CN111076546A - Sintering machine material distribution control method and system - Google Patents
Sintering machine material distribution control method and system Download PDFInfo
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- CN111076546A CN111076546A CN201911374413.5A CN201911374413A CN111076546A CN 111076546 A CN111076546 A CN 111076546A CN 201911374413 A CN201911374413 A CN 201911374413A CN 111076546 A CN111076546 A CN 111076546A
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- auxiliary door
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B21/00—Open or uncovered sintering apparatus; Other heat-treatment apparatus of like construction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27M—INDEXING SCHEME RELATING TO ASPECTS OF THE CHARGES OR FURNACES, KILNS, OVENS OR RETORTS
- F27M2003/00—Type of treatment of the charge
- F27M2003/04—Sintering
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Abstract
The embodiment of the application discloses a sintering machine material distribution control method and a system, wherein the method comprises the steps of obtaining the current rotation angle of a connecting rod detected by an angle sensor or obtaining the signal state value output by a limit switch, and obtaining the first opening degree of an auxiliary door; determining whether a material block larger than a preset size threshold exists between the auxiliary door and the round roller or not according to the rotation angle or the signal state value; and if the material blocks larger than the preset size threshold exist between the auxiliary door and the round roller, adjusting the first opening degree of the auxiliary door to be a second opening degree. On one hand, the sintering machine automatically judges whether the condition of large blocks are blocked in the auxiliary door in the material distribution process, and automatically removes the large blocks according to the judgment result. The problem of the lagged nature when artifical the processing leads to the inhomogeneous of bed thickness is solved, to promoting and stable sintering finished product ore quality has very important meaning, on the other hand reduces artifical intensity of labour, improves operational environment, reduces the emergence probability of dangerous accident, improves production efficiency and economic benefits.
Description
Technical Field
The application relates to the technical field of sintering, in particular to a sintering machine material distribution control method and system.
Background
The iron ore sintering refers to sintering raw materials such as iron ore powder, coal and flux ore and the like through links such as material proportioning, primary mixing, secondary mixing, material distribution, sintering, annular cooling, screening, dust removal and the like to obtain sintered ore with sufficient strength and granularity. The material distribution link in the sintering production process flow has a crucial influence on the quality of the sinter, and if the surface of a material layer on the material distribution background vehicle is smooth and the thickness of the material layer is uniform, the whole air permeability of the material layer can be improved, and the quality of the sinter is improved.
As shown in fig. 1, in the material distribution link of the sintering machine, the material flow rate of the material bin 1 discharged to the nine-roller feeder 6 is controlled by the round-roller material distributor, and the nine-roller feeder 6 disperses and uniformly distributes the received material, so that the material layer is uniformly spread on the trolley. The prior method for controlling the discharge capacity of the circular roller distributing machine generally adjusts the flow rate of the distribution by adjusting the opening degree of a main door and an auxiliary door. The material after mixing gets into feed bin 1 of round roller cloth machine, and the discharge gate department of feed bin 1 is provided with main door 2, through the aperture that sets up main door 2, controls the discharge capacity of feed bin 1, for the further adjustment to the discharge capacity, still be equipped with behind main door 2 with main door 2 complex assist door 3, through the aperture that sets up assist door 3, the material flow of nine roller batchers 6 is finally arranged in the control. The opening degree of the sub door 3 provided therein is generally smaller than that of the main door 2. The flow of the cloth is adjusted through the main and auxiliary door control system, and the thickness of the material layer can be well controlled.
However, during the production process, some large-sized raw material blocks 5 inevitably exist in the material, and enter the main door 2 and the auxiliary door 3 through the storage bin 1. As shown in fig. 2, when the size of the raw material block 5 in the sintering raw material exceeds the current opening of the auxiliary door 3, the raw material block 5 is easily clamped between the auxiliary door 3 and the round roller 4 of the round roller distributing machine, which affects the normal outflow of the material, reduces the discharge amount, reduces the material layer thickness on the sintering pallet, and affects the quality and yield of the sintered finished ore. In order to reduce the influence of the thickness reduction of the material layer caused by the blocking of the large block materials of the auxiliary door 3 on the quality and the yield of finished ore, the situation that the blocking of the large block materials exists in the auxiliary door 3 needs to be found in time, the large block materials are rapidly discharged, and the influence of the blocking of the large block materials of the auxiliary door 3 on the production is reduced.
When assisting door 2 card big lump material in the production process at present, adopt manual processing, operating personnel takes the instrument to strike the bold material so that its discharge. However, the manual treatment has hysteresis, and when the manual treatment is introduced, the thickness of the material layer is not uniform, and the quality of the sintered ore is influenced to a certain extent.
Disclosure of Invention
The invention provides a material distribution control method and system for a sintering machine, and aims to solve the problem of hysteresis caused by manual treatment when auxiliary door clamping large blocks appear in the prior art.
In a first aspect, the invention provides a control system for distributing materials of a sintering machine, which comprises a floating plate mechanism arranged on one side of an auxiliary door, which is away from a round roller; the floating plate mechanism comprises a connecting rod and a floating plate; the connecting rod comprises an upper connecting rod and a lower connecting rod which are fixedly connected, a fulcrum of the connecting rod is rotatably connected with a supporting seat fixed at the tail end of the auxiliary door retainer plate, and the fulcrum of the connecting rod refers to the fixed connection position of the upper connecting rod and the lower connecting rod; the floating plate is fixedly connected to the tail end of the lower connecting rod, so that the material flow between the auxiliary door and the round roller generates impact force on the floating plate; the end, far away from the fulcrum, of the upper connecting rod is fixedly connected with one end of an elastic piece, the other end of the elastic piece is fixedly connected with the striker plate, and the elastic piece generates corresponding elastic force on the upper connecting rod according to the impact force applied to the floating plate; an angle sensor is arranged at the fulcrum of the connecting rod.
Furthermore, the included angle between the upper connecting rod and the lower connecting rod ranges from 90 degrees to 180 degrees.
Further, an included angle delta between the floating plate and the central axis of the lower connecting rod is smaller than 90 degrees.
Further, when the floating plate mechanism and the elastic element are in a balanced state, an xy plane coordinate system is established on a rotation plane of the floating plate mechanism by taking the center of the fulcrum as an origin of coordinates, and the elastic force applied to the upper connecting rod and the impact force applied to the lower connecting rod satisfy the following relational expression:
wherein Ft represents the elastic force applied to the upper connecting rod, Fc represents the impact force applied to the lower connecting rod, a represents the length of the upper connecting rod, b represents the length of the lower connecting rod, c represents the distance from the center of gravity of the whole floating plate mechanism to the origin of coordinates, α represents the included angle between the elastic force Ft direction of the elastic element and the y axis, β represents the included angle between the material flow impact force applied to the lower connecting rod and the central axis of the lower connecting rod, gamma represents the size of the included angle between the current lower connecting rod and the gravity of the lower connecting rod, and delta represents the included angle between the lower connecting rod and the floating plate.
In a second aspect, the present invention provides, in combination with the first aspect, a method for controlling a sintering machine burden distribution, wherein the system further comprises a controller configured to: acquiring a current rotation angle of a connecting rod detected by an angle sensor, and acquiring a first opening degree of the auxiliary door; determining whether a material block larger than a preset size threshold exists between the auxiliary door and the round roller or not according to the rotation angle; and if a material block larger than a preset size threshold value exists between the auxiliary door and the circular roller, adjusting the first opening degree of the auxiliary door to be a second opening degree, wherein the second opening degree is larger than the first opening degree.
Further, if the rotation angle is larger than a preset angle threshold, determining that a material block larger than a preset size threshold exists between the auxiliary door and the round roller; and if the rotating angle is smaller than or equal to the preset angle threshold, determining that no material block larger than the preset size threshold exists between the auxiliary door and the round roller.
Further, after the adjusting the first opening degree of the auxiliary door to the second opening degree, the method further includes: recording the execution time of the auxiliary door at a second opening degree; and if the execution time reaches the preset adjustment time, adjusting the second opening degree of the auxiliary door to be the first opening degree.
In a third aspect, the invention provides another sintering machine material distribution control system, which comprises a floating plate mechanism arranged on one side of an auxiliary door, which is away from a round roller; the floating plate mechanism comprises a connecting rod and a floating plate; the connecting rod comprises an upper connecting rod and a lower connecting rod which are fixedly connected, a fulcrum of the connecting rod is rotatably connected with a supporting seat fixed at the tail end of the auxiliary door retainer plate, and the fulcrum of the connecting rod refers to the fixed connection position of the upper connecting rod and the lower connecting rod; the floating plate is fixedly connected to the tail end of the lower connecting rod, so that material flow impact force is generated on the floating plate by material flow between the auxiliary door and the round roller; the end, far away from the fulcrum, of the upper connecting rod is fixedly connected with one end of an elastic piece, the other end of the elastic piece is fixedly connected with the striker plate, and the elastic piece generates corresponding elastic force on the upper connecting rod according to the material flow impact force on the floating plate; the system further comprises a limit switch, the upper connecting rod is located between the limit switch and the elastic piece, and a preset distance is reserved between the limit switch and the upper connecting rod.
In a fourth aspect, the present invention provides, in combination with the third aspect, a method for controlling a sintering machine burden distribution, the system further comprising a controller configured to: acquiring a signal state value output by a limit switch, and acquiring a first opening degree of the auxiliary door; determining whether a material block larger than a preset size threshold exists between the auxiliary door and the round roller or not according to the signal state value; and if a material block larger than a preset size threshold value exists between the auxiliary door and the round roller, adjusting the first opening degree of the auxiliary door to be a second opening degree, wherein the second opening degree is larger than the first opening degree.
Further, after the adjusting the first opening degree of the auxiliary door to the second opening degree, the method further includes: recording the execution time of the auxiliary door at a second opening degree; and if the execution time reaches the preset adjustment time, adjusting the second opening degree of the auxiliary door to be the first opening degree.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects: the invention provides a sintering machine material distribution control method and system. In the method, a current rotation angle of a connecting rod detected by an angle sensor or a signal state value output by a limit switch is obtained, and a first opening degree of an auxiliary door is obtained; determining whether a material block larger than a preset size threshold exists between the auxiliary door and the round roller or not according to the rotation angle or the signal state value; and if a material block larger than a preset size threshold value exists between the auxiliary door and the round roller, adjusting the first opening degree of the auxiliary door to be a second opening degree, wherein the second opening degree is larger than the first opening degree. On one hand, the sintering machine automatically judges whether the condition of large blocks are blocked in the auxiliary door in the material distribution process, and automatically removes the large blocks according to the judgment result. The problem of the lagged nature when artifical the processing leads to the inhomogeneous of bed thickness is solved, to promoting and stable sintering finished product ore quality has very important meaning, on the other hand reduces artifical intensity of labour, improves operational environment, reduces the emergence probability of dangerous accident, improves production efficiency and economic benefits.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a control system for distributing a sintering machine in the prior art;
FIG. 2 is a schematic structural diagram of a control system for distributing materials of a sintering machine in the prior art when a large block is clamped;
fig. 3 is a schematic structural diagram of an auxiliary door in a control system for distributing materials of a sintering machine disclosed in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a control system for distributing materials of a sintering machine disclosed in an embodiment of the present application;
fig. 5 is a force analysis diagram of a floating plate mechanism of a control system for distributing materials of a sintering machine disclosed in the embodiment of the present application;
fig. 6 is a schematic structural diagram of a control system for distributing materials of a sintering machine disclosed in an embodiment of the present application;
fig. 7 is a flowchart of a method for controlling the material distribution of a sintering machine according to an embodiment of the present application;
fig. 8 is a flowchart of another method for controlling the burden distribution of a sintering machine according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a control system for distributing materials of a sintering machine according to another embodiment of the present application;
FIG. 10 is a schematic view of a floating plate mechanism of a control system for distributing materials of a sintering machine according to an embodiment of the present application;
fig. 11 is a flowchart of another method for controlling the burden distribution of a sintering machine according to an embodiment of the present application;
fig. 12 is a flowchart of another method for controlling sintering machine burden distribution according to the embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
To facilitate an understanding of the above-described aspects, a detailed description of the main and auxiliary door control systems will be provided first.
The main and auxiliary door control system comprises a main door 2 and a plurality of auxiliary doors 3, wherein the main door 2 is arranged at a discharge port of the storage bin 1, the discharge port of the storage bin 1 is communicated with the main door, and the discharge amount of the storage bin 1 is controlled by setting the opening degree of the main door 2; the main door 2 is connected with a plurality of auxiliary doors 3 in a matching way, and the thickness of a material layer of the material on the sintering trolley is controlled by setting the opening of the auxiliary doors 3; the opening degree of the main door refers to the relative distance between the main door 2 and the round roller 4, and the opening degree of the auxiliary door 3 refers to the relative distance between the auxiliary door 3 and the round roller 4.
The main door 2 generally comprises two fan-shaped adjusting structures 21 connected with the stock bin 1 and a main door striker plate connected between the two fan-shaped adjusting structures 21, the two fan-shaped adjusting structures 21 are respectively positioned at two axial ends of the round roller 4, the distance between the main door striker plate and the round roller 4, namely the opening degree of the main door, is adjusted by adjusting the angles of the two fan-shaped adjusting structures 21, and when the distance between the main door striker plate and the round roller 4 is larger, the discharge amount from a discharge port of the stock bin 1 is larger; when the distance between the main door striker plate and the round roller 4 is smaller, the discharge amount from the discharge hole of the storage bin 1 is smaller.
As shown in fig. 2 and 3, the auxiliary door 3 includes a striker plate 31, an actuator 32 and a lining plate 33, one end of the striker plate 31 is hinged to a cross beam of the main door 2, the other end of the striker plate 31 is connected to the actuator 32 through a connecting member 34, the actuator 32 is used for adjusting the auxiliary opening of the auxiliary door 3, and the actuator 32 is also fixed to the cross beam of the main door. The lining plate 33 is fixedly connected with the material flushing surface of the material baffle plate 31, and the material flushing surface of the material baffle plate 31 refers to the side surface of the material baffle plate 31 facing the round roller 4. The actuating mechanism 32 drives the connecting piece 34 to move, so that the distance between the material baffle plate 31 and the round roller 4 is controlled, and when the distance between the material baffle plate 31 and the round roller 4 is larger, the discharge amount of the discharge hole of the auxiliary door 3 is larger; when the distance between the material baffle plate 31 and the round roller 4 is smaller, the discharge amount of the discharge hole of the auxiliary door 3 is smaller.
The actuator 32 may be an electric actuator, a pneumatic actuator, a hydraulic actuator, or the like, and the present application is not limited thereto.
In order to find out in time that a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4, the control system for distributing materials of the sintering machine provided by the embodiment of the application is provided.
Referring to fig. 4, fig. 4 is a schematic structural diagram illustrating a control system for distributing a sintering machine according to an embodiment of the present application. As shown in fig. 4, the control system includes: the floating plate mechanism 7 is arranged on one side of the auxiliary door 3, which is far away from the round roller 4; the floating plate mechanism 7 comprises a connecting rod and a floating plate 73; the connecting rod comprises an upper connecting rod 71 and a lower connecting rod 72 which are fixedly connected, a fulcrum of the connecting rod is rotatably connected with a supporting seat 74 fixed at the tail end of the auxiliary door retainer plate 31, and the fulcrum of the connecting rod refers to the fixed connection position of the upper connecting rod 71 and the lower connecting rod 72; the floating plate 73 is fixedly connected to the tail end of the lower connecting rod 72, so that the material flow between the auxiliary door 3 and the round roller 4 generates impact force on the floating plate 73; the end, far away from the fulcrum, of the upper connecting rod 71 is fixedly connected with one end of an elastic piece 75, the other end of the elastic piece 75 is fixedly connected with the striker plate 31, and the elastic piece 75 generates corresponding elastic force to the upper connecting rod 71 according to the impact force applied to the floating plate 73; an angle sensor 8 is arranged at the fulcrum of the connecting rod.
The working principle of the control system is as follows: the floating plate mechanism 7 is installed in cooperation with the auxiliary door 3, when no material block larger than a preset size threshold exists between the auxiliary door 3 and the circular roller 4, as shown in a region 2 in fig. 6, the material flow at the outlet of the auxiliary door 3 is large and stable, the impact force generated by the material flow on the floating plate 73 is relatively stable, at the moment, the connecting rod is also under the elastic action of the elastic piece 75, the connecting rod is in a relatively balanced state under the combined action of the impact force, the elastic force, the self gravity and the like, the corresponding rotating angle of the connecting rod is within a certain angle range, and the angle range is set as a preset angle threshold; when there is a piece of material between the auxiliary door 3 and the circular roller 4, greater than a preset size threshold, as shown by the area 1 in figure 6, the piece of material is stuck between the auxiliary door 3 and the circular roller 4, the material flow at the position of the material block is obviously reduced, the impact force generated by the material flow on the floating plate 73 is reduced, the original mechanical balance between the elasticity and the impact force of the connecting rod is lost, the elasticity of the connecting rod is greater than the impact force, under the elastic force of the elastic member 75, the upper link 71 rotates away from the elastic member 75, and since the upper link 71 and the lower link 72 are rigidly connected, therefore, the lower link 71 rotates along with the rotation of the upper link 71 with the fulcrum as the rotation center, and then the connecting rod can generate a larger rotating angle, the rotating angle of the connecting rod is detected by the angle sensor 8, whether the rotating angle detected by the angle sensor 8 meets a preset angle threshold value or not is judged, it can be determined whether a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4. Wherein, angle sensor 8 installs on the connecting rod, and is located the fulcrum department of connecting rod, and angle sensor 8 can rotate along with the connecting rod together.
It should be noted that, in order to enable the material flow to impact on the floating plate 73, the supporting seat 74 for fixing the connecting rod is disposed at the end of the auxiliary door retainer plate 31 as much as possible, wherein the supporting seat 74 may include a base and a rotating shaft connected to the base, and the fulcrum of the connecting rod is connected to the rotating shaft so that the connecting rod can rotate around the fulcrum.
It should be noted that when the link and the elastic member 75 are in a balanced state, the elastic member 75 is in a compressed state.
Preferably, the included angle between the upper connecting rod 71 and the lower connecting rod 72 ranges from 90 degrees to 180 degrees.
Preferably, the included angle δ between the floating plate 73 and the central axis of the lower link 72 is smaller than 90 °.
When the floating plate mechanism 7 and the elastic member 75 are in a balanced state, an xy plane coordinate system is established on a rotation plane of the floating plate mechanism 7 with a fulcrum center as an origin of coordinates, and the elastic force received by the upper link 71 and the impact force received by the lower link 72 satisfy the following relation:
wherein, Ft represents the elastic force received by the upper connecting rod 71, Fc represents the impact force received by the lower connecting rod 72, a represents the length of the upper connecting rod 71, b represents the length of the lower connecting rod 72, c represents the distance from the gravity center of the whole floating plate mechanism 7 to the origin of coordinates, α represents the included angle between the elastic force Ft direction of the elastic piece 75 and the y axis, β represents the included angle between the material flow impact force Fc received by the lower connecting rod 72 and the central axis of the lower connecting rod 72, gamma represents the size of the included angle between the current lower connecting rod 72 and the gravity of the lower connecting rod 72, and delta represents the included angle between the lower connecting rod 72 and the floating plate 73.
Referring to fig. 5, fig. 5 shows a stress analysis diagram of a connecting rod of a control system for distributing materials of a sintering machine according to an embodiment of the present application.
In fig. 5, an xy plane coordinate system is established on the rotation plane of the floating plate mechanism 7 with the pivot center of the link rod as the origin of coordinates, and the link rod is subjected to the elastic force Ft, the self gravity G, the impact force Fc of the material flow and the friction force f of the material flow to the floating plate, respectively.
According to the force balance principle, the stress in the X-axis direction meets the relation (1), and the stress in the Y-axis direction meets the relation (2).
Ft·Sinα+Fc·Sinβ+γ+f·Sinδ-γ＝0 (1)
Ft·Cosα+Fc·Cos(β+γ)+f·Cosδ-γ+G＝0 (2)
According to the moment balance principle, the relation (3) is satisfied.
Ft·Sinα·a+Fc·b·Cosβ+f·Sinδ-γ·b·Cosγ+G·c·Sinγ＝0 (3)
Wherein the frictional force f satisfies the relation (4).
f＝FC·μ (4)
Wherein mu is the friction coefficient between the material and the floating plate and is a constant.
From the above relations (1), (2), (3) and (4), it can be derived that, when the connecting rod is in the equilibrium state, Ft and Fc satisfy the following relations:
it should be noted that the angle γ represents an angle between the current lower link 72 and the gravity of the lower link 72, that is, an angle between the current position of the lower link 72 and the y-axis, and is measured by the angle sensor 8. The rotation angle measured by the angle sensor 8 is the angle between the current position of the lower link 72 and the y-axis.
Further, each auxiliary door 3 is provided with a plurality of floating plate mechanisms 7 at even intervals along the axial direction of the round roller 4.
As shown in fig. 6, since the auxiliary door 3 has a certain size along the axial direction of the circular roller 4, the range that each floating plate mechanism 7 can detect generally corresponds to a partial region of the auxiliary door 3, in order to detect the material flow state of the material passing through all regions of the auxiliary door 3 as much as possible, i.e. whether a material block larger than a preset size threshold exists between the auxiliary door 3 and the circular roller, a plurality of floating plate mechanisms 7 are uniformly arranged at intervals along the axial direction of the circular roller 4 on each auxiliary door 3, each floating plate mechanism 7 corresponds to one region, the plurality of floating plate mechanisms 7 complete the detection of the material flow state of the material in all regions of the auxiliary door 3, and preferably, four floating plate mechanisms 7 can be installed on each auxiliary door 3.
Above-mentioned embodiment one sets up and assists door complex kickboard mechanism 7, utilizes the size of the impact force that flows through between assisting door 3 and the round roller 4 and produce kickboard mechanism 7, makes the connecting rod keep balance or use the fulcrum to rotate as the center under the effect of elasticity, combines angle sensor to measure the size of turned angle to confirm whether there is the material piece that is greater than preset size threshold value between assisting door 3 and the round roller 4.
By using the control system for distributing sintering machine provided by the first embodiment, the second embodiment of the present application provides a method for controlling distributing sintering machine, the system used by the method further includes a controller, and the controller is connected with the angle sensor 8.
Referring to fig. 7, fig. 7 shows a workflow of a control method for distributing sintering machines according to an embodiment of the present application. The method comprises the following steps:
step 101: the current rotation angle of the connecting rod detected by the angle sensor 8 is acquired, and the first opening degree of the auxiliary door 3 is acquired.
Referring to the first embodiment, the angle sensor 8 is installed at the pivot of the connecting rod, and the angle sensor 8 detects the current rotation angle of the connecting rod in real time. The controller can acquire the current rotation angle of the connecting rod detected by the angle sensor 8 in real time. The actuator 32 is used for adjusting the auxiliary opening of the auxiliary door 3, and the controller may be connected to the actuator 32 to obtain the first opening of the auxiliary door 3. The rotation angle refers to an included angle between the current position of the connecting rod and the y axis.
Step 102: and determining whether a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4 according to the rotation angle.
According to the working principle of the control system in the first embodiment, if the rotation angle is greater than the preset angle threshold, the connecting rod is out of balance, and the material flow impact force on the connecting rod is greatly reduced, so that the material blocks greater than the preset size threshold can be determined to exist between the auxiliary door 3 and the round roller 4; if the rotation angle is smaller than or equal to the preset angle threshold, the connecting rod is basically maintained in a balanced state, the material flow impact force applied to the connecting rod is relatively stable, and therefore the fact that no material blocks larger than the preset size threshold exist between the auxiliary door 3 and the circular roller 4 can be determined.
Step 103: and if a material block larger than a preset size threshold exists between the auxiliary door 3 and the circular roller 4, adjusting the first opening degree of the auxiliary door 3 to be a second opening degree, wherein the second opening degree is larger than the first opening degree.
The second opening value can be preset in the system, if there is a material block larger than the preset size threshold between the auxiliary door 3 and the round roller 4, the controller will send a signal to the actuator 32 to instruct the actuator 32 to adjust the current first opening to the second opening, and after the actuator 32 receives the signal to adjust the opening of the auxiliary door 3, the actuator 32 adjusts the extension and contraction of the connecting member 34 to adjust the opening of the auxiliary door 3.
Step 104: and if no material block larger than a preset size threshold value exists between the auxiliary door 3 and the round roller 4, maintaining the first opening degree of the auxiliary door 3.
The material distribution of the sintering machine is controlled through the steps, on one hand, the sintering machine automatically judges that no large lump material with the size larger than the preset size threshold value exists between the auxiliary door 3 and the circular roller 4 in the material distribution process, and automatically removes the large lump material according to the judgment result. The problem of the lagged nature when artifical the processing leads to the inhomogeneous of bed thickness is solved, to promoting and stable sintering finished product ore quality has very important meaning, on the other hand reduces artifical intensity of labour, improves operational environment, reduces the emergence probability of dangerous accident, improves production efficiency and economic benefits.
Further, in order to control the discharge amount of the sub gate 3 while discharging the lump material, as shown in fig. 8, after the adjusting the first opening degree of the sub gate 3 to the second opening degree in step 103, the method further includes the steps of:
step 201: and recording the execution time of the auxiliary door 3 at the second opening degree.
Step 202: and judging whether the recorded execution time reaches a preset adjustment time.
Step 203: and if the execution time reaches the preset adjustment time, adjusting the second opening degree of the auxiliary door 3 to be the first opening degree.
In order to avoid that the auxiliary door 3 is in the second opening degree for too long time, which causes too large discharge amount passing through the auxiliary door 3, a time parameter is introduced, a preset adjustment time is set, for example, the preset adjustment time is set to be 2 seconds, when the auxiliary door 3 is adjusted to be in the second opening degree, timing is started, and the execution time of the auxiliary door 3 in the second opening degree is recorded. When the execution time of the auxiliary door 3 at the second opening degree reaches the preset adjustment time for 2 seconds, the second opening degree of the auxiliary door 3 is adjusted to the first opening degree again no matter whether the large lump material is discharged or not, so as to control the discharge amount of the large lump material passing through the auxiliary door 3.
In the next circulation process, whether a material block larger than a preset size threshold value exists between the auxiliary door 3 and the round roller 4 is judged again, if no material block larger than the preset size threshold value exists between the auxiliary door 3 and the round roller 4, the first opening degree of the auxiliary door 3 is kept, and the circulation process is ended; if a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4, adjusting the first opening degree of the auxiliary door 3 to be a second opening degree, and recording the execution time of the auxiliary door 3 at the second opening degree; and when the recorded execution time reaches the preset adjustment time, adjusting the second opening degree of the auxiliary door 3 to be the first opening degree, and thus, reciprocating and circulating the whole control process.
Further, in order to discharge the lump materials at one time, the second opening degree may be directly set to the maximum opening degree of the sub door 3.
When the aperture of supplementary door 3 is the maximum aperture, be equivalent to the material from the main door 2 with the round roller 4 between the back of flowing out, directly carry nine roller batcher 6 with the material, that is to say, do not have behind main door 2 to the effect of further adjustment control of discharge, be equivalent to only main door 2 at this moment and control the discharge, consequently, can once only discharge the bold material.
Further, when a plurality of floating plate mechanisms 7 are uniformly arranged on each auxiliary door 3 along the axial direction of the circular roller 4 at intervals, if the detection results of all the angle sensors 8 corresponding to the same auxiliary door have rotation angles larger than a preset angle threshold, step 103 is executed to adjust the first opening of the auxiliary door 3 to be a second opening, wherein the second opening is larger than the first opening; if the detection results of all the angle sensors 8 corresponding to the same auxiliary door do not have the rotation angle larger than the preset angle threshold, step 104 is executed to maintain the first opening degree of the auxiliary door 3.
In order to find out in time that a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4, the third embodiment of the application further provides a control system for distributing materials of the sintering machine.
Referring to fig. 9 and 10, fig. 9 is a schematic structural diagram illustrating a control system for distributing sintering machines according to another embodiment of the present disclosure. As shown in fig. 9 and 10, the system includes a floating plate mechanism 7 installed at a side of the sub-door 3 facing away from the round roller 4; the floating plate mechanism 7 comprises a connecting rod and a floating plate 73; the connecting rod comprises an upper connecting rod 71 and a lower connecting rod 72 which are fixedly connected, a fulcrum of the connecting rod is rotatably connected with a supporting seat 74 fixed at the tail end of the auxiliary door retainer plate 31, and the fulcrum of the connecting rod refers to the fixed connection position of the upper connecting rod 71 and the lower connecting rod 72; the floating plate 73 is fixedly connected to the end of the lower connecting rod 72, so that the material flow between the auxiliary door 3 and the round roller 4 generates material flow impact force on the floating plate 73; the end, far away from the fulcrum, of the upper connecting rod 71 is fixedly connected with one end of an elastic piece 75, the other end of the elastic piece 75 is fixedly connected with the striker plate 31, and the elastic piece 75 generates corresponding elastic force to the upper connecting rod 71 according to the material flow impact force applied to the floating plate 73; the system further comprises a limit switch 9, the upper connecting rod 71 is located between the limit switch 9 and the elastic piece 75, and a preset distance is reserved between the limit switch 9 and the upper connecting rod 71.
The control system of the present embodiment is substantially the same as that of the first embodiment, except that in the first embodiment, the angle sensor 8 is installed at the fulcrum, and then the rotation angle of the link is detected by the angle sensor 8. In this embodiment, a limit switch 9 is engaged with the floating plate mechanism, and the upper link 71 is located between the limit switch 9 and the elastic member 75. Preferably, the limit switch 9 is installed at a position to be coupled to the end of the upper link 71, for example, the end of the upper link 71 is located on the same horizontal line as the limit switch 9.
The working principle of the control system in the embodiment is as follows: when no material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4, the material flow at the outlet of the auxiliary door 3 is large and stable, the material flow generates impact force on the floating plate 73 to be relatively stable, at the moment, the connecting rod is also under the elastic action of the elastic piece 75, the connecting rod is in a relatively balanced state under the action of the impact force and the elastic force, the upper connecting rod 71 is in a non-contact state with the limit switch 9 under the control of the elastic piece 75, and the limit switch 9 is not triggered; when a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4, the material block is clamped between the auxiliary door 3 and the round roller 4, the material flow at the position where the material block is clamped is obviously reduced, the impact force generated by the material flow on the floating plate 73 is reduced, the original balance between the elastic force and the impact force applied to the connecting rod is lost, the elastic force applied to the upper connecting rod 71 is larger than the impact force, under the elastic force action of the elastic piece 75, the upper connecting rod 71 rotates towards the direction far away from the elastic piece 75, so that the upper connecting rod 71 is in a contact state with the limit switch 9, and the limit switch 9 is triggered. Therefore, whether the material blocks larger than the preset size threshold exist between the auxiliary door 3 and the round roller 4 can be determined according to whether the limit switch 9 is triggered or not.
It should be noted that, in order to enable the material flow to impact on the floating plate 73, the supporting seat 74 for fixing the connecting rod is disposed at the end of the auxiliary door retainer plate 31 as much as possible, wherein the supporting seat 74 may include a base and a rotating shaft connected to the base, and the fulcrum of the connecting rod is connected to the rotating shaft so that the connecting rod can rotate around the fulcrum.
It should be noted that when the link and the elastic member 75 are in a balanced state, the elastic member 75 is in a compressed state.
Preferably, the included angle between the upper connecting rod 71 and the lower connecting rod 72 ranges from 90 degrees to 180 degrees.
Preferably, the included angle δ between the floating plate 73 and the central axis of the lower link 72 is smaller than 90 °.
When the floating plate mechanism 7 and the elastic member 75 are in a balanced state, an xy plane coordinate system is established on a rotation plane of the floating plate mechanism 7 with a fulcrum center as an origin of coordinates, and the elastic force received by the upper link 71 and the impact force received by the lower link 72 satisfy the following relation:
wherein, Ft represents the elastic force received by the upper connecting rod 71, Fc represents the impact force received by the lower connecting rod 72, a represents the length of the upper connecting rod 71, b represents the length of the lower connecting rod 72, c represents the distance from the gravity center of the whole floating plate mechanism 7 to the origin of coordinates, α represents the included angle between the elastic force Ft direction of the elastic piece 75 and the y axis, β represents the included angle between the material flow impact force Fc received by the lower connecting rod 72 and the central axis of the lower connecting rod 72, gamma represents the size of the included angle between the current lower connecting rod 72 and the gravity of the lower connecting rod 72, and delta represents the included angle between the lower connecting rod 72 and the floating plate 73.
The method for calculating the relationship between Ft and Fc specifically refers to the description in the first embodiment, and is not repeated herein. In order to obtain the angle γ, an angle sensor may be mounted at a fulcrum of the link, and the angle γ may be detected by the angle sensor.
By using the control system for distributing sintering machines provided by the third implementation, the fourth implementation of the present application provides a method for controlling distribution of sintering machines, and the system used by the method further includes a controller, and the controller is connected with the limit switch 9.
Referring to fig. 11, fig. 11 shows a workflow of another method for controlling a sintering machine burden distribution according to an embodiment of the present application.
The method comprises the following steps:
step 301: and acquiring a signal state value output by the limit switch 9, and acquiring a first opening degree of the auxiliary door 3.
Referring to the third embodiment, the state values of the signals output by the limit switch 9 are different according to whether a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4. The signal state value includes Y ═ False or Y ═ True, which indicates that the limit switch 9 is not triggered, i.e., the upper link is not in contact with the limit switch 9; the signal state value Y ═ True indicates that the limit switch 9 is activated, i.e., the upper link is in contact with the limit switch 9. The controller is connected with the limit switch 9, can directly read the signal state value output by the limit switch 9, and can also be connected with the limit switch 9
The actuator 32 is connected to obtain a first opening of the auxiliary door 3.
Step 302: and determining whether a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4 according to the signal state value.
If the obtained signal state value is Y ═ False, it is determined that the limit switch 9 is not triggered, that is, the upper connecting rod is not in contact with the limit switch 9, it can be determined that no material block larger than the preset size threshold exists between the auxiliary door 3 and the circular roller 4; if the acquired signal state value is Y ═ True, which indicates that the limit switch 9 is triggered, i.e. the upper link is in contact with the limit switch 9, it can be determined that a material block larger than a preset size threshold exists between the auxiliary door 3 and the circular roller 4.
Step 303: and if a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4, adjusting the first opening degree of the auxiliary door 3 to be a second opening degree, wherein the second opening degree is larger than the first opening degree.
The second opening value can be preset in the system, if there is a material block larger than the preset size threshold between the auxiliary door 3 and the round roller 4, the controller will send a signal to the actuator 32 to instruct the actuator 32 to adjust the current first opening to the second opening, and after the actuator 32 receives the signal to adjust the opening of the auxiliary door 3, the actuator 32 adjusts the extension and contraction of the connecting member 34 to adjust the opening of the auxiliary door 3.
Step 304: and if no material block larger than a preset size threshold value exists between the auxiliary door 3 and the round roller 4, maintaining the first opening degree of the auxiliary door 3.
The material distribution of the sintering machine is controlled through the steps, on one hand, the sintering machine automatically judges that no large lump material with the size larger than the preset size threshold value exists between the auxiliary door 3 and the circular roller 4 in the material distribution process, and automatically removes the large lump material according to the judgment result. The problem of the lagged nature when artifical the processing leads to the inhomogeneous of bed thickness is solved, to promoting and stable sintering finished product ore quality has very important meaning, on the other hand reduces artifical intensity of labour, improves operational environment, reduces the emergence probability of dangerous accident, improves production efficiency and economic benefits.
Further, as shown in fig. 12, in order to control the discharge amount of the sub gate 3 while discharging the large lump material, after adjusting the first opening degree of the sub gate 3 to the second opening degree in step 303, the method further includes the steps of:
step 401: and recording the execution time of the auxiliary door 3 at the second opening degree.
Step 402: and judging whether the recorded execution time reaches a preset adjustment time.
Step 403: and if the execution time reaches the preset adjustment time, adjusting the second opening degree of the auxiliary door 3 to be the first opening degree.
In order to avoid that the auxiliary door 3 is in the second opening degree for too long time, which causes too large discharge amount passing through the auxiliary door 3, a time parameter is introduced, a preset adjustment time is set, for example, the preset adjustment time is set to be 2 seconds, when the auxiliary door 3 is adjusted to be in the second opening degree, timing is started, and the execution time of the auxiliary door 3 in the second opening degree is recorded. When the execution time of the auxiliary door 3 at the second opening degree reaches the preset adjustment time for 2 seconds, the second opening degree of the auxiliary door 3 is adjusted to the first opening degree again no matter whether the large lump material is discharged or not, so as to control the discharge amount of the large lump material passing through the auxiliary door 3.
In the next circulation process, whether a material block larger than a preset size threshold value exists between the auxiliary door 3 and the round roller 4 is judged again, if no material block larger than the preset size threshold value exists between the auxiliary door 3 and the round roller 4, the first opening degree of the auxiliary door 3 is kept, and the circulation process is ended; if a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller, adjusting the first opening degree of the auxiliary door 3 to be a second opening degree, and recording the execution time of the auxiliary door 3 at the second opening degree; and when the recorded execution time reaches the preset adjustment time, adjusting the second opening degree of the auxiliary door 3 to be the first opening degree, and thus, reciprocating and circulating the whole control process.
Further, in order to discharge the lump materials at one time, the second opening degree may be directly set to the maximum opening degree of the sub door 3.
When the aperture of supplementary door 3 is the maximum aperture, be equivalent to the material from the main door 2 with the round roller 4 between the back of flowing out, directly carry nine roller batcher 6 with the material, that is to say, do not have behind main door 2 to the effect of further adjustment control of discharge, be equivalent to only main door 2 at this moment and control the discharge, consequently, can once only discharge the bold material.
Further, when a plurality of floating plate mechanisms 7 are uniformly arranged on each auxiliary door 3 along the axial direction of the circular roller 4 at intervals, if a signal state value Y is True in signal state values of all limit switches corresponding to the same auxiliary door, step 303 is executed to adjust the first opening degree of the auxiliary door 3 to be a second opening degree, wherein the second opening degree is greater than the first opening degree; if the signal state value Y is not True in the signal state values corresponding to all limit switches on the same auxiliary gate, step 304 is executed to maintain the first opening degree of the auxiliary gate 3.
Corresponding to the method for controlling the material distribution of the sintering machine in the second embodiment, the embodiment of the invention also discloses a system for controlling the material distribution of the sintering machine. The control system includes:
the first acquisition module is used for acquiring the current rotating angle of the connecting rod detected by the angle sensor 8 and acquiring a first opening degree of the auxiliary door 3;
the first determining module is used for determining whether a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4 according to the rotating angle;
the first adjusting module is used for adjusting the first opening degree of the auxiliary door 3 into a second opening degree when a material block larger than a preset size threshold value exists between the auxiliary door 3 and the round roller 4, wherein the second opening degree is larger than the first opening degree.
Further, the first adjusting module comprises:
the recording module is used for recording the execution time of the auxiliary door 3 at the second opening degree;
and the adjusting submodule is used for adjusting the second opening degree of the auxiliary door to be the first opening degree when the recorded execution time reaches the preset adjusting time.
Corresponding to the method for controlling the material distribution of the sintering machine in the fourth embodiment, the embodiment of the invention also discloses a system for controlling the material distribution of the sintering machine. The control system includes:
the second acquisition module is used for acquiring a signal state value output by the limit switch 9 and acquiring a first opening degree of the auxiliary door 3;
the second determining module is used for determining whether a material block larger than a preset size threshold exists between the auxiliary door 3 and the round roller 4 according to the signal state value;
and the second adjusting module is used for adjusting the first opening degree of the auxiliary door 3 into a second opening degree when a material block larger than a preset size threshold value exists between the auxiliary door 3 and the round roller 4, wherein the second opening degree is larger than the first opening degree.
Further, the second adjusting module comprises:
the recording module is used for recording the execution time of the auxiliary door at the second opening degree;
and the adjusting submodule is used for adjusting the second opening degree of the auxiliary door to be the first opening degree when the recorded execution time reaches the preset adjusting time.
The control system for distributing the sintering machine provided by the embodiment of the invention can implement all the steps in the control method for distributing the sintering machine and obtain the same technical effect. Adopt this system can in time discover to assist the interior massive condition of card of door to in time discharge the bold automatically through adjusting 3 apertures of assisting the material flow state of recovering normal fast, with the influence that reduces material thickness homogeneity, avoided prior art, adopt artifical the defect that has the hysteresis quality.
In a specific implementation manner, the present invention further provides a computer storage medium, where the computer storage medium may store a program, and the program may include some or all of the steps in each embodiment of the method for controlling a burden distribution of a sintering machine provided by the present invention when executed. The storage medium can be a magnetic disc, an optical disc, a read-only memory English: read-only memory, for short: ROM or random access memory english: random access memory, for short: RAM, etc.
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device, such as a personal computer, a server, or a network device, to execute the method according to the embodiments or some parts of the embodiments of the present invention.
The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, as for the embodiment of the supplementary device for activated carbon in a flue gas purification device, since it is basically similar to the embodiment of the method, the description is simple, and the relevant points can be referred to the description in the embodiment of the method.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention.
Claims (10)
1. The control system for the material distribution of the sintering machine is characterized by comprising a floating plate mechanism (7) arranged on one side, away from a round roller (4), of an auxiliary door (3);
the floating plate mechanism (7) comprises a connecting rod and a floating plate (73);
the connecting rod comprises an upper connecting rod (71) and a lower connecting rod (72) which are fixedly connected, a fulcrum of the connecting rod is rotatably connected with a supporting seat (74) fixed at the tail end of the auxiliary door retainer plate (31), and the fulcrum of the connecting rod refers to the fixed connection position of the upper connecting rod (71) and the lower connecting rod (72);
the floating plate (73) is fixedly connected to the tail end of the lower connecting rod (72), so that the material flow between the auxiliary door (3) and the round roller (4) generates impact force on the floating plate (73);
the end, far away from the fulcrum, of the upper connecting rod (71) is fixedly connected with one end of an elastic piece (75), the other end of the elastic piece (75) is fixedly connected with the striker plate (31), and the elastic piece (75) generates corresponding elastic force on the upper connecting rod (71) according to impact force applied to the floating plate (73);
an angle sensor (8) is arranged at the fulcrum of the connecting rod.
2. The system according to claim 1, wherein the upper link (71) and the lower link (72) are angled in the range of 90 ° -180 °.
3. The system of claim 1, wherein an angle δ between the float plate (73) and a central axis of the lower link (72) is less than 90 °.
4. The system according to claim 1, wherein when the floating plate mechanism (7) and the elastic member (75) are in a balanced state, an xy plane coordinate system is established in a rotation plane of the floating plate mechanism (7) with a fulcrum center as a coordinate origin, and the following relation is satisfied between the elastic force applied to the upper link (71) and the impact force applied to the lower link (72):
wherein Ft represents the elastic force received by the upper connecting rod (71), Fc represents the impact force received by the lower connecting rod (72), a represents the length of the upper connecting rod (71), b represents the length of the lower connecting rod (72), c represents the distance from the gravity center of the whole floating plate mechanism (7) to the origin of coordinates, α represents the included angle between the elastic force Ft direction of the elastic piece (75) and the y axis, β represents the included angle between the material flow impact force Fc received by the lower connecting rod (72) and the central axis of the lower connecting rod (72), gamma represents the size of the included angle between the current lower connecting rod (72) and the gravity of the lower connecting rod (72), and delta represents the included angle between the lower connecting rod (72) and the floating plate (73).
5. A method of controlling a sintering machine burden distribution, characterized by using the control system of a sintering machine burden distribution of any one of claims 1 to 4, the system further comprising a controller configured to:
acquiring a current rotation angle of a connecting rod detected by an angle sensor (8) and acquiring a first opening degree of the auxiliary door (3);
determining whether a material block larger than a preset size threshold exists between the auxiliary door (3) and the round roller (4) or not according to the rotation angle;
if a material block larger than a preset size threshold exists between the auxiliary door (3) and the circular roller (4), adjusting the first opening degree of the auxiliary door (3) to be a second opening degree, wherein the second opening degree is larger than the first opening degree.
6. The method according to claim 5, characterized in that said determining, according to said angle of rotation, whether there are pieces of material between the auxiliary door (3) and the circular roller (4) greater than a preset size threshold comprises:
if the rotation angle is larger than a preset angle threshold, determining that a material block larger than a preset size threshold exists between the auxiliary door (3) and the round roller (4);
and if the rotating angle is smaller than or equal to a preset angle threshold value, determining that no material block larger than a preset size threshold value exists between the auxiliary door (3) and the round roller (4).
7. The method according to claim 5, wherein after adjusting the first opening degree of the auxiliary door (3) to the second opening degree, further comprising:
recording the execution time of the auxiliary door (3) at a second opening degree;
and if the execution time reaches the preset adjustment time, adjusting the second opening degree of the auxiliary door (3) to be the first opening degree.
8. The control system for the material distribution of the sintering machine is characterized by comprising a floating plate mechanism (7) arranged on one side, away from a round roller (4), of an auxiliary door (3);
the floating plate mechanism (7) comprises a connecting rod and a floating plate (73);
the connecting rod comprises an upper connecting rod (71) and a lower connecting rod (72) which are fixedly connected, a fulcrum of the connecting rod is rotatably connected with a supporting seat (74) fixed at the tail end of the auxiliary door retainer plate (31), and the fulcrum of the connecting rod refers to the fixed connection position of the upper connecting rod (71) and the lower connecting rod (72);
the floating plate (73) is fixedly connected to the tail end of the lower connecting rod (72), so that the material flow between the auxiliary door (3) and the round roller (4) generates material flow impact force on the floating plate (73);
the end, far away from the fulcrum, of the upper connecting rod (71) is fixedly connected with one end of an elastic piece (75), the other end of the elastic piece (75) is fixedly connected with the striker plate (31), and the elastic piece (75) generates corresponding elastic force on the upper connecting rod (71) according to the material flow impact force applied to the floating plate (73);
the system further comprises a limit switch (9), the upper connecting rod (71) is located between the limit switch (9) and the elastic piece (75), and a preset distance is reserved between the limit switch (9) and the upper connecting rod (71).
9. A method of controlling a sintering machine burden distribution, characterized by using the control system of sintering machine burden distribution of claim 8, the system further comprising a controller configured to:
acquiring a signal state value output by a limit switch (9) and acquiring a first opening degree of the auxiliary door (3);
determining whether a material block larger than a preset size threshold exists between the auxiliary door (3) and the round roller (4) or not according to the signal state value;
and if a material block larger than a preset size threshold exists between the auxiliary door (3) and the round roller (4), adjusting the first opening degree of the auxiliary door (3) to be a second opening degree, wherein the second opening degree is larger than the first opening degree.
10. The method according to claim 9, wherein after adjusting the first opening degree of the auxiliary door (3) to the second opening degree, further comprising:
recording the execution time of the auxiliary door (3) at a second opening degree;
and if the execution time reaches the preset adjustment time, adjusting the second opening degree of the auxiliary door (3) to be the first opening degree.
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