CN106111268A - A kind of grinding chemical mechanical system of fusiformis lodicule - Google Patents

Abstract

A grinding chemical mechanical system for shuttle-shaped paddles, characterized in that it includes a grinding part and a control system. The grinding part includes a raw material hopper, a feeder, a collector, a feeding belt, a grinder, a bead separator, a Powder separator, fine powder separator, powder hopper, fan, valve and pipeline, the grinder has inlet, outlet, cylinder, main bearing, auxiliary bearing, paddle, bead, main shaft, cylinder swing belt The wheel and tube shaft gear, the main shaft rotates under the drive of the main shaft motor, and the cylinder swing pulley periodically reciprocates at a certain angle under the drive of the stepping motor.

Description

A grinding chemical machinery system for shuttle-shaped paddles

technical field

The invention belongs to grinding machinery, in particular to a grinding chemical machinery system for shuttle-shaped paddles.

Background technique

At present, the production technology of chemical grinding machinery is weak, the degree of automation of the production line is low, there are many manual operations, the process is scattered, and the working environment is poor. The problems in the production process are as follows.

The grinding process is inefficient, the grinding product is single, and the machine cannot be adjusted in a timely manner according to the needs; the degree of automatic control is low, and the manual operation efficiency of the operator is low; during the grinding process of chemicals, chemicals will generate heat, which needs to be stopped for cooling, and cannot be cooled in real time; production The adjustment and monitoring of some parameters in the process mainly rely on the monitoring of experienced operators, which makes the production information and process data inaccurate and cannot be adjusted in time.

Contents of the invention

The technical problem to be solved by the present invention is to provide a grinding chemical mechanical system for shuttle-shaped paddles, which can speed up the efficiency of grinding production, provide finished powders with different particle sizes, and realize the automation of grinding production.

In order to achieve the above object, the technical solution of the present invention is: a grinding chemical machinery system for shuttle-shaped paddles, including two parts: a grinding part and a control system. The grinding part includes a raw material hopper, a feeder, a collector, a feeding belt, a grinding Machine, bead separator, coarse powder separator, fine powder separator, powder hopper, fan, valve and pipeline, as shown in the figure, the raw material enters the collector through the feeder, and gathers with other powders and enters through the feeding belt Grinder, the grinder grinds the material to form primary processing powder, which enters the bead separator through the pipeline, separates the beads and returns them to the grinder, and the separated primary processing powder enters the coarse powder separator through the pipeline, and the size The excessively large primary processing powder is separated and enters the collector through the pipeline, the primary processing powder passing through the coarse powder separator forms the primary separation powder, and directly enters the powder hopper through the pipeline to form the final powder, or enters the fine powder separator through the pipeline , and further screen the primary separated powder to form the final powder, and return the powder that does not meet the specified size to the collector. A pneumatic pump is installed between the fine powder separator and the collector to facilitate the smooth and fast passage of the powder through the pipeline ;

Among them, the grinding machine has a material inlet, a material outlet, a cylinder, a main bearing, an auxiliary bearing, a paddle, a bead body, a main shaft, a cylinder swing pulley, and a tube shaft gear. The raw material enters the cylinder through the cylinder inlet. Inside the body, the auxiliary bearing is sleeved outside the feed inlet. The paddles in the cylinder are fixedly connected with the main shaft. The main shaft is a hollow tubular structure with multiple through holes formed on the surface. On the main shaft, the tube shaft gear is sleeved on the main shaft, the tube shaft gear meshes with the driving gear on the main shaft motor, the main shaft rotates under the drive of the main shaft motor, the cylinder swing pulley is fixedly connected with the cylinder body, and the cylinder swing pulley The belt is connected to the external stepping motor, and the cylinder swing pulley is driven by the stepping motor to periodically reciprocate at a certain angle;

The control system includes a sensor, a main controller, an execution device, a display device and a communication device. The sensor transmits the measured signal to the main controller, and the main controller processes the obtained signal and controls the execution device to perform corresponding actions, and the The corresponding parameters are displayed on the display device, the communication device is connected with the main controller, and the communication device is a wireless connection device, thereby realizing remote monitoring.

Beneficial effects of the present invention:

1. Effective processing of flour milling, and different powder materials can be processed according to requirements;

2. Increase the processing of raw materials, thereby improving the crushing efficiency;

3. Realized the control of cylinder temperature;

4. Realized fine grinding of particles;

5. Automatic control reduces the waste of efficiency and inaccurate accuracy caused by repeated revisions of manual settings;

6. Monitor the material level in real time to prevent the material level from being too high or too low.

Description of drawings

Fig. 1 is a schematic view of the structure of the grinding part of the present invention;

Fig. 2 is the structural representation of grinding machine of the present invention;

Figure 3a is a schematic diagram of paddle assembly of the present invention;

Figure 3b is a schematic diagram of the paddle distribution of the present invention

Fig. 4 is the driving schematic diagram of the spindle motor of the present invention;

The schematic diagram of the fuzzy controller of the present invention of Fig. 5;

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Embodiments of the present invention are shown with reference to FIGS. 1-5 .

A grinding chemical mechanical system for shuttle-shaped paddles, which includes two parts: a grinding part and a control system. The grinding part includes a raw material hopper, a feeder, a collector, a feeding belt, a grinder, a bead separator, and a coarse powder separator , fine powder separator, powder hopper, fan, valve and pipeline, as shown in the figure, the raw material enters the collector through the feeder, gathers with other powders and enters the grinder through the feeding belt, and the grinder grinds the material to form a primary The processed powder enters the bead separator through the pipeline, the beads are separated and returned to the grinder, the separated primary processed powder enters the coarse powder separator through the pipeline, and the oversized primary processed powder is separated and passed through the pipeline Enter the collector, the primary processed powder through the coarse powder separator forms the primary separated powder, and directly enters the powder hopper through the pipeline to form the final powder, or enters the fine powder separator through the pipeline, and further screens the primary separated powder to form the final powder and return powder that is not of the specified size to the accumulator.

Through the multi-cycle setting of the above-mentioned multiple pipelines, the effective processing of powder making is realized, and different powder materials can be processed according to requirements.

Among them, the grinding machine has a material inlet, a material outlet, a cylinder, a main bearing, an auxiliary bearing, a paddle, a bead body, a main shaft, a cylinder swing pulley, and a tube shaft gear. The raw material enters the cylinder through the cylinder inlet. Inside the body, the auxiliary bearing is sleeved outside the feed inlet. The paddles in the cylinder are fixedly connected with the main shaft. The main shaft is a hollow tubular structure with multiple through holes formed on the surface. On the main shaft, the tube shaft gear is sleeved on the main shaft, the tube shaft gear meshes with the driving gear on the main shaft motor, the main shaft rotates under the drive of the main shaft motor, the cylinder swing pulley is fixedly connected with the cylinder body, and the cylinder swing pulley The belt is connected to the external stepping motor, and the swing pulley of the cylinder is periodically reciprocated at a certain angle under the drive of the stepping motor.

In the above structure, the main shaft and the cylinder rotate at the same time, which increases the processing power of the raw material and improves the crushing efficiency compared with the previous technical solution of a single rotation of the main shaft or the cylinder.

The control system includes a sensor, a main controller, an execution device, a display device and a communication device. The sensor transmits the measured signal to the main controller, and the main controller processes the obtained signal and controls the execution device to perform corresponding actions, and the The corresponding parameters are displayed on the display device, the communication device is connected with the main controller, and the communication device is a wireless connection device, thereby realizing remote monitoring.

Further, the particle size of the raw material is above 450 microns, the particle size of the powder separated by the coarse powder separator is below 50 microns, and the particle size of the powder separated by the fine powder separator is below 1 micron.

Furthermore, the separation parameters of the fine powder separator can be adjusted.

Furthermore, the bead body is an artificial glass bead or a steel bead.

Through the setting of the separator above, the grinding equipment is suitable for the grinding and manufacture of various chemical materials with different particle size requirements, such as paint coatings, ground pigments, dyes, medicines or suspensions.

Furthermore, the barrel body has double-layer barrel walls, and the double-layer barrel walls form an accommodating chamber for accommodating cooling water. The outer barrel wall of the barrel body is provided with a cold water inlet and a waste water outlet.

The temperature control of the cylinder is realized by setting the cylinder with double-layer barrel walls and the corresponding water inlet and outlet.

Furthermore, the main shaft is driven by the main shaft motor to alternately rotate forward and reverse periodically, and the alternating period of forward and reverse rotation is the same as the reciprocating period of the cylinder swing pulley.

Furthermore, the direction of movement of the main shaft and the oscillating pulley of the barrel is opposite.

Through the above setting of the moving direction, the crushing efficiency is further improved.

Furthermore, when the main shaft rotates, the beads in the body are driven by the paddles to disperse and grind the slurry pressed into the cylinder. There are 7 paddles in total, and each paddle appears as a shuttle with small ends and a large middle. shape, two ends have teeth, the distance between the two ends of the teeth is 90cm, the width of the teeth is 10cm, and the central axis between two adjacent paddles is arranged at an angle of 60 degrees.

Due to the large gap between the paddles, large particle materials can pass through quickly, thereby preventing the blockage of the grinder, and realizing the rapid grinding of materials under the condition of high spindle motor speed.

Further, the beads are divided into large beads and small beads, the diameter of the large beads is 60 mm, and the diameter of the small beads is 20 mm.

Through the arrangement of large and small beads, the gaps between the beads can be effectively filled, which is beneficial to the grinding and generation of fine powder.

The sensors include speed sensor, speed sensor, weight sensor, temperature sensor, pressure sensor, vibration sensor, audio sensor, load estimation module, the speed sensor is installed on the feeding belt to measure the speed of the feeding belt, and the weight sensor is installed on the raw material hopper and powder The hopper is used to measure the weight of raw materials and processed powder, the temperature sensor is installed at the waste water outlet of the grinder to measure the water temperature, the pressure sensor is installed at the outlet of the grinder to measure the outlet pressure, the vibration sensor and the audio sensor are installed at the On the base of the grinder to measure the mechanical vibration signal and noise signal of the grinder, the load estimation module is set between the spindle motor and the power supply to measure the load of the motor's current and voltage, and the speed sensor is set on the spindle to measure the speed of the spindle ;

The speed sensor, weight sensor, temperature sensor, pressure sensor, vibration sensor, and audio sensor input the signal to the main controller through the sampling chip, and the load estimation module inputs the signal to the main controller through the band-pass filter;

Furthermore, to judge the material level in the barrel through mechanical vibration signal and noise signal, the specific steps are as follows:

Step 1, filter the mechanical vibration signal and the noise signal, remove the useless signal, and obtain the mechanical vibration frequency function f _z and the noise frequency function f _c ;

Step 2, calculate the sound level,

$\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 10</span>}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; lg</span>}<span\; class="notranslate">\; |</span>\frac{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; lg</span>}\mathrm{<span\; class="notranslate">\; Re</span>}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; j</span>}\mathrm{<span\; class="notranslate">\; 90</span>}}<span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; lg</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; a\&sigma;</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; d</span>}}}{{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; lg\&eta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; lg</span>}\mathrm{<span\; class="notranslate">\; d</span>}<span\; class="notranslate">\; )</span>$

In the formula, L is the sound level intensity, t is the time, _e is the base number of the natural logarithmic function, lg is the logarithmic function, F() is the impact force function between the beads and the material in the cylinder, He () is Cylinder structure response function, a is the sound level weighting coefficient, σ _rad is the sound radiation coefficient of the cylinder structure, η _s is the internal damping coefficient of the cylinder, d is the average thickness of the cylinder, and Re represents the real part of a complex number;

Step 3, drawing the curve of the sound level intensity L, and extracting the envelope signal, forming an envelope curve and performing down-sampling processing on the envelope signal, and performing data compression;

Step 4, performing low-frequency reconstruction on the compressed data to obtain a low-frequency reconstruction signal;

Step 5, pass the above-mentioned low-frequency reconstructed signal through the trained three-layer BP neural network, which is respectively 10%, 20%, 30%, 40%, 50%, 60%, 70%, and 80% of the pre-measured , 90% of the low-frequency reconstruction signal of the material level is compared, and the real-time material level information of the grinder is output.

If the material level is too low, the ball mill will work in a state of lack of material, the discharge rate will be low, and the wear of the beads and cylinder will be more serious. If the material level is too high, the discharge rate will be low, and sometimes it may even cause the problem of material blocking. Through the above method, the material level in the cylinder can be monitored in real time, so as to prevent the occurrence of the material level being too low or too high.

The execution device includes a pulley motor, a stepping motor, a spindle motor, a cold water pump, a pneumatic pump, a clutch, and a gear box. The pulley motor is connected to the pulley of the feeding belt. To adjust the feeding speed of the feeding belt, the main controller is connected to the stepping motor through a pulse generator, and the pulse generator provides a periodic pulse signal to the stepping motor to control its operation cycle and rotation angle. The main controller is connected to the spindle motor through the driver and Provide drive signals to it to adjust the power supply of the spindle motor and then adjust the load capacity of the spindle motor. The main controller is connected to the control valve on the cold water pump to control the supply pressure of cold water, thereby achieving effective cooling of the cylinder. The main controller and A pneumatic pump is connected to control the flow of powder.

The main shaft motor is connected to the gearbox through a clutch. There is a gear on the output shaft of the gearbox to mesh with the tube shaft gear on the grinder. The main controller is connected to the clutch so that the main shaft motor is disconnected from the gearbox when the load is too large. The controller is connected with the gearbox to adjust the speed and steering.

Furthermore, the pulse signal is generated by modulating a sinusoidal signal, and there are two positive and negative pulses with the same pulse width in each cycle. The main controller controls the rotation angle of the stepper motor by adjusting the pulse width. By adjusting The cycle of the pulse signal adjusts the running cycle of the stepping motor, and the main controller takes half of the cycle of the pulse signal as the cycle for adjusting the steering of the gearbox.

The display device includes a liquid crystal display and an alarm indicator. The liquid crystal display of the display device is connected to the main controller to display the data collected by each sensor and the status of each actuator. The alarm indicator is connected to the main controller to send an alarm when a fault occurs to remind the operator;

Furthermore, the fault is that the pipeline is blocked, the feeding belt stops, the clutch is separated, the water temperature of the waste water outlet is too high, and the mechanical vibration signal and noise signal are abnormal;

The main controller has a fuzzy control device. The fuzzy control device includes a differentiator, a differentiator, a fuzzy interface, an output conversion module, an inference engine, and a knowledge base. The load estimation module passes the measured load voltage of the spindle motor through a band-pass filter. The differential device is provided to the differentiator, and the differential device subtracts the set load voltage input by the operator from the measured load voltage to obtain the error value E, and the error value E passes through the differentiator to obtain the error change rate dE/dt, the error value E and the error change rate dE /dt is provided to the fuzzification interface, and fuzzy assignment is performed on the error value E and the error change rate dE/dt, and the fuzzy error value ME and the fuzzy error change value MEC, the fuzzy error value ME and the fuzzy error change value are respectively obtained MEC is provided to the inference engine, and the inference engine performs fuzzy inference on the fuzzy error value ME and the fuzzy error change value MEC according to the input and output membership degree vector values in the knowledge base and the logical inference rules to obtain the fuzzy control quantity MU, and the output quantity conversion module will The fuzzy control quantity MU is converted into the actual control quantity U, and the control power supply provides voltage to the spindle motor according to the actual control quantity U.

Among them, the process of fuzzy assignment is specifically as follows: according to the selection of language variables of the operator, the parameters PL, PB, PM, PS, ZO, NS, NM, NB, and BL respectively represent positive super large, positive large, medium, positive small, zero, Negative small, negative medium, negative large, negative super large, the corresponding fuzzy set {-n,-n+1,...,0,...,n-1,n}, n= 4;

Determine the quantization factor, k _e =n/e, wherein, k _e is the quantization factor of the error value, e is the maximum error value of the measurement, k _ec =n/ec, k _ec is the quantization factor of the error change rate, and ec is the maximum measurement error error rate of change,

If m≤k _e E≤m+1, m<n, the fuzzy error value ME is the rounded k _e E;

If k _e E<-n, the fuzzy error value ME is -n;

If k _e E > n, then the fuzzy error value ME is n;

If m≤k _ec E≤m+1, m<n, the fuzzy error change value MEC is the rounded k _ec E;

If k _ec E<-n, the fuzzy error change value MEC is -n;

If k _ec E>n, the blurring error change value MEC is n.

Furthermore, the knowledge base includes a database and a rule base,

The fuzzy membership degree vector value of the input and output variables is stored in the database. This vector value is a set of corresponding values after the input and output quantities are discretized by the corresponding domain of discourse. If the corresponding domain of discourse is continuous, it can be used as the degree of membership Function, for the input fuzzy variables, the membership function is stored in the database, and provides data to the inference engine in the fuzzy inference relationship.

There are fuzzy rules stored in the rule base. Fuzzy rules are formed on the basis of long-term accumulated experience of operators combined with expert knowledge, and are expressed by related logical vocabulary, such as if-then, else, end, and, or, etc. .

The rapid setting of the motor load can be automatically and effectively realized through fuzzy control, which reduces the waste of efficiency and inaccurate accuracy caused by repeated revisions of manual settings.

The above-mentioned embodiment is only an embodiment of the present invention, but should not be construed as limiting the scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims (10)

1. A grinding chemical mechanical system of a shuttle-shaped paddle sheet, characterized in that: it comprises two parts of a grinding part and a control system, and the grinding part comprises a raw material hopper, a feeder, a collector, a feeding belt, a grinder, and a bead separator , coarse powder separator, fine powder separator, powder hopper, fan, valve and pipeline, the raw material enters the collector through the feeder, gathers with other powder materials and enters the grinder through the feeding belt, and the grinder grinds the material to form a primary The processed powder enters the bead separator through the pipeline, the beads are separated and returned to the grinder, the separated primary processed powder enters the coarse powder separator through the pipeline, and the oversized primary processed powder is separated and passed through the pipeline Enter the collector, the primary processed powder through the coarse powder separator forms the primary separated powder, and directly enters the powder hopper through the pipeline to form the final powder, or enters the fine powder separator through the pipeline, and further screens the primary separated powder to form the final powder material, and return the powder that does not meet the specified size to the collector; Among them, the grinding machine has a material inlet, a material outlet, a cylinder, a main bearing, an auxiliary bearing, a paddle, a bead body, a main shaft, a cylinder swing pulley, and a tube shaft gear. The raw material enters the cylinder through the cylinder inlet. Inside the body, the auxiliary bearing is sleeved outside the feed inlet. The paddles in the cylinder are fixedly connected with the main shaft. The main shaft is a hollow tubular structure with multiple through holes formed on the surface. On the main shaft, the tube shaft gear is sleeved on the main shaft, the tube shaft gear meshes with the driving gear on the main shaft motor, the main shaft rotates under the drive of the main shaft motor, the cylinder swing pulley is fixedly connected with the cylinder body, and the cylinder swing pulley The belt is connected to the external stepping motor, and the cylinder swing pulley is driven by the stepping motor to periodically reciprocate at a certain angle; When the main shaft rotates, the beads in the machine body are driven by the paddles to disperse and grind the slurry pressed into the barrel. There are 7 paddles in total. Each paddle is in the shape of a shuttle with small ends and a large middle. It has teeth, the distance between the teeth at both ends is 90cm, the width of the teeth is 10cm, and the central axis between two adjacent paddles is arranged at an angle of 60 degrees; The control system includes a sensor, a main controller, an execution device, a display device and a communication device. The sensor transmits the measured signal to the main controller, and the main controller processes the obtained signal and controls the execution device to perform corresponding actions, and the The corresponding parameters are displayed on the display device, the communication device is connected with the main controller, and the communication device is a wireless connection device, thereby realizing remote monitoring. 2. The grinding chemical mechanical system of a shuttle-shaped paddle according to claim 1, characterized in that: the main shaft is driven by the main shaft motor to periodically alternate forward and reverse rotation, and the alternating period of forward and reverse rotation is the same as The reciprocating motion period of the cylinder swing pulley is the same, and the movement direction of the main shaft and the cylinder swing pulley is opposite; the beads are divided into large beads and small beads, the diameter of the large bead is 60mm, and the diameter of the small bead is 20mm. 3. the grinding chemical machinery system of a kind of shuttle paddle according to claim 1, is characterized in that: sensor comprises velocity measuring sensor, rotating speed sensor, weight sensor, temperature sensor, pressure sensor, vibration sensor, audio frequency sensor, load estimation Module, the speed measuring sensor is installed on the feeding belt to measure the speed of the feeding belt, the weight sensor is installed on the raw material hopper and powder hopper to measure the weight of raw material and processed powder, the temperature sensor is installed at the waste water outlet of the grinder to measure the water temperature, The pressure sensor is installed at the outlet of the grinder to measure the pressure at the outlet, the vibration sensor and the audio sensor are installed on the base of the grinder to measure the mechanical vibration signal and noise signal of the grinder, and the load estimation module is set on the spindle motor and Between the power supply to measure the current and voltage load of the motor, the speed sensor is set on the main shaft to measure the main shaft speed; The speed sensor, weight sensor, temperature sensor, pressure sensor, vibration sensor, and audio sensor input signals to the main controller through the sampling chip, and the load estimation module inputs the signal to the main controller through a band-pass filter. 4. A grinding chemical machinery with fuzzy control of feeding speed according to claim 3, characterized in that: the material level in the barrel is judged by mechanical vibration signals and noise signals, and the specific steps are as follows: Step 1, filter the mechanical vibration signal and the noise signal, remove the useless signal, and obtain the mechanical vibration frequency function f _z and the noise frequency function f _c ; Step 2, calculate the sound level, In the formula, L is the sound level intensity, t is the time, _e is the base number of the natural logarithmic function, lg is the logarithmic function, F() is the impact force function between the beads and the material in the cylinder, He () is Cylinder structure response function, a is the sound level weighting coefficient, σ _rad is the sound radiation coefficient of the cylinder structure, η _s is the internal damping coefficient of the cylinder, d is the average thickness of the cylinder, and Re represents the real part of a complex number; Step 3, drawing the curve of the sound level intensity L, and extracting the envelope signal, forming an envelope curve and performing down-sampling processing on the envelope signal, and performing data compression; Step 4, performing low-frequency reconstruction on the compressed data to obtain a low-frequency reconstruction signal; Step 5, pass the above-mentioned low-frequency reconstructed signal through the trained three-layer BP neural network, which is respectively 10%, 20%, 30%, 40%, 50%, 60%, 70%, and 80% of the pre-measured , 90% of the low-frequency reconstruction signal of the material level is compared, and the real-time material level information of the grinder is output. 5. The grinding chemical mechanical system of a shuttle-shaped paddle according to claim 4, wherein the actuator includes a pulley motor, a stepper motor, a spindle motor, a cold water pump, a pneumatic pump, a clutch, a gear box, The pulley motor is connected with the pulley of the feeding belt, and the main controller is connected with the pulley motor through the driving device to provide a rotational speed signal to adjust the feeding speed of the feeding belt. The main controller is connected with the stepping motor through a pulse generator, and the pulse generator sends The motor provides a periodic pulse signal to control its operation period and rotation angle. The main controller is connected to the spindle motor through the driver and provides a drive signal to it to adjust the power supply of the spindle motor and then adjust the load capacity of the spindle motor. The main controller and the cooling The control valve on the water pump is connected to control the supply pressure of cold water to achieve effective cooling of the cylinder, and the main controller is connected to the pneumatic pump to control the flow of powder. 6. The grinding chemical mechanical system of a shuttle-shaped paddle according to claim 5, characterized in that: the main shaft motor is connected with the gear box through a clutch, and the output shaft of the gear box has a gear so as to be connected with the tube shaft gear on the grinding machine Mesh with each other, the main controller is connected with the clutch so that the spindle motor is disconnected from the gearbox when the load is too large, and the main controller is connected with the gearbox to adjust the speed and steering. 7. The grinding chemical mechanical system of a shuttle-shaped paddle according to claim 6, wherein the pulse signal is generated by modulating a sinusoidal signal, and there are two positive and negative pulses with the same pulse width in each cycle. Pulse, the main controller controls the rotation angle of the stepper motor by adjusting the pulse width, and adjusts the cycle of the stepping motor by adjusting the pulse signal period. The main controller uses half of the pulse signal period as the period for adjusting the steering of the gearbox. 8. the grinding chemical machinery system of a kind of shuttle-shaped paddle sheet according to claim 1, is characterized in that: display device comprises liquid crystal display and alarm indicator, and display device liquid crystal display is connected with main controller, shows that each sensor collects Data and the state of each actuator, the alarm indicator is connected with the main controller, and is used to send an alarm to remind the operator when a fault occurs. High, the mechanical vibration signal and noise signal are abnormal. 9. the grinding chemical machinery system of a kind of shuttle paddle according to claim 8, it is characterized in that: main controller has fuzzy control device, and fuzzy control device comprises differential device, differentiator, fuzzy interface, output conversion Module, inference engine, knowledge base, and load estimation module provide the measured load voltage of the spindle motor to the differentiator through a band-pass filter, and the differentiator subtracts the set load voltage input by the operator from the measured load voltage to obtain the error The value E and the error value E get the error change rate dE/dt through the differentiator, the error value E and the error change rate dE/dt are provided to the fuzzy interface, and the error value E and the error change rate dE/dt are fuzzy assigned, respectively The fuzzy error value ME and the fuzzy error change value MEC are obtained, and the fuzzy error value ME and the fuzzy error change value MEC are provided to the inference engine. The fuzzy control variable MU is obtained by fuzzy reasoning of the error value ME and the fuzzy error change value MEC. The output conversion module converts the fuzzy control variable MU into the actual control variable U, and controls the power supply to supply voltage to the spindle motor according to the actual control variable U. 10. The grinding chemical mechanical system of a shuttle-shaped paddle according to claim 9, wherein the process of fuzzy assignment is specifically: selecting parameters PL, PB, PM, PS, ZO, NS, NM, NB, and BL respectively represent positive super large, positive large, positive middle, positive small, zero, negative small, negative middle, negative large, negative super large, and the corresponding fuzzy sets {-n,-n+1,... ....,0,...,n-1,n},n=4, Determine the quantization factor, k _e =n/e, wherein, k _e is the quantization factor of the error value, e is the maximum error value of the measurement, k _ec =n/ec, k _ec is the quantization factor of the error change rate, and ec is the maximum measurement error error rate of change, If m≤k _e E≤m+1, m<n, the fuzzy error value ME is the rounded k _e E; If k _e E<-n, the fuzzy error value ME is -n; If k _e E>n, the fuzzy error value ME is n; If m≤k _ec E≤m+1, m<n, the fuzzy error change value MEC is the rounded k _ec E; If k _ec E<-n, the fuzzy error change value MEC is -n; If k _ec E>n, the fuzzy error change value MEC is n; Knowledge base includes database and rule base, The fuzzy membership degree vector value of the input and output variables is stored in the database. This vector value is a set of corresponding values after the input and output quantities are discretized by the corresponding domain of discourse. If the corresponding domain of discourse is continuous, it can be used as the degree of membership Function, for the input fuzzy variables, the membership function is stored in the database, and provides data to the inference engine in the fuzzy inference relationship.