, the moving speed of the trolley 6 is calculated from the distance between the time when the trolley wheel is initially monitored and the time when the trolley wheel is monitored to leave the field of view and the distance between the time when the trolley wheel is monitored and the distance between the time when the trolley wheel is moved, and therefore, the moving speed of the trolley 6 and the speed of the trolley 6 monitored by the speed measuring wheel 222 can be compared, whether the moving speed is within an error range or not can be judged, and whether equipment fails or not can be judged.
The above is based on the assumption that the trolley 6 is parallel to the track, and in actual operation, the trolley 6 does not always run in a direction parallel to the track, but there is also a deviation at a certain angle with the track, and in actual operation, the distance between the speed measuring system 22 and the automatic anti-collision fuel truck 11 is small, so that in this embodiment, the angle deviation is not taken into consideration, but the automatic anti-collision fuel truck 11 is adopted to adapt to the angle deviation or other deviation conditions.
As shown in fig. 6 to 9, the automatic anti-collision fuel dispenser 11 includes: one or more anti-collision mechanisms 112 connected in series, one end of each anti-collision mechanism 112 is connected to the arm of the robot 1, and the other end is connected to the oiling gun 111.
Wherein, the anti-collision mechanism 112 includes:
the shell 1121 is of a hollow cylinder 11252 structure with one end open, and a hole 11211 is formed in the center of the inner bottom surface of the shell 1121 at the other end;
the limiting disc 1122 is positioned at one end of the opening of the shell 1121 and is matched with the shell 1121 to form a cavity, a first through hole 11221 is arranged in the center of the limiting disc 1122, three or more hemispherical protrusions 11222 are arranged on the inner side surface of the limiting disc 1122, and the hemispherical protrusions 11222 are uniformly distributed in circumference by taking the central shaft of the limiting disc 1122 as the central shaft;
the reset rod 1123 is arranged in the cavity and comprises a rod body 11231 and a supporting plate 11232 arranged at one end of the rod body 11231, the outer diameter of the other end of the rod body 11231 is matched with the inner diameter of the hole 11211, so that the other end of the rod body 11231 stretches into the hole 11211 and can stretch and move along the inner wall of the hole 11211, and the upper surface of the supporting plate 11232 faces one side of the limit disk 1122;
a spring 1124 disposed in the cavity, one end of the spring 1124 contacts the inner bottom surface of the housing 1121, and the other end contacts the lower surface of the support plate 11232, so that when the return rod 1123 receives an external force and moves toward the bottom surface of the housing 1121, the spring 1124 compresses, and when the external force disappears, the spring 1124 returns to its elastic force, and the return rod 1123 is pushed back toward the limit disk 1122;
The rocker 1125 comprises an umbrella-shaped boss 11251 positioned in the cavity, one side of the umbrella-shaped boss 11251 is an umbrella-shaped surface 112511, the other side is a first surface 112512, the umbrella-shaped surface 112511 of the umbrella-shaped boss 11251 is abutted against the upper surface of the supporting plate 11232 of the reset rod 1123, a cylinder 11252 is arranged on the first surface 112512, one end of the cylinder 11252 is connected with the first surface 112512, the other end is a connecting end 112521, the cylinder passes through a first through hole 11221 of the limit disk 1122 and extends outwards, the first surface 112512 corresponds to the inner side surface of the limit disk 1122, hemispherical grooves 112513 with the number corresponding to that of hemispherical protrusions 11222 are arranged on the first surface 112512, the central shaft of the cylinder 11252 is taken as a central line, and the hemispherical grooves 112513 are uniformly distributed in a circumference.
In this way, the automatic oiling gun 111 is mounted at the connecting end 112521 of the cylinder 11252 of the rocker 1125, when the automatic oiling gun 111 is mistakenly bumped by other devices or components in the moving process of the automatic oiling gun 111 to the trolley wheel 5, the rocker 1125 is stressed, pressure is applied to the direction of the reset rod 1123, the reset rod 1123 compresses the spring 1124, the automatic oiling gun 111 has a certain free moving space, and rigid collision with other devices or components is avoided.
Further, the connecting end 112521 of the rocker 1125 is connected to a flange 1126 for connection to the automated fuel dispenser 111.
Specifically, the side wall of the connecting end 112521 of the rocker 1125 is provided with a step, the end surface of the side wall is provided with a first threaded hole 112522, one side surface of the flange 1126 is provided with a step corresponding to the connecting end 112521 of the rocker 1125, the center of the side wall is provided with a second through hole 11261, and connecting holes 11262 are formed around the side wall.
Further, the hole 11211 in the center of the bottom surface of the housing 1121 may be a through hole or a blind hole.
Further, the inner bottom surface of the shell 1121 is provided with a hollow boss 11212, the inner diameter of the hollow boss 11212 is consistent with the inner diameter of the hole 11211, and the outer diameter is consistent with the inner diameter of the spring 1124, so that the limiting effect on the spring 1124 is achieved, and the spring 1124 is prevented from deflecting in a mode.
Further, the distance between the lower surface of the support plate 11232 and the inner bottom surface of the housing 1121 is not greater than the free height of the spring 1124 and not less than the working height of the spring 1124.
Further, the diameter of the umbrella-shaped boss 11251 is smaller than the inner diameter of the corresponding position of the shell 1121, so that when the rocker 1125 is inclined and stressed, enough space is available for the umbrella-shaped boss 11251 to move, and the problem of jamming between the umbrella-shaped boss 11251 and the inner wall of the shell 1121 is avoided.
Further, a flange 112321 facing the rod body 11231 is provided around the support plate 11232 of the return rod 1123, and the inner diameter of the flange 112321 contacts the outer circumference of the spring 1124, thereby limiting the spring 1124 and preventing the spring 1124 from deflecting.
Further, a second threaded hole 11213 is provided on the open end face of the housing 1121, and a third through hole 11223 is provided at a position corresponding to the limit disk 1122 for penetrating a screw 1127 to connect the limit disk 1122 and the housing 1121.
Further, a third threaded hole 11214 is provided in the outer bottom surface of the housing 1121, which may be used for connection to other devices or structures.
The hemispherical protrusions 11222 are three in this embodiment.
When the automated fuel dispenser 111 is not impacted by an external force, as shown, the first surface 112512 of the rocker 1125 contacts the inner side of the stopper disk 1122 and the hemispherical protrusion 11222 is embedded in the hemispherical recess 112513.
In use, when the automated fuel dispenser 111 receives a collision, the rocker 1125 generally moves in two ways, as follows:
in the first case, the automatic fuel dispenser 111 receives a force in the direction of the vertical limit disk 1122, at this time, the rocker 1125 moves linearly toward the inside of the housing 1121, the semicircular protrusion of the limit disk 1122 is separated from the semicircular groove on the rocker 1125, the return lever 1123 presses the spring 1124, and when the return is performed, the spring 1124 returns, and the rocker 1125 is pushed back linearly by the return lever 1123;
In the second case, the automatic fuel dispenser 111 receives a force in a direction other than the direction of the vertical limit disk 1122, at this time, the rocker 1125 tilts, one end is a fulcrum, the other end tilts, at this time, the return lever 1123 moves linearly toward the inside of the housing 1121 under the action of the rocker 1125, the return lever 1123 presses the spring 1124, and when the return is performed, the spring 1124 returns, and the rocker 1125 is linearly pushed back by the return lever 1123.
In order to maintain the automatic fuel dispenser 111 horizontally inserted into the fuel filler of the trolley wheel 5, as shown in fig. 5, two or more of the above-mentioned anti-collision mechanisms 112 are connected in series, that is, the flange 1126 of the first anti-collision mechanism 112 is connected to the third screw hole 11214 of the outer bottom surface of the housing 1121 of the second anti-collision mechanism 112 through the screw 1127, the first anti-collision mechanism 112 is connected to the arm of the robot 1 through the third screw hole 11214, and the flange 1126 of the second anti-collision mechanism 112 is connected to the automatic fuel dispenser 111, so that when the automatic fuel dispenser 111 collides, the two anti-collision mechanisms 112 can be offset in opposite directions, thereby increasing the degree of freedom of the automatic fuel dispenser 111, and even if the direction of the automatic fuel dispenser 111 is limited, the automatic fuel dispenser 111 can maintain a limited direction without tilting when a collision occurs.
In this embodiment, the outer bottom surface of the housing 1121 is provided with a step structure at the center, the corresponding connection surface of the corresponding flange 1126 is provided with a corresponding step structure, when the flange 1126 of the first anti-collision mechanism 112 is connected with the outer bottom surface of the housing 1121 of the second anti-collision mechanism 112, the two steps are matched, and the connection holes 11262 on the flange 1126 are in one-to-one correspondence with the third threaded holes 11214 on the outer bottom surface of the housing 1121, and are respectively connected by using screws 1127.
In actual operation, the cleaning device can be provided with one set or two sets, and the cleaning device is only used for cleaning the oil filling openings of the trolley wheels before or after oiling, and can be respectively arranged on the front side and the rear side of the trolley wheels to be oiled when the cleaning device is provided with two sets, so that the cleaning device can be used for cleaning the oil filling openings of the trolley wheels before and after oiling, and the continuous cleaning of the oil filling openings can be kept.
As shown in fig. 10, the present invention further provides a technical solution: the intelligent diagnosis and fat-feeding method for the trolley wheels comprises the following steps:
s1: establishing a trolley 6 and a oiling database of trolley wheels thereof;
s2: dynamically positioning trolley wheels, analyzing oiling data of the positioned trolley wheels in an oiling database by adopting an oiling diagnosis system, judging whether oiling or monitoring is needed, if so, carrying out the next step, if not, adding the judging result into the oiling database, and returning to S2 to continuously dynamically position the next trolley wheels;
S3: dynamically positioning the oiling gun 111, and calculating the moving track and the moving speed of the oiling gun 111 according to the positioning information of the trolley wheels and the oiling gun 111 by an analysis system;
s4: moving the fuel truck nozzle 111 according to the result calculated in S3, and monitoring or fueling the positioned trolley wheels;
s5: ending the monitoring of the oiling, the flow and the pressure according to the online monitoring system of the oiling gun 111 and recording the monitoring to an oiling database;
s6: returning the oil gun 111;
s7: and (5) continuously positioning the next trolley wheel, and circulating to S2.
Wherein S2 includes:
s2.1: monitoring the moving speed of the trolley 6 by using a speed measuring system 22;
s2.2: the vision sensing system is adopted to monitor the vision entering and removing of the trolley wheels, and the speed of the trolley 6 is assisted to be judged;
s2.3: performing off-tracking monitoring of the trolley 6;
s2.4: and (3) comparing the two trolley 6 speeds with the S2.1 and the S2.2, if the speeds of the two trolley 6 speeds are within the error range, continuing the step S3, if the speeds are greater than the error range, judging that the system is wrong, and not continuing the step S3, so as to prevent the oil gun 111 and the trolley 6 from colliding, and reporting the system wrong at the moment for an operator to refer to.
In addition, before the step S4, a cleaning device is adopted to clean the wheel oil filler of the trolley.
The fueling diagnostic system in S2 comprising: and (3) according to the time interval (interval time from the last refueling), parameters such as the last refueling amount, the pressure value at the end and the like, formulating a refueling rule, and diagnosing historical refueling data and real-time refueling data in a refueling database according to the refueling rule.
Specifically, whether the current positioning trolley wheel needs to be refueled is judged through historical refueled data, whether the current positioning trolley wheel is fully filled is judged according to real-time refueled data, or the state of the current trolley wheel is monitored, and whether further maintenance is needed is judged.
The on-line monitoring system of the oiling gun 111 in the S5 comprises a pressure detection sensor for detecting the pressure of oiling of the oiling gun 111 and a flow detection sensor for detecting the flow of oiling of the oiling gun 111.
It should be noted that, the above-mentioned intelligent diagnosis fat-feeding system for trolley wheels needs to be arranged at two sides of the trolley 6, and is respectively used for intelligent diagnosis fat-feeding of trolley wheels at two sides of the trolley 6, and the intelligent diagnosis fat-feeding system is arranged according to actual working conditions in workshops, and cannot influence normal operation of the trolley 6, and the periphery of an area where the system is arranged can be protected by adopting a safety barrier.
In practical implementation, the robot work area is protected and sealed by a safety railing and a safety scanner, and is connected with a control system, if personnel or other objects enter a scanning area, the control system controls the robot to stop suddenly when the power of the robot is off, so that the safety of equipment and personnel is ensured.
In practical implementation, the vision sensor system can monitor the states of the trolley vertical plate and the like, timely early warn the abnormal information of the monitored wheels and the vertical plate, remind the staff to check and maintain, timely early warn the abnormal speed or the abnormal deviation information monitored by the speed measuring system, and remind the staff to check and maintain.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An intelligent diagnostic fat-liquoring system for trolley wheels, comprising:
the oiling database comprises real-time data and historical data of oiling of the trolley wheels (5), comprises data of oiling time, pressure, flow and the like, collects oiling data of the diagnosis trolley wheels (5), and judges working conditions;
the automatic anti-collision oil gun (11) communicated with the oil filling pump (12) through an oil way (13) is connected to the tail end of the arm of the robot (1), and verification equipment (14) is connected between the automatic anti-collision oil gun (11) and the oil filling pump (12);
A detection system (2) comprising a vision sensor system (21) and a speed measuring system (22);
the cleaning system (3) is arranged at a position close to the trolley wheel (5) to be refueled of the trolley (6) and is used for cleaning greasy dirt, dust and the like on the oiling port of the trolley wheel (5) to be refueled;
the analysis system comprises an automatic positioning oiling judgment system and an oiling diagnosis system;
and the control system is used for controlling the automatic anti-collision oiling gun to move to the corresponding position according to the running path and the speed for monitoring or oiling according to the judgment result of the analysis system, controlling the automatic anti-collision oiling gun to move with the trolley at the same speed in the oiling process, and controlling the automatic anti-collision oiling gun to return after oiling is completed.
2. The trolley wheel intelligent diagnostic fat liquoring system as claimed in claim 1, wherein: each trolley (6) corresponding to the oiling database is provided with a unique trolley (6) number and a unique wheel number, the oiling data statistical information is established in a number identification system and is used for acquiring the oiling data statistical information of the trolley wheels (5) and uploading and storing the oiling data statistical information in the oiling database when the trolley wheels (5) are detected by the verification equipment (14).
3. The trolley wheel intelligent diagnostic fat liquoring system as claimed in claim 1, wherein: the verification equipment (14) comprises a wheel number identification device (141), a flow detection sensor, a pressure detection sensor and a control valve, wherein the wheel number identification device (141) is used for identifying trolley wheels (5) with identification marks in a next-to-next correspondence with number data in a number identification system, the flow detection sensor is used for monitoring the real-time oil outlet total amount of the automatic anti-collision oiling gun (11), namely the oiling amount of the corresponding trolley wheels (5), when the trolley wheels (5) identified by the wheel number identification device (141) are oiled, and the pressure detection sensor is used for monitoring the real-time pressure of the automatic anti-collision oiling gun (11) to the trolley wheels (5) when oiling is carried out, and the initial pressure of the trolley wheels (5) before oiling and the final pressure of the trolley wheels (5) when oiling is completed.
4. The trolley wheel intelligent diagnostic fat liquoring system as claimed in claim 1, wherein: the visual sensor system (21) is used for monitoring information of the trolley wheels (5) entering the preset positions entering and exiting the monitoring area and feeding back to the analysis system, wherein the monitoring area is overlapped with the identification area of the wheel number identification device (141).
5. The trolley wheel intelligent diagnostic fat liquoring system as claimed in claim 1, wherein: the speed measurement system (22) comprises a support (221), a speed measurement wheel (222), a first support plate (223), a second support plate (224), a first rotary support column (225), a second rotary support column (226), a torsion spring (227), a linear encoder (228) and an angle encoder (229), wherein the first support plate (223) is fixedly arranged on the support (221), the second support plate (224) is rotatably connected to the first support plate (223) through the first rotary support column (225), the torsion spring (227) is sleeved on the first rotary support column (225) between the first support plate (223) and the second support plate (224), the support arms at the upper end and the lower end of the torsion spring (227) are respectively fixed on the first support plate (223) and the second support plate (224), the angle encoder (229) is concentrically arranged on the first rotary support column (225), the second support plate (224) is far away from the first rotary support column (225) is rotatably connected to the second support column (226), and the second support column (228) is rotatably arranged at the second support column (225), and the linear encoder (222) is arranged at the lower end.
6. The trolley wheel intelligent diagnostic fat liquoring system as claimed in claim 1, wherein: the automatic anti-collision oil gun (11) comprises: one or more anti-collision mechanism (112) of establishing ties, anti-collision mechanism (112) one end is connected on the arm of robot (1), and nozzle (111) are connected to the other end, anti-collision mechanism (112) include: a shell (1121) with one end of an open hollow cylinder (11252) structure, a limit disc (1122) positioned at one end of the shell (1121) and provided with a limit disc (1123) and a spring (1124) in the shell (1121), a reset rod (1123) and a rocker (1125) which are matched with the limit disc (1122) and penetrate through the limit disc (1122) from the inside of the shell (1121) to the outside, a hole (11211) is formed in the center of the inner bottom surface of the shell (1121), the limit disc (1122) is matched with the shell (1121) to form a cavity, the center of the limit disc (1122) is provided with a first through hole (11221), the inner side surface of the limit disc (1122) is provided with three or more hemispherical bulges (11222), the center axis of the limit disc (1122) is used as a center axis, the hemispherical bulges (11222) are uniformly distributed in circumference, the reset rod (1123) comprises a rod body (11231) and a support plate (11232) arranged at one end of the rod body (11231), the other end of the rod body (11231) is contacted with the inner bottom surface (11211) of the lower end of the support plate (11231) towards the inner diameter of the lower end (11232) of the shell (1121), the other end of the lower end (11231) is contacted with the inner surface (11232) of the lower end (112) of the support plate) and the lower end (112) is contacted with the upper end (11), the rocker (1125) is including being located umbrella-shaped boss (11251) in the cavity, umbrella-shaped boss (11251) one side is umbrella-shaped face (112511), and the opposite side is first surface (112512), umbrella-shaped face (112511) are contradicted on the upper surface of backup pad (11232), be equipped with cylinder (11252) on first surface (112512), one end of cylinder (11252) connect in first surface (112512), the other end is link (112521), link (112521) pass first through-hole (11221) and extend outwards, first surface (112512) with the medial surface of limiting disc (1122) is corresponding, just first surface (112512) be equipped with hemisphere recess (112513) corresponding to hemisphere protruding (11222) quantity, with the center pin of cylinder (11252) is the center line hemisphere recess (112513) is circumference evenly distributed.
7. The intelligent diagnosis and fat-feeding method for the trolley wheels is characterized by comprising the following steps of:
s1: establishing a oiling database of the trolley (6) and the trolley wheels (5);
s2: dynamically positioning the trolley wheels (5), analyzing the oiling data of the positioned trolley wheels (5) in the oiling database by adopting an oiling diagnosis system, judging whether oiling or monitoring is needed, if so, performing the next step, if not, adding the judging result into the oiling database, and returning to S2 to continuously dynamically position the next trolley wheels (5);
s3: dynamically positioning the oiling gun (111), and calculating the moving track and the moving speed of the oiling gun (111) according to the positioning information of the trolley wheels (5) and the oiling gun (111) by an analysis system;
s4: -moving the fuel truck nozzle (111) according to the result calculated in S3, monitoring or fueling the positioned trolley wheel (5);
s5: ending the oiling, the monitoring of the flow and the pressure and recording the monitoring to the oiling database according to the online monitoring system of the oiling gun (111);
s6: the oiling gun (111) returns to the original position;
s7: and (5) continuing to position the next trolley wheel (5), and circulating to S2.
8. The method for intelligently diagnosing lipid delivery on a trolley wheel according to claim 7, wherein the method comprises the following steps of: s2 comprises the following steps:
s2.1: monitoring the moving speed of the trolley (6) by adopting a speed measuring system (22);
s2.2: monitoring the entering vision and the removing vision of the trolley wheels (5) by adopting a vision sensing system, and assisting in judging the speed of the trolley (6);
s2.3: performing a deviation monitoring of the trolley (6);
s2.4: and (3) comparing the speed of the trolley (6) with the speed of the trolley (2.1) and the speed of the trolley (2.2), continuing the step (S3) when the speed of the trolley is within the error range, and judging that the system is wrong and not continuing the step (S3) when the speed of the trolley is larger than the error range.
9. The method for intelligently diagnosing lipid delivery on a trolley wheel according to claim 7, wherein the method comprises the following steps of: before S4, the method further comprises the step of cleaning the oil filling port of the trolley wheel (5) by adopting a cleaning device.
10. The method for intelligently diagnosing lipid delivery on a trolley wheel according to claim 7, wherein the method comprises the following steps of: the online monitoring system of the oiling gun (111) in the S5 comprises the pressure detection sensor for detecting the pressure of oiling of the oiling gun (111) and the flow detection sensor for detecting the flow of oiling of the oiling gun (111).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310639193.4A CN116838921A (en) | 2023-06-01 | 2023-06-01 | Intelligent diagnosis and fat-feeding system and method for trolley wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310639193.4A CN116838921A (en) | 2023-06-01 | 2023-06-01 | Intelligent diagnosis and fat-feeding system and method for trolley wheels |
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| Publication Number | Publication Date |
|---|---|
| CN116838921A true CN116838921A (en) | 2023-10-03 |
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|---|---|---|---|
| CN202310639193.4A Pending CN116838921A (en) | 2023-06-01 | 2023-06-01 | Intelligent diagnosis and fat-feeding system and method for trolley wheels |
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| Country | Link |
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| CN (1) | CN116838921A (en) |
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- 2023-06-01 CN CN202310639193.4A patent/CN116838921A/en active Pending
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