CN111426544B - Control method and system for liquid nitrogen setting time - Google Patents

Control method and system for liquid nitrogen setting time Download PDF

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Publication number
CN111426544B
CN111426544B CN202010212811.3A CN202010212811A CN111426544B CN 111426544 B CN111426544 B CN 111426544B CN 202010212811 A CN202010212811 A CN 202010212811A CN 111426544 B CN111426544 B CN 111426544B
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Prior art keywords
shaping
liquid nitrogen
mixture
liquid
tray
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CN111426544A (en
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李宗平
李从波
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Zhongye Changtian International Engineering Co Ltd
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Zhongye Changtian International Engineering Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
    • G01N1/42—Low-temperature sample treatment, e.g. cryofixation
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22B—PRODUCTION AND REFINING OF METALS; PRETREATMENT OF RAW MATERIALS
    • C22B1/00—Preliminary treatment of ores or scrap
    • C22B1/26—Cooling of roasted, sintered, or agglomerated ores
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
    • G01N1/38—Diluting, dispersing or mixing samples
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N5/00—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid
    • G01N5/04—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid by removing a component, e.g. by evaporation, and weighing the remainder
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a control method and a system for liquid nitrogen shaping time, wherein a weighing device is used for weighing a material tray to obtain empty tray quality; controlling a liquid nitrogen shaping device to carry out shaping treatment on the mixture in the material tray, pouring the shaped mixture into a screening device, and weighing the current material tray to obtain the quality of the empty material tray; and determining a setting time control index of the liquid nitrogen setting device based on the proportional relation between the empty tray mass and the empty material tray mass so as to adjust the setting time of the liquid nitrogen setting device. Therefore, the method and the system can determine the tray sticking condition of the mixture before and after liquid nitrogen shaping according to the empty tray quality and the empty material tray quality. And then according to the calculated proportion relation, executing a corresponding setting time control index to adjust the setting time of the liquid nitrogen setting device when the mixture is subjected to the next setting treatment, so that the setting time is proper, the phenomenon of sticking a disc can not occur, and further, the accuracy of the granularity detection data of the subsequent mixture is ensured.

Description

Control method and system for liquid nitrogen setting time
Technical Field
The invention relates to the field of metallurgical sintering, in particular to a method and a system for controlling liquid nitrogen setting time.
Background
In the field of metallurgical sintering, the ventilation property of a sintering machine material layer is improved, so that mineral aggregate is heated more uniformly, and the quality and yield of sintered ore are improved.
To ensure the particle size composition of the sinter mix, particle size classification is generally performed by screening methods. The sintering mixture is formed by wetting and granulating solid fuel, flux, iron ore powder and other raw materials with water, and the mixture particles are crushed and lose the original particle size under the action of strong impact force or friction force.
Therefore, in order to avoid the breakage of the sinter mix, a liquid nitrogen cooling mode can be used for rapid setting before sieving the sinter mix. However, if the setting time is not proper, the mixture is easy to solidify and dip the tray, and the accuracy of the data of the granularity composition of the mixture is affected.
Disclosure of Invention
The invention provides a control method and a control system for liquid nitrogen shaping time, which are used for solving the problem that the shaping time is unsuitable to influence the inaccurate data of the granularity composition of a mixture.
In a first aspect, the invention provides a method for controlling the setting time of liquid nitrogen, which comprises the following steps:
controlling an industrial robot to place a material tray on a weighing device, and weighing the material tray by using the weighing device to obtain empty tray quality;
the sampling device is controlled to grasp the mixture and hold the mixture in the material tray, the liquid nitrogen shaping device is controlled to shape the mixture in the material tray, and the industrial robot is controlled to pour the shaped mixture into the screening device to screen, and the weighing device is used for weighing the current material tray to obtain the quality of the empty material tray;
determining a shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture based on the proportional relation between the empty tray mass and the empty material tray mass;
and adjusting the setting time of the liquid nitrogen setting device when the mixture is subjected to the next setting treatment by using the setting time control index.
Further, the determining the shaping time control index when the liquid nitrogen shaping device shapes the mixture based on the proportional relation between the empty tray mass and the empty material tray mass comprises:
calculating the ratio of the empty tray mass to the empty material tray mass;
If the ratio is within the first parameter range, determining that the current shaping treatment result is over shaping, and determining a first shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture;
if the ratio is within the second parameter range, determining that the current shaping treatment result is over shaping, and determining a second shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture;
if the ratio is within the third parameter range, determining that the current shaping treatment result is a systematic error, and determining a third shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture.
Further, the method further comprises the following steps:
controlling an industrial robot to place a material tray containing mixed materials on a weighing device, and weighing the material tray containing the mixed materials by using the weighing device to obtain the total mass of the material tray;
determining a net weight of the material based on the empty tray mass and the total material tray mass;
after the screening device finishes the screening process, the weighing device weighs the screened mixture to obtain the net weight of the screened material;
And determining a shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture based on the proportional relation among the empty tray mass, the material net weight, the empty material tray mass and the screened material net weight.
Further, based on the proportional relation among empty tray mass, material net weight, empty material tray mass and screened material net weight, determining a shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture, comprising:
determining the net weight of the shaped material based on the empty tray mass, the net weight of the material and the empty tray mass;
calculating the ratio of the net weight of the sieved material to the net weight of the shaped material;
if the ratio is within the fourth parameter range, determining that the current shaping treatment result is insufficient in shaping, and determining a fourth shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture;
if the ratio is within a fifth parameter range, determining that the current shaping treatment result is insufficient in shaping, and determining a fifth shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture;
and if the ratio is in the sixth parameter range, determining that the current setting treatment result is a systematic error, and determining a sixth setting time control index when the liquid nitrogen setting device sets the mixture.
Further, after the control liquid nitrogen shaping device performs shaping treatment on the mixture in the material tray, the control liquid nitrogen shaping device further comprises:
after a material tray of the liquid nitrogen shaping device leaves the liquid nitrogen shaping tank, acquiring a current liquid nitrogen liquid level value of the liquid nitrogen shaping tank detected by a liquid level detection sensor;
if the current liquid nitrogen liquid level value is smaller than the lowest value of the ideal liquid level interval, detecting the starting state of the screening device;
when the screening device is in an unactuated state, the liquid nitrogen liquid supplementing tank is controlled to be opened, and liquid supplementing operation is carried out on the liquid nitrogen shaping tank.
Further, the method further comprises the following steps:
judging whether the current liquid nitrogen liquid level value reaches the highest value of an ideal liquid level interval in the liquid supplementing operation process;
and if the current liquid nitrogen liquid level value reaches the highest value of the ideal liquid level interval, controlling the liquid nitrogen liquid supplementing tank to be closed, and stopping liquid supplementing operation.
Further, the method further comprises the following steps:
if the current liquid nitrogen liquid level value does not reach the highest value of the ideal liquid level interval, counting the opening time of the liquid nitrogen liquid supplementing tank;
and if the opening time exceeds the time threshold, controlling the liquid nitrogen liquid supplementing tank to be closed, and stopping liquid supplementing operation.
In a second aspect, the present invention provides a control system for setting time of liquid nitrogen, comprising: the device comprises a controller, and an industrial robot, a sampling device, a liquid nitrogen shaping device, a screening device and a weighing device which are in communication connection with the controller;
The sampling device, the liquid nitrogen shaping device, the screening device and the weighing device are positioned around the industrial robot; the sampling device is used for grabbing the mixture; the liquid nitrogen shaping device is used for shaping the mixture; the screening device is used for screening the shaped mixture; the industrial robot is used for accommodating the mixture grabbed by the sampling device in a material tray in the liquid nitrogen shaping device, moving an empty material tray or a material tray with the mixture to the weighing device, and moving the weighed material tray with the mixture to the screening device; the weighing device is used for weighing the empty material tray and the material tray containing the mixture; the controller is configured to execute the control method of the liquid nitrogen shaping time according to the first aspect.
Further, the liquid nitrogen shaping device comprises: the device comprises a liquid nitrogen shaping tank, a material tray, a supporting tray and a material lifting mechanism; wherein, the liquid crystal display device comprises a liquid crystal display device,
the supporting disc is connected with the material lifting mechanism through a connecting rod, and the material lifting mechanism is used for driving the supporting disc to move up and down; the liquid nitrogen shaping tank is positioned at one side of the material lifting mechanism;
The material tray filled with the mixture is placed on the supporting tray and is positioned above the liquid nitrogen shaping tank, and the material tray is lowered into the liquid nitrogen shaping tank through the material lifting mechanism during shaping;
the liquid nitrogen shaping tank is internally filled with liquid nitrogen, and the material tray is provided with a liquid leakage hole which is used for improving the contact area between the mixture in the material tray and the liquid nitrogen.
Further, the bottom of the supporting disc is provided with a backflow hole, and after shaping is finished, the backflow hole is used for backflow of liquid nitrogen in the material disc into the liquid nitrogen shaping tank.
Further, the method further comprises the following steps: the liquid nitrogen liquid supplementing tank is communicated with the liquid nitrogen shaping tank through a liquid supplementing pipeline, a liquid electromagnetic valve is arranged on the liquid supplementing pipeline, and the liquid electromagnetic valve is connected with the controller and used for controlling the liquid nitrogen liquid supplementing tank to be opened and closed during liquid supplementing according to instructions of the controller.
Further, the method further comprises the following steps: a support base; the liquid nitrogen liquid supplementing tank is arranged on the supporting seat, so that the bottom of the liquid nitrogen liquid supplementing tank is higher than the upper surface of the liquid nitrogen shaping tank.
Further, the method further comprises the following steps: the liquid level detection sensor is arranged in the liquid nitrogen shaping tank and is used for detecting the real-time liquid nitrogen liquid level value of liquid nitrogen in the liquid nitrogen shaping tank.
According to the technical scheme, the liquid nitrogen shaping time control method and the liquid nitrogen shaping time control system provided by the embodiment of the invention weigh the material tray by using the weighing device to obtain the empty tray quality; the sampling device is controlled to grab the mixture and hold the mixture in the material tray, the liquid nitrogen shaping device is controlled to shape the mixture in the material tray, the shaped mixture is poured into the screening device to be screened, and the weighing device is used for weighing the current material tray to obtain the quality of the empty material tray; based on the proportional relation between the empty tray mass and the empty material tray mass, determining a setting time control index when the liquid nitrogen setting device sets the mixture, so as to adjust setting time when the liquid nitrogen setting device sets the mixture next time. Therefore, the method and the system can determine the tray dipping condition of the mixture before and after the liquid nitrogen shaping according to the mass values (empty tray mass and empty tray mass) obtained by weighing the empty trays before and after the liquid nitrogen shaping. And then according to the calculated proportional relation of the quality of the empty material trays before and after shaping, corresponding shaping time control indexes are executed to adjust the shaping time of the liquid nitrogen shaping device when the mixture is subjected to the next shaping treatment, so that the shaping time is proper, the tray sticking phenomenon can not occur, and further, the accuracy of the granularity detection data of the subsequent mixture is ensured.
Drawings
In order to more clearly illustrate the technical solution of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a control system for setting time of liquid nitrogen according to an embodiment of the present utility model;
FIG. 2 is a control block diagram of a control system for setting time of liquid nitrogen according to an embodiment of the present utility model;
fig. 3 is a schematic structural diagram of a liquid nitrogen shaping device according to an embodiment of the present utility model;
fig. 4 is a schematic structural view of a support rod according to an embodiment of the present utility model;
fig. 5 is a schematic diagram of a liquid nitrogen shaping device in a shaping state according to an embodiment of the present utility model;
FIG. 6 is a top view of a tray according to an embodiment of the present utility model;
FIG. 7 is a perspective view of a tray according to an embodiment of the present utility model;
FIG. 8 is a path diagram of a control method for setting time of liquid nitrogen according to an embodiment of the present utility model;
FIG. 9 is a flowchart of a method for determining a sizing time control indicator according to an embodiment of the present utility model;
FIG. 10 is another flow chart of a method for controlling the setting time of liquid nitrogen according to an embodiment of the present utility model;
FIG. 11 is another flowchart of a method for determining a sizing time control indicator according to an embodiment of the present invention;
FIG. 12 is a flow chart of a method for controlling the setting time of liquid nitrogen according to an embodiment of the present invention;
fig. 13 is a control block diagram of a liquid nitrogen shaping device according to an embodiment of the present invention.
Detailed Description
In the field of metallurgical sintering, when the particle size of a sintered mixture is detected, a mixture particle size detection system is generally adopted for detection. When the particle size detection system of the mixture is used for detecting the particle size, the mixture is manually sampled from a belt, screened by utilizing a plurality of sieves with different apertures (3 mm,5mm and 8 mm), and the materials of each sieve are respectively weighed after screening is finished, so that the particle size composition of the mixture is calculated. However, the mixture is easy to shatter and damage in the sieving process, so that inaccurate particle size measurement results are easy to cause; and manual screening has the problems of high labor intensity, long detection time, poor sampling stability and representativeness, untimely detection result and long delay time of guiding granularity adjustment, and is not beneficial to guiding process parameter adjustment.
Therefore, in order to solve the above problems, the embodiment of the invention provides a solution that a sampling device is used to obtain a sintered mixture sample from a belt, liquid nitrogen is used to perform rapid freezing hardening treatment on the mixture sample, so as to improve the strength of the mixture particles, and the mixture particles are not easy to shake and break in the classifying and screening process, thereby realizing accurate detection of the sintered mixture particle size.
And a liquid nitrogen cooling device for the mixture is added into the mixture granularity detection system to be used as a system for freezing, solidifying and sintering the mixture, so that the sintered mixture before sieving is cooled, solidified and the strength of the mixture is improved.
FIG. 1 is a schematic diagram of a control system for setting time of liquid nitrogen according to an embodiment of the present invention; fig. 2 is a control block diagram of a control system for setting time of liquid nitrogen according to an embodiment of the present invention.
Referring to fig. 1 and fig. 2, a control system for setting time of liquid nitrogen according to an embodiment of the present invention includes: the controller 100, and the industrial robot 200, the sampling device 500, the liquid nitrogen shaping device 300, the screening device 600, the weighing device 700, the dividing device 800 and the receiving device 900 which are in communication connection with the controller 100.
In this system, the transfer of the mixture is performed by the industrial robot 200 to improve the working efficiency, and for this purpose, the sampling device 500, the liquid nitrogen shaping device 300, the sieving device 600, and the weighing device 700 are located around the industrial robot 100. The operation of the industrial robot 200 is controlled by the controller 100, and when the industrial robot 200 is required to transfer the mixture, the controller 100 transmits a control command to the industrial robot 200, and the industrial robot 200 performs a corresponding operation according to each received control command.
The sampling device 500 is used for grabbing the mixture, and the sampling device 500 is arranged on one side of a belt conveyor, and the mixture is conveyed on the belt conveyor. The sampling device 500 grabs the mixture on the belt conveyor, then enters the material tray after entering the dividing device 800 through the chute, and at this time, the material tray is placed on the material receiving device 900 positioned at the discharge port of the dividing device 800. And then, carrying out liquid nitrogen shaping on the mixture, so as to avoid the influence on screening precision caused by crushing the mixture during screening. When the liquid nitrogen shaping is performed, the controller 100 sends a control instruction to the industrial robot 200, and the industrial robot 200 clamps a material tray containing the mixture on the material receiving device 900 and transfers the material tray to the liquid nitrogen shaping device 300 so as to perform liquid nitrogen shaping on the mixture on the material tray.
FIG. 3 is a schematic structural diagram of a liquid nitrogen shaping device provided by an embodiment of the invention. In this embodiment, the liquid nitrogen shaping device performs liquid nitrogen shaping operation on the mixture. Referring to fig. 3, the liquid nitrogen shaping apparatus includes: a liquid nitrogen shaping tank, a material tray 330, a supporting tray 340 and a material lifting mechanism 320. The liquid nitrogen shaping tank is used for shaping the mixture, the material tray 330 is used for splendid attire mixture, the supporting disk 340 is used for placing the material tray 330, the material lifting mechanism 320 can realize reciprocating for make the mixture get into the liquid nitrogen shaping tank and take out after the shaping.
In order to enable the mixture to enter the liquid nitrogen shaping tank for shaping operation, the supporting plate 340 is connected with the material lifting mechanism 320 through a connecting rod, and the material lifting mechanism 320 is used for driving the supporting plate 340 to move up and down. In this embodiment, the material lifting mechanism 320 includes: motor 321, coupling 322, lead screw 323, slide rail 324 and anchor 329.
The fixing base 329 is located at one side of the liquid nitrogen shaping tank and is used for supporting the driving mechanism. The motor 321 sets up in the upper portion of fixing base 329, and the output of motor 321 is connected with the one end of shaft coupling 322, and the other end of shaft coupling 322 is connected with the one end of lead screw 323, and shaft coupling 322 sets up along the lateral wall of fixing base 329. The slide rail 324 sets up at the lateral wall of fixing base 329 and is close to the liquid nitrogen design jar, and the bracing piece passes slide rail 324 to utilize the position of slide rail 324 location bracing piece, make the bracing piece can keep stable when reciprocate, not swing from side to side.
One end of the supporting rod is connected with the screw 323, the other end of the supporting rod is connected with the supporting disc 340, and the supporting rod plays a role in connecting the supporting disc 340 with the material lifting mechanism 320. The PLC controller 100 controls the motor 321 to start, and the motor 321 rotates and drives the screw 323 to rotate through the coupling 322. The supporting rod and the screw 323 can be connected through threads, and the screw 323 rotates to drive the supporting rod to move up and down along the screw 323, for example, the motor 321 drives the screw 323 to rotate forward, so that the supporting rod descends; the motor 321 drives the screw 323 to reversely rotate, so that the support rod ascends.
Fig. 4 is a schematic structural view of a support rod according to an embodiment of the present utility model. Referring to fig. 4, the support bar includes a slide connection block 325, a vertical bar 327, and a screw shaft housing 328. One end of a vertical rod 327 is vertically connected with the supporting disc 340, the other end of the vertical rod 327 is vertically connected with one end of the sliding rail connecting block 325, and the vertical rod 327 is parallel to the screw 323 or the sliding rail 324. The middle part of the slide rail connecting block 325 is sleeved on the slide rail 324, so that the slide rail 324 can limit the left-right swing of the slide rail connecting block 325. The other end of the slide rail connecting block 325 is provided with a screw shaft sleeve 328, and the screw shaft sleeve 328 is connected with a screw 323.
Screw threads matched with the outer surface of the screw rod 323 are arranged in the screw rod shaft sleeve 328, and the screw rod 323 rotates and is matched with the screw rod shaft sleeve 328 to drive the slide rail connecting block 325 to ascend or descend along the slide rail 324. The sliding rail connection block 325 moves up and down, so as to drive the vertical rod 327 to move up and down, and further drive the supporting disk 340 to move up and down.
The material lifting mechanism 320 is provided with a position detection device 360, and the position detection device 360 can be arranged at the joint of the coupling 322 and the screw 323. The position detecting device 360 is used for detecting whether the material lifting mechanism 320 is at the material receiving position, i.e. whether the supporting plate 340 is above the liquid nitrogen shaping tank. The position detecting device 360 sends the detected result to the controller 100, if the material lifting mechanism is detected to be located at the material receiving position, the controller 100 sends a control instruction to the industrial robot 200, and the industrial robot 200 is used for clamping the material tray 330 containing the mixture and placing the material tray on the supporting tray 340 so as to perform liquid nitrogen shaping treatment on the mixture by using the liquid nitrogen shaping tank.
When the liquid nitrogen shaping tank is used for carrying out liquid nitrogen shaping treatment on the mixture, a material tray 330 containing the mixture is placed on the supporting tray 340. The liquid nitrogen shaping tank is located one side of material lifting mechanism 320, and is located the below of supporting plate 340 for supporting plate 340 can directly descend to in the liquid nitrogen shaping tank under the drive of material lifting mechanism 320, and the mixture fully contacts with the liquid nitrogen in the liquid nitrogen shaping tank, carries out liquid nitrogen shaping treatment.
Referring again to fig. 3, the liquid nitrogen shaping tank comprises a tank body 311 and a tank cover 312, wherein liquid nitrogen is contained in the tank body 311, and the tank cover 312 is positioned at a tank opening of the tank body 311 and is connected with one end of the tank body 311. The can lid 312 is connected with the can body 311 through an automatic lid opening hinge, the automatic lid opening hinge is connected with the PLC controller 100 through a driving device, and the driving device is used for controlling the opening and closing of the automatic lid opening hinge according to the signal of the PLC controller 100.
In the liquid nitrogen shaping process using the liquid nitrogen shaping tank, the PLC controller 100 controls the automatic lid opening hinge action such that the tank lid 312 is opened, as in the unfixed state shown in fig. 3. Simultaneously, the driving motor 321 is started, and the motor 321 rotates and drives the screw 323 to rotate through the coupler 322. The screw 323 drives the slide rail connecting block 325 and the vertical rod 327 to move downwards through the screw shaft sleeve 328, and the supporting disc 340 moves downwards. And the material tray 330 containing the mixture is placed on the supporting tray 340 and is located above the liquid nitrogen shaping tank, and during shaping, the material tray 330 is lowered into the liquid nitrogen shaping tank by the material lifting mechanism 320, as shown in fig. 5, the liquid nitrogen shaping device is in a schematic diagram of shaping state.
The liquid nitrogen shaping tank is internally filled with liquid nitrogen, the mixture in the material tray 330 on the supporting tray 340 is contacted with the liquid nitrogen, and liquid nitrogen shaping treatment is carried out, so that the hardness and strength of the mixture are increased, and the phenomenon of crushing in the screening process is avoided. The mixture does not need to be immersed in the liquid nitrogen too deeply, the liquid level of the liquid nitrogen is just higher than the upper surface of the mixture, the mixture is prevented from being immersed in the liquid nitrogen too deeply, the reaction is too violent, the shaping time cannot be accurately controlled, and the conditions of insufficient shaping or excessive shaping are easy to occur.
In shaping, the cover 312 of the liquid nitrogen shaping tank needs to be opened, and if the cover 312 is opened for a long time, the liquid nitrogen in the tank 311 is easily gasified. Therefore, in order to ensure that the liquid nitrogen in the tank body 311 is not gasified when the liquid nitrogen shaping tank is in shaping operation, in this embodiment, an end cover 326 opposite to the supporting plate 340 is disposed on the supporting rod, and the end cover 326 is fixed on the vertical rod 327 and parallel to the supporting plate 340. The size of the end cover 326 is the same as the shape and size of the tank mouth of the tank body 311, so that when the material lifting mechanism 320 descends the material tray 330 into the liquid nitrogen shaping tank, the end cover 326 can cover the tank mouth of the liquid nitrogen shaping tank, and when liquid nitrogen shaping is carried out, the tank body 311 and the end cover 326 form a closed space, so that liquid nitrogen gasification is avoided.
In order to avoid the situation that the supporting plate 340 is immersed into the liquid nitrogen too deeply during shaping, so that the mixture reacts with the liquid nitrogen too strongly, in this embodiment, the distance between the supporting plate 340 and the end cover 326 is set so as to satisfy that the mixture can just be immersed into the liquid nitrogen, that is, when the supporting plate 340 is driven by the material lifting mechanism 320 to descend into the liquid nitrogen, the end cover 326 can cover the tank opening of the tank 311, and the mixture contained in the material plate 330 on the supporting plate 340 just is immersed into the liquid nitrogen.
In order to ensure that the liquid nitrogen shaping tank can fully contact the liquid nitrogen with the mixture when the liquid nitrogen shaping tank is used for shaping the mixture, the device provided by the embodiment is provided with a liquid leakage hole 331 on the material tray 330, and the liquid leakage hole 331 is used for improving the contact area between the mixture in the material tray 330 and the liquid nitrogen.
FIG. 6 is a top view of a tray according to an embodiment of the present utility model; fig. 7 is a perspective view of a tray according to an embodiment of the present utility model. Referring to fig. 6 and 7, a plurality of liquid leakage holes 331 are provided at the bottom and each side of the tray 330, and when the tray 330 is immersed in liquid nitrogen, the liquid nitrogen may enter the inner space of the tray 330 through the liquid leakage holes 331 to be fully contacted with the mixture. Meanwhile, when the liquid nitrogen shaping is finished, the material tray 330 can flow back the residual liquid nitrogen in the material tray 330 into the liquid nitrogen shaping tank through the liquid leakage hole 331 when leaving the liquid nitrogen, thereby playing the role of saving the liquid nitrogen and reducing the environmental pollution problem caused by the gasification of the liquid nitrogen.
In the mixed material granularity detection system, after the sampling device grabs the mixed material and places the mixed material on the material tray, the material tray 330 which is clamped by the industrial robot 200 and used for containing the mixed material moves to the liquid nitrogen shaping device and is placed on the supporting tray 340. To facilitate the clamping of the industrial robot 200, a clamping ear 332 is disposed on one side of the material tray 330, and the clamping ear 332 is used for clamping. In order to make the industrial robot 200 stably place the material tray 330 on the supporting tray 340 by clamping the clamping lugs 332, in this embodiment, a positioning block 333 is disposed at a bottom edge of one side of the material tray 330, and the positioning block 333 is used for fixing the material tray 330 and the supporting tray 340. The positioning block 333 may be in a protruding form, and meanwhile, a groove is disposed at a corresponding position of the supporting plate 340, so that the positioning block 333 is embedded into the groove to position the material plate 330, and the material plate 330 is stably connected with the supporting plate 340.
In order to further accelerate the backflow of the liquid nitrogen, referring to fig. 4 again, in this embodiment, a backflow hole 341 is provided at the bottom of the supporting plate 340, and after the shaping is completed, the backflow hole 341 is used to backflow the liquid nitrogen in the material plate 330 into the liquid nitrogen shaping tank. After the mixture is shaped, the material lifting mechanism 320 drives the supporting plate 340 to move upwards to leave liquid nitrogen, and the plurality of backflow holes 341 arranged at the bottom of the supporting plate 340 can enable residual liquid nitrogen in the plate to flow back into the liquid nitrogen shaping tank, so that volatilization of the liquid nitrogen is reduced, and influence of the liquid nitrogen on the environment is reduced.
After the liquid nitrogen shaping operation is performed for many times, the liquid nitrogen return in the tank body 311 is gradually reduced, so as to ensure the smooth proceeding of the shaping operation, and when the liquid nitrogen is insufficient, the liquid nitrogen shaping tank is supplemented with liquid. For this reason, the apparatus provided in this embodiment further includes: liquid nitrogen make-up tank 400. The liquid nitrogen liquid supplementing tank 400 is communicated with the liquid nitrogen shaping tank through a liquid supplementing pipeline 410, and a liquid electromagnetic valve 420 is arranged on the liquid supplementing pipeline 410 and used for controlling the opening and closing of the liquid nitrogen liquid supplementing tank 400 during liquid supplementing.
When the liquid nitrogen shaping tank needs to be supplemented with liquid nitrogen, the PLC 100 sends a control instruction to the liquid electromagnetic valve 420, so that the liquid electromagnetic valve 420 is opened, and liquid nitrogen in the liquid nitrogen supplementing tank 400 flows into the liquid nitrogen shaping tank through the liquid supplementing pipeline 410 under the action of gravity.
In order to make the liquid nitrogen liquid supplementing tank 400 realize the supplement of liquid nitrogen to the liquid nitrogen shaping tank only under the action of gravity, the device provided by the embodiment does not need other external forces, and further comprises: and a support base 430. The liquid nitrogen supply tank 400 is placed on the supporting seat 430 so that the bottom of the liquid nitrogen supply tank 400 is higher than the upper surface of the liquid nitrogen shaping tank. One end of the liquid supplementing pipeline 410 is communicated with the bottom of the liquid nitrogen liquid supplementing tank 400, the other end of the liquid supplementing pipeline is communicated with the bottom of the liquid nitrogen shaping tank, and the liquid outlet is higher than the liquid inlet, so that liquid nitrogen in the liquid nitrogen liquid supplementing tank 400 at a high position flows into the liquid nitrogen shaping tank under the self gravity, and the liquid nitrogen supplementation is realized.
The liquid supplementing process in the liquid nitrogen shaping tank triggers the time and closes the liquid level detection sensor 350 of the liquid supplementing to detect, the liquid level detection sensor 350 is arranged in the liquid nitrogen shaping tank and is positioned on the side wall of the liquid nitrogen shaping tank corresponding to the liquid level at the high value of the ideal interval, and the liquid level detection method is used for detecting the real-time liquid level value of the liquid nitrogen in the liquid nitrogen shaping tank.
After the liquid level detection sensor 350 sends the detected real-time liquid level value to the PLC controller 100, the PLC controller 100 determines that the real-time liquid level value is lower than the ideal interval low value, at this time, the PLC controller 100 generates a control instruction and sends the control instruction to the liquid electromagnetic valve 420, and opens the liquid electromagnetic valve 420, so that the liquid nitrogen in the liquid nitrogen liquid supplementing tank 400 flows into the liquid nitrogen shaping tank through the liquid supplementing pipeline 410 under the self gravity, and the liquid nitrogen supplementation is realized.
In the process of supplementing liquid nitrogen, the liquid level detection sensor 350 continuously detects the current liquid level value and sends the current liquid level value to the PLC 100, when the PLC 100 judges that the current liquid level value reaches an ideal interval high value, a control instruction is generated again to the liquid electromagnetic valve 420, the liquid electromagnetic valve 420 is closed, and the liquid nitrogen supplementing of the liquid nitrogen shaping tank is stopped.
After the shaping operation of the mixture is completed by the liquid nitrogen shaping device 300, sieving can be performed to obtain the mixture with different particle sizes. At this time, the controller 100 sends a control command to the industrial robot 200 again, the industrial robot 200 clamps a material tray (shaped) containing the mixture on the liquid nitrogen shaping device 300, and transfers the material tray to the sieving device 600, sieve trays with different particle diameters are arranged in the sieving device 600, and the sieving device 600 performs sieving treatment on the shaped mixture.
The mixture with different granularities can be obtained after sieving by the sieving device 600, and in order to determine the granularity composition, the controller 100 sends a control command to the industrial robot 200 again, the industrial robot 200 clamps the mixture with different granularities and transfers the mixture to the weighing device 700 for weighing, so that quality data with different granularities are obtained, and the granularity composition of the mixture is determined. And the weighed mixture with each granularity is transported to the original belt conveyor through a sample discarding device, so that the mixture is recycled, and the sample discarding device is arranged near the belt conveyor.
The industrial robot 200 is provided at a middle position of each device in the system and takes charge of transferring the mixture. Specifically, the industrial robot 200 receives different control instructions of the controller 100, and can be used to hold the mixture captured by the sampling device 500 in a tray in the liquid nitrogen shaping device 300, move an empty tray or a tray containing the mixture to the weighing device 700, and move the weighed tray containing the mixture to the sieving device 600.
In order to obtain accurate data when detecting the particle size composition of the mix, the mix is weighed for each stage. In this embodiment, the weighing device 700 weighs empty trays and trays containing the mixture. Specifically, the weighing device 700 weighs the empty material trays to obtain the empty tray mass; weighing a material tray containing the mixture to obtain the total mass of the material tray; after the mixture on the material tray is shaped and poured into the screening device 600, weighing the material tray at the moment to obtain the quality of the empty material tray; and weighing the sieved mixture with each granularity to obtain the net weight of the sieved material.
In the system provided in this embodiment, the controller 100 controls the operation of other devices, for example, the operation, the start-up and the shut-down of each device may be controlled, and the status of each device, for example, the start-up status, the detection data, etc. may also be obtained. In this embodiment, however, in order to accurately control the liquid nitrogen shaping time of the mixture by the liquid nitrogen shaping device, the controller 100 is configured to execute the liquid nitrogen shaping time control method described in the following embodiment.
Fig. 8 is a path diagram of a control method for setting time of liquid nitrogen according to an embodiment of the present invention. Referring to fig. 8, a method for controlling liquid nitrogen shaping time according to an embodiment of the present invention is executed by a controller 100 in a system for controlling liquid nitrogen shaping time shown in fig. 1, and includes the following steps:
s1, controlling an industrial robot to place a material tray on a weighing device, and weighing the material tray by using the weighing device to obtain empty tray quality.
In the process of detecting the particle size composition of the mixture, the mixture is usually contained by a material tray in order to facilitate the transfer of the mixture and the acquisition of weight. The net amount of mix can be determined by a difference between the weight of the tray containing the mix and the weight of the empty tray. Therefore, when the mixture is not transferred, the weight of the empty material tray can be weighed first.
To facilitate the holding of the mix, a tray is typically placed at the outlet of the sampling device 500. At this time, the controller 100 sends a control command to the industrial robot 200, and the industrial robot 200 moves to the discharge port of the sampling device 500, clamps the empty material tray, transfers the empty material tray to the weighing device 700, and weighs the empty material tray by the weighing device 700 to obtain the empty tray quality.
S2, controlling the sampling device to grab the mixture and hold the mixture in the material tray, controlling the liquid nitrogen shaping device to shape the mixture in the material tray, and controlling the industrial robot to pour the shaped mixture into the screening device to screen, and weighing the current material tray by the weighing device to obtain the quality of the empty material tray.
After the measurement of the weight of the empty material tray is completed, the mixture is grasped to carry out the detection of the granularity composition. At this time, the controller 100 sends a control command to the sampling device 500, and the sampling device 500 acts to grasp an appropriate amount of the mixture from the material conveyed on the belt conveyor, and drops into the tray on the receiving device after passing through the chute and the dividing device.
After the mixture is grabbed, the mixture is required to be subjected to liquid nitrogen shaping. At this time, the controller 100 transmits a control command to the industrial robot 200, and the industrial robot 200 transfers the material tray containing the mixture to the liquid nitrogen shaping device 300. The liquid nitrogen shaping device 300 is controlled by the controller 100 to start, and liquid nitrogen shaping is carried out on the mixture.
After completing the shaping of the liquid nitrogen, the controller 100 sends a control instruction to the industrial robot 200 again, and the industrial robot 200 transfers the shaped material tray containing the mixture to the sieving device so as to pour the mixture in the material tray into the sieving device for sieving treatment. At this time, the controller 100 again transmits a control command to the industrial robot 200 to transfer the tray from which the mixture is completely poured to the weighing device, and the weighing device 700 weighs the current tray. After the weighing device 700 finishes weighing, the controller 100 can acquire the current weighing value to obtain the empty material tray mass. The current material tray refers to an empty material tray after the mixture after the liquid nitrogen shaping is poured into the screening device, and the material tray at the moment may be stained with a little mixture.
S3, determining a shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture based on the proportional relation between the empty tray mass and the empty material tray mass.
S4, adjusting the setting time of the liquid nitrogen setting device when the mixture is subjected to the next setting treatment by using the setting time control index.
The empty tray quality and the empty material tray quality can represent the quality deficiency change condition of the mixture before and after liquid nitrogen shaping, and if the shaping time is unsuitable, the mixture can be excessively shaped or shaped insufficiently during liquid nitrogen shaping. The excessive sizing phenomenon can be represented as a material dipping disc, and the insufficient sizing phenomenon can be represented as material dipping during the subsequent screening treatment.
In this embodiment, in order to adjust the setting time of the liquid nitrogen setting device in real time, different setting time control indexes can be executed according to different phenomena of excessive setting or insufficient setting, so as to ensure rationalization of the setting time of the liquid nitrogen setting device 300 for performing liquid nitrogen setting on the mixture, and further avoid occurrence of material dipping discs or material dipping sieves.
According to the quality change of the mixture before and after the liquid nitrogen shaping of the current time, the corresponding shaping time control index is determined, and then the controller 100 executes the determined shaping time control index to finish the intelligent adjustment of the shaping time of the liquid nitrogen shaping device, so that the shaping time of the liquid nitrogen shaping device for carrying out liquid nitrogen shaping on the mixture of the next time is proper, and the phenomenon of excessive shaping or insufficient shaping is avoided.
In the embodiment, different shaping time control indexes are determined according to the proportional relation between the empty tray mass and the empty material tray mass, so that intelligent control of the shaping time of the liquid nitrogen shaping device is realized.
Fig. 9 is a flowchart of a method for determining a shaping time control index according to an embodiment of the present invention. Specifically, referring to fig. 9, determining a shaping time control index when the liquid nitrogen shaping device performs shaping treatment on the mixture based on a proportional relationship between the empty tray mass and the empty material tray mass includes:
S31, calculating the ratio of the empty tray mass to the empty material tray mass.
Since the mass comparison of the empty tray mass and the empty tray mass can determine whether the tray sticking phenomenon exists, in this embodiment, the tray sticking phenomenon is accurately determined, and the weight ratio of the trays before and after the liquid nitrogen shaping treatment is described.
The calculation formula of the ratio is as follows: θ= (W) k *-W k )/W k *；
Wherein θ is a ratio, W k Is empty disc mass, W k * Is empty material disc quality.
If the liquid nitrogen shaping treatment is carried out, the shaping time of the liquid nitrogen shaping device is unsuitable, for example, the shaping time is too long, so that the phenomenon that the material is stained with a tray can occur, namely, the mixture subjected to the liquid nitrogen shaping treatment is stained with the tray slightly, so that the empty tray is larger than the empty tray in quality. The mass loss change of the mixture after the liquid nitrogen setting treatment is characterized by the ratio.
In order to accurately adjust the setting time of the liquid nitrogen setting device, the embodiment can set three judging modes including, but not limited to, setting three parameter range values, judging which parameter range value the ratio is located in according to the calculated ratio, and further executing the corresponding setting time control index.
S32, if the ratio is in the first parameter range, determining that the current shaping treatment result is over shaping, and determining a first shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture.
In this embodiment, a first parameter range is set, for example: 0.5 to 1 percent. After calculating the ratio theta, comparing the ratio theta with a first parameter range, if the ratio theta is in the first parameter range, judging that the shaping result of the current mixture is over shaping, shaping time is too long, and a material sticking disc exists, and determining a first shaping time control index, namely T n+1 ＝T n -1。
For example, the initial setting time of the liquid nitrogen setting device is T 0 =35s, nth setting time T n . If the ratio theta of the front weight and the rear weight of the material disc is within the first parameter range after the nth mixture is shaped by liquid nitrogen, namely theta 1 Within 0.5 to 1 percent, the setting time of the liquid nitrogen setting device for the next setting treatment of the mixture is adjusted according to the first setting time control index, namely T n+1 ＝T n -1=35-1=34 s, then the next setting time is 34s.
S33, if the ratio is in the second parameter range, determining that the current shaping treatment result is over shaping, and determining a second shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture.
In this embodiment, a second parameter range is set, for example: 1 to 2 percent. After calculating the ratio theta, comparing the ratio theta with a second parameter range, if the ratio theta is in the second parameter range, judging that the shaping result of the current mixture is over shaping, shaping time is too long, and a material sticking disc exists, and determining a second shaping time control index, namely T n+1 ＝T n -2。
For example, the initial setting time of the liquid nitrogen setting device is T 0 =35s, nth setting time T n . If the ratio theta of the front weight and the rear weight of the material disc is within the second parameter range after the nth mixture is shaped by liquid nitrogen, namely theta 2 Within 1% -2%, adjusting the setting time of the liquid nitrogen setting device when the mixture is subjected to the next setting treatment according to the second setting time control index, namely T n+1 ＝T n -2＝35-2=33 s, then the next setting time is 33s.
S34, if the ratio is in the third parameter range, determining that the current shaping processing result is a systematic error, and determining a third shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the mixture.
In the present embodiment, a third parameter range is set, for example: more than or equal to 2 percent. After calculating the ratio θ, comparing the ratio θ with a third parameter range, if the ratio θ is within the third parameter range, determining that an error occurs in the current system, resetting the weighing device, and determining a third timing control index, i.e., T n+1 ＝T n And controlling the liquid nitrogen shaping device to perform the next shaping treatment on the mixture, wherein the shaping time is the same as that of the current shaping treatment.
For example, the initial setting time of the liquid nitrogen setting device is T 0 =35s, nth setting time T n . If the ratio theta of the front weight and the rear weight of the material disc is within the third parameter range after the nth mixture is shaped by liquid nitrogen, namely theta 3 More than or equal to 2 percent, according to the third shaping time control index, the shaping time when the liquid nitrogen shaping device carries out the shaping treatment of the mixture next time, namely T n+1 ＝T n =35 s, then the next setting time is 35s.
The method can be used for intelligently adjusting the setting time of the liquid nitrogen setting device when excessive setting occurs and the phenomenon of material sticking is caused. The method for adjusting the shaping time with the material screening phenomenon aims at the defect of insufficient shaping, and the weight change value of the mixture before and after screening is also needed to be utilized.
Fig. 10 is another flow chart of a control method for setting time of liquid nitrogen according to an embodiment of the present invention. For this reason, the method for controlling the liquid nitrogen shaping time provided by the embodiment of the invention, referring to fig. 10, further includes:
s51, controlling the industrial robot to place the material tray containing the mixture on a weighing device, and weighing the material tray containing the mixture by using the weighing device to obtain the total mass of the material tray.
After the mixture grabbed by the sampling device 500 is placed on the material tray, the controller 100 sends a control instruction to the industrial robot 200, the industrial robot 200 transfers the material tray containing the mixture to the weighing device 700 for weighing, and the controller 100 obtains the current weight value, namely the total mass of the material tray representing the weight of the material tray containing the mixture.
S52, determining the net weight of the material based on the empty tray mass and the total material tray mass.
The weight of the empty material tray, i.e. the empty tray mass, has been obtained in the previous embodiment. And performing difference calculation on the empty tray mass and the total material tray mass to obtain the net weight of the material. The net weight of the material can characterize the weight of the mixture grasped by the sampling device.
And S53, weighing the sieved mixture by a weighing device after the sieving device finishes the sieving process, so as to obtain the net weight of the sieved material.
After the sieving device sieves the mixture after the liquid nitrogen shaping, the controller 100 generates a control instruction and sends the control instruction to the industrial robot 200, and the mixture with different granularities and the sieve tray are respectively transferred to the weighing device 700 for weighing, so that the weight (comprising the corresponding sieve tray) of the mixture with each granularity can be obtained. And obtaining the mass of the empty sieve tray corresponding to each granularity, and calculating according to the weight of the mixture (comprising the corresponding sieve tray) and the mass of the empty sieve tray by a difference method to obtain the net weight of the mixture of each granularity. And finally, summing the net weights of the mixture with each granularity to obtain the net weight of the sieved material.
The net weight of the sieved material can be characterized as the net weight of the mixture subjected to the liquid nitrogen shaping treatment after sieving treatment. The screened screen disc may be stained with a little mixture, which can indicate that the setting time of the liquid nitrogen setting device is unsuitable, namely, the time is too short.
S54, determining a shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture based on the proportion relation among the empty tray mass, the material net weight, the empty material tray mass and the screened material net weight.
For adjusting the setting time of the liquid nitrogen setting device, in this embodiment, according to the proportional relation of empty tray quality, material net weight, empty material tray quality and screened material net weight, different setting time control indexes are determined, and intelligent adjustment of the setting time of the liquid nitrogen setting device is completed, so that the setting time of the liquid nitrogen setting device for carrying out liquid nitrogen setting on the mixture of the next time is appropriate, and the phenomenon of insufficient setting is avoided.
In the embodiment, different shaping time control indexes are determined according to the proportional relation among empty tray mass, material net weight, empty material tray mass and screened material net weight, so that intelligent control of shaping time of the liquid nitrogen shaping device is realized.
Fig. 11 is another flowchart of a method for determining a shaping time control indicator according to an embodiment of the present invention.
Specifically, referring to fig. 11, determining a setting time control index when the liquid nitrogen setting device sets the mixture based on a proportional relationship of empty tray mass, net weight of material, empty tray mass and net weight of material after sieving, includes:
s541, determining the net weight of the shaped material based on the empty tray mass, the net weight of the material and the empty tray mass.
According to the method provided by the embodiment, corresponding shaping time control indexes are determined according to the proportion relation between the net weight of the sieved mixture and the net weight of the shaped mixture.
Since the total mass of the mixture before and after the setting by liquid nitrogen should be the same, the empty disc mass (W k ) With the net weight of the material (W) i ) Should be equal to the empty tray mass (W k * ) With the net weight of the shaped material (W) Fixing device ) And is identical, i.e. W k +W i ＝W k *+W Fixing device 。
Wherein the empty disc mass (W k ) With the net weight of the material (W) i ) And used to characterize the total mass of the mix prior to setting with liquid nitrogen, empty pan mass (W k * ) With the net weight of the shaped material (W) Fixing device ) And for characterizing the total mass of the mix after setting with liquid nitrogen.
For this purpose, based on empty space Disc quality, material net weight and empty material disc quality, and the formula for determining the net weight of the shaped material is: w (W) Fixing device ＝W i +W k -W k *。
S542, calculating the ratio of the net weight of the screened material to the net weight of the shaped material.
If the phenomenon of material screening is caused, the net importance of the screened material is smaller than the net weight of the shaped material. The weight change of the mixture before and after screening can be determined by calculating the ratio of the net weight of the screened material to the net weight of the shaped material.
In this embodiment, the calculation formula of the ratio of the net weight of the sieved material to the net weight of the shaped material is as follows:
λ＝W i */W fixing device ＝W i */(W i +W k -W k *)；
Wherein lambda is the ratio, W i * The net weight of the sieved materials is obtained.
If the liquid nitrogen shaping treatment is carried out, the shaping time of the liquid nitrogen shaping device is not suitable, for example, the shaping time is insufficient, and the material is stained with a screen, namely, the mixture after the liquid nitrogen shaping treatment is stained on a screen disc slightly, so that the net weight of the screened material is smaller than that of the shaped material. The quality loss change of the mixture after screening treatment is characterized by the ratio.
In order to accurately adjust the setting time of the liquid nitrogen setting device, the embodiment can set three judging modes including, but not limited to, setting three parameter range values, judging which parameter range value the ratio is located in according to the calculated ratio, and further executing the corresponding setting time control index.
S543, if the ratio is in the fourth parameter range, determining that the current shaping treatment result is insufficient shaping, and determining a fourth shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture.
In the present embodiment, a fourth parameter range is set, for example: 99 to 99.5 percent. After calculating the ratio λ, comparing the ratio λ with a fourth parameter range if the ratio λ is within the fourth parameter rangeJudging that the shaping result of the current mixture is insufficient in shaping, the shaping time is too short, and the material is stained and sieved, and determining a fourth shaping time control index, namely T n+1 ＝T n +1。
For example, the initial setting time of the liquid nitrogen setting device is T 0 =35s, nth setting time T n . If the ratio of the front weight to the rear weight of the material disc is within the lambda parameter range after the nth mixture is subjected to sieving treatment, namely lambda 1 Within 99 to 99.5 percent, according to the fourth setting time control index, the setting time when the liquid nitrogen setting device carries out the setting treatment of the mixture next time, namely T n+1 ＝T n +1=35+1=36 s, then the next setting time is 36s.
S544, if the ratio is in the fifth parameter range, determining that the current shaping treatment result is insufficient shaping, and determining a fifth shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture.
In the present embodiment, a fifth parameter range is set, for example: 98% -99%. After calculating the ratio lambda, comparing the ratio lambda with a fifth parameter range, if the ratio lambda is in the fifth parameter range, judging that the shaping result of the current mixture is insufficient in shaping, the shaping time is too short, and the material is stained and sieved, and determining a fifth shaping time control index, namely T n+1 ＝T n +2。
For example, the initial setting time of the liquid nitrogen setting device is T 0 =35s, nth setting time T n . If the ratio of the front weight to the rear weight of the material disc is within the lambda parameter range after the nth mixture is subjected to sieving treatment, namely lambda 2 If the setting time is 98-99%, the setting time of the liquid nitrogen setting device for carrying out the next setting treatment on the mixture is adjusted according to the fifth setting time control index, namely T n+1 ＝T n +2=35+2=37 s, then the next setting time is 37s.
S545, if the ratio is in the sixth parameter range, determining that the current shaping processing result is a systematic error, and determining a sixth shaping time control index when the liquid nitrogen shaping device performs shaping processing on the mixture.
In the present embodiment, a sixth parameter range is set, for example: less than or equal to 98 percent. After calculating the ratio lambda, comparing the ratio lambda with a sixth parameter range, if the ratio lambda is within the sixth parameter range, judging that the current system is in error, resetting the weighing device, and determining a sixth setting time control index, namely T n+1 ＝T n And controlling the liquid nitrogen shaping device to perform the next shaping treatment on the mixture, wherein the shaping time is the same as that of the current shaping treatment.
For example, the initial setting time of the liquid nitrogen setting device is T 0 =35s, nth setting time T n . If the ratio of the front weight to the rear weight of the material disc is within the lambda parameter range after the nth mixture is subjected to sieving treatment, namely lambda 3 Less than or equal to 98 percent, according to the sixth setting time control index, the setting time of the liquid nitrogen setting device for carrying out the next setting treatment on the mixture, namely T n+1 ＝T n =35 s, then the next setting time is 35s.
According to the scheme, the liquid nitrogen shaping time control method provided by the embodiment of the invention can determine the tray dipping condition of the mixture before and after liquid nitrogen shaping according to the quality values (empty tray quality and empty tray quality) obtained by weighing the empty trays before and after liquid nitrogen shaping. If the setting time of the liquid nitrogen setting device is too long, excessive setting can be caused, and a material dipping disc exists. At this time, according to the different ratios of the calculated quality of the front empty material tray and the rear empty material tray, corresponding shaping time control indexes are executed to adjust the shaping time of the liquid nitrogen shaping device when the mixture is subjected to the shaping treatment next time, so that the shaping time is proper, and the tray sticking phenomenon can not occur. The method can also determine the screening situation of the mixture before and after screening according to the change of the net weight of the mixture before and after screening (the net weight of the material after shaping and the net weight of the material after screening). If the setting time of the liquid nitrogen setting device is too short, the setting is insufficient, and the material is stained and sieved. At this time, according to calculating the different ratio of net weight of the mixture before and after sieving, corresponding shaping time control indexes are executed to adjust the shaping time of the liquid nitrogen shaping device when the mixture is subjected to shaping treatment next time, so that the shaping time is proper, the phenomenon of sticking to the sieve can not occur, and further, the accuracy of the granularity detection data of the follow-up mixture is ensured.
When the liquid nitrogen shaping device carries out liquid nitrogen shaping treatment on the mixture, liquid nitrogen consumption can be caused by each shaping operation. In order to ensure the shaping effect of liquid nitrogen, the phenomenon of insufficient shaping caused by insufficient liquid nitrogen in proper shaping time is avoided. Therefore, when the liquid nitrogen in the liquid nitrogen shaping device is insufficient, the liquid nitrogen shaping device can be timely supplemented to ensure that the liquid nitrogen shaping is completed in proper shaping time, and further ensure that the granularity composition detection result of the mixture is accurate.
FIG. 12 is a flow chart of a method for controlling the setting time of liquid nitrogen according to an embodiment of the present invention; fig. 13 is a control block diagram of a liquid nitrogen shaping device according to an embodiment of the present invention.
Referring to fig. 12 and 13, after the liquid nitrogen shaping device is controlled to perform shaping treatment on the mixture in the material tray, the method provided in this embodiment may perform liquid nitrogen compensation operation on the liquid nitrogen shaping tank in the liquid nitrogen shaping device, where the liquid compensation method includes:
s61, after a material tray of the liquid nitrogen shaping device leaves the liquid nitrogen shaping tank, acquiring a current liquid nitrogen liquid level value of the liquid nitrogen shaping tank detected by a liquid level detection sensor.
After the liquid nitrogen shaping is performed, the controller 100 controls the material lifting mechanism to ascend, so that the material tray containing the mixture leaves the liquid nitrogen shaping tank. After the liquid nitrogen in the liquid nitrogen shaping tank is stable, the detection value of the liquid level detection sensor is obtained, and the current liquid nitrogen liquid level value of the liquid nitrogen shaping tank can be determined.
And S62, if the current liquid nitrogen liquid level value is smaller than the lowest value of the ideal liquid level interval, detecting the starting state of the screening device.
When the liquid level in the liquid nitrogen shaping tank drops below a certain liquid level, the liquid nitrogen shaping tank can indicate that liquid nitrogen supplementing is needed at the moment. Therefore, in this embodiment, the minimum value of the ideal liquid level interval is set, and when the current liquid nitrogen liquid level value of the liquid nitrogen shaping tank is smaller than the minimum value of the ideal liquid level interval, it is indicated that the liquid supplementing operation of the liquid nitrogen shaping tank is required.
In order to ensure smooth liquid supplementing operation, the liquid supplementing operation needs to be performed in a state that the screening device is not started, so that the vibration generated by the screening device is prevented from influencing the detection of the real-time liquid nitrogen liquid level value in the liquid nitrogen shaping tank. When the screening device is used for opening the screening, the device with larger vibration is generated in the system, and the liquid nitrogen shaping tank is closer to the screening device, so that the vibration of the screening device can drive the vibration of the liquid nitrogen shaping tank, and then the liquid level of liquid nitrogen in the liquid nitrogen shaping tank is unstable and is in a fluctuation state, so that the detection accuracy of the liquid level detection sensor is affected.
Therefore, when the liquid supplementing operation is determined to be needed for the liquid nitrogen shaping tank, whether the screening device is in the starting state or not is also detected, and the liquid supplementing operation can be continued only when the screening device is in the non-starting state.
And S63, when the screening device is in an unactuated state, controlling the liquid nitrogen liquid supplementing tank to be opened, and carrying out liquid supplementing operation on the liquid nitrogen shaping tank.
The activation state of the screening device is detected by the screening device motion detection means 610 and the detection result is sent to the controller. When the controller 100 receives the detection result that the screening device is in the non-starting state returned by the screening device motion detection device 610, a control instruction is timely generated and sent to the liquid electromagnetic valve 420, and the liquid electromagnetic valve is controlled to be opened, so that liquid nitrogen in the liquid nitrogen liquid supplementing tank enters the liquid nitrogen shaping tank through the liquid supplementing pipeline to carry out liquid supplementing operation on the liquid nitrogen shaping tank.
If the screening device is detected to be in a starting state, after the screening device finishes screening operation and stops running, the electromagnetic valve for liquid is controlled to be opened, and liquid supplementing operation is carried out on the liquid nitrogen shaping tank.
Therefore, the liquid level value of the liquid nitrogen in the liquid nitrogen shaping tank is detected in real time through the liquid level detection sensor, and when the liquid nitrogen is insufficient, the liquid nitrogen liquid supplementing tank is started in time to supplement liquid for the liquid nitrogen shaping tank, so that the liquid nitrogen shaping device can store sufficient liquid nitrogen in the liquid nitrogen shaping tank, the liquid nitrogen shaping operation of the mixture can be completed within proper shaping time, the phenomenon of insufficient liquid nitrogen shaping is avoided, and the detection result of the granularity composition of the mixture is further influenced.
To ensure that the liquid replenishment operation is stopped after sufficient liquid nitrogen is replenished, the method further comprises:
s64, judging whether the current liquid nitrogen liquid level value reaches the highest value of the ideal liquid level interval in the liquid supplementing operation process.
In the liquid supplementing operation process of the liquid nitrogen supplementing tank to the liquid nitrogen shaping tank, the liquid level detection sensor detects the liquid nitrogen level value in real time and sends the detection result to the controller. And when the controller receives a certain current liquid nitrogen liquid level value, judging whether the value reaches the highest value of the ideal liquid level interval. The highest value of the ideal liquid level interval is a control index for controlling the liquid nitrogen supplementing tank to stop liquid supplementing operation.
And S65, if the current liquid nitrogen liquid level value reaches the highest value of the ideal liquid level interval, controlling the liquid nitrogen liquid supplementing tank to be closed, and stopping liquid supplementing operation.
When the controller receives a certain current liquid nitrogen liquid level value, the value is judged to reach the highest value of an ideal liquid level interval, so that the liquid nitrogen shaping tank is filled with enough liquid nitrogen, and the liquid nitrogen supplement can be stopped. The controller sends a control instruction to the liquid electromagnetic valve to close the liquid electromagnetic valve and stop the liquid supplementing operation.
Since the total length of time for completing the liquid nitrogen sizing, sieving and weighing processes is about 5 minutes and the length of time for the liquid nitrogen sizing process is about 1 minute during the particle size composition detection of the mixture, it can be seen that there may be about 2 minutes of interval time in one flow. In order to avoid the influence on the overall detection efficiency due to overlong liquid supplementing time of the liquid nitrogen shaping device, the liquid supplementing operation needs to be completed within a time interval of 2 minutes. To this end, the method provided by the embodiment of the invention further includes:
And S66, if the current liquid nitrogen liquid level value does not reach the highest value of the ideal liquid level interval, counting the opening time of the liquid nitrogen liquid supplementing tank.
And S67, if the opening time exceeds the time threshold, controlling the liquid nitrogen liquid supplementing tank to be closed, and stopping liquid supplementing operation.
And in the liquid supplementing operation process of the liquid nitrogen liquid supplementing tank to the liquid nitrogen shaping tank, the opening time of the liquid nitrogen liquid supplementing tank is counted in real time. A time threshold is set to characterize the time interval, e.g., 2 minutes. If the opening time of the liquid nitrogen liquid supplementing tank reaches a time threshold, the liquid supplementing operation is stopped immediately even if enough liquid nitrogen is not supplemented in the liquid nitrogen shaping tank in order to avoid the follow-up detection process. At the moment, after judging that the opening time exceeds the time threshold, the controller generates a control instruction to the liquid electromagnetic valve, controls the liquid electromagnetic valve to be closed, and stops the liquid supplementing operation of the liquid nitrogen shaping tank.
It can be seen that the indexes for controlling the liquid supplementing operation of the liquid nitrogen supplementing tank to the liquid nitrogen shaping tank to stop comprise, but are not limited to, that the current liquid nitrogen liquid level value reaches the highest value of the ideal liquid level interval, or that the opening time of the liquid nitrogen supplementing tank exceeds a time threshold. In other embodiments, the index for controlling the stop of the fluid infusion operation may be set according to the actual application situation.
For example, if the current liquid nitrogen level value does not reach the maximum value of the ideal liquid level interval within a time threshold, such as 2 minutes, the replenishing operation is continued until the current liquid nitrogen level value reaches the maximum value of the ideal liquid level interval and then stops. If the current liquid nitrogen liquid level value reaches the highest value of the ideal liquid level interval, stopping the liquid supplementing operation even if the starting time is not up to 2 minutes.
Therefore, the method can control the opening and closing of the liquid nitrogen liquid supplementing tank in time when the liquid nitrogen shaping device carries out liquid nitrogen shaping on the mixture, and can finish liquid supplementing operation within a specified time on the premise of ensuring that enough liquid nitrogen is in the liquid nitrogen shaping tank, so that overtime of the liquid supplementing operation is avoided, and the subsequent flow of the mixture granularity composition detection is influenced.
In a specific implementation, the invention further provides a computer storage medium, wherein the computer storage medium can store a program, and the program can include part or all of the steps in each embodiment of the liquid nitrogen shaping time control method provided by the invention when being executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random-access memory (random access memory, RAM), or the like.
It will be apparent to those skilled in the art that the techniques of embodiments of the present invention may be implemented in software plus a necessary general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in essence or what contributes to the prior art 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, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present invention.

Claims (13)

1. The control method of the liquid nitrogen setting time is characterized by comprising the following steps of:
controlling an industrial robot to place a material tray on a weighing device, and weighing the material tray by using the weighing device to obtain empty tray quality;
the sampling device is controlled to grasp the mixture and hold the mixture in the material tray, the liquid nitrogen shaping device is controlled to shape the mixture in the material tray, and the industrial robot is controlled to pour the shaped mixture into the screening device to screen, and the weighing device is used for weighing the current material tray to obtain the quality of the empty material tray;
Determining a current shaping treatment result based on the proportional relation between the empty tray mass and the empty material tray mass, and determining a shaping time control index corresponding to the current shaping treatment result when the liquid nitrogen shaping device performs shaping treatment on the mixture;
and adjusting the setting time of the liquid nitrogen setting device when the mixture is subjected to the next setting treatment by using the setting time control index.
2. The method according to claim 1, wherein the determining a current shaping result based on the proportional relation between the empty tray mass and the empty tray mass, and determining a shaping time control index corresponding to the current shaping result when the liquid nitrogen shaping device performs shaping processing on the mixture, includes:
calculating the ratio of the empty tray mass to the empty material tray mass;
if the ratio is within the first parameter range, determining that the current shaping treatment result is over shaping, and determining a first shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture;
if the ratio is within the second parameter range, determining that the current shaping treatment result is over shaping, and determining a second shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture;
If the ratio is within the third parameter range, determining that the current shaping treatment result is a systematic error, and determining a third shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture.
3. The method as recited in claim 1, further comprising:
controlling an industrial robot to place a material tray containing mixed materials on a weighing device, and weighing the material tray containing the mixed materials by using the weighing device to obtain the total mass of the material tray;
determining a net weight of the material based on the empty tray mass and the total material tray mass;
after the screening device finishes the screening process, the weighing device weighs the screened mixture to obtain the net weight of the screened material;
determining the net weight of the shaped material based on the empty tray mass, the net weight of the material and the empty tray mass;
and determining a current shaping treatment result based on the proportional relation between the net weight of the screened material and the net weight of the shaped material, and determining a shaping time control index corresponding to the current shaping treatment result when the liquid nitrogen shaping device performs shaping treatment on the mixture.
4. A method according to claim 3, wherein the determining a current shaping result based on a ratio of a net weight of the sieved material to a net weight of the shaped material, and determining a shaping time control index corresponding to the current shaping result when the liquid nitrogen shaping device performs shaping on the mixture, includes:
Calculating the ratio of the net weight of the sieved material to the net weight of the shaped material;
if the ratio is within the fourth parameter range, determining that the current shaping treatment result is insufficient in shaping, and determining a fourth shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture;
if the ratio is within a fifth parameter range, determining that the current shaping treatment result is insufficient in shaping, and determining a fifth shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the mixture;
and if the ratio is in the sixth parameter range, determining that the current setting treatment result is a systematic error, and determining a sixth setting time control index when the liquid nitrogen setting device sets the mixture.
5. The method according to claim 1, wherein after the controlling the liquid nitrogen shaping device performs shaping treatment on the mixture in the material tray, the method further comprises:
after a material tray of the liquid nitrogen shaping device leaves the liquid nitrogen shaping tank, acquiring a current liquid nitrogen liquid level value of the liquid nitrogen shaping tank detected by a liquid level detection sensor;
if the current liquid nitrogen liquid level value is smaller than the lowest value of the ideal liquid level interval, detecting the starting state of the screening device;
When the screening device is in an unactuated state, the liquid nitrogen liquid supplementing tank is controlled to be opened, and liquid supplementing operation is carried out on the liquid nitrogen shaping tank.
6. The method as recited in claim 5, further comprising:
judging whether the current liquid nitrogen liquid level value reaches the highest value of an ideal liquid level interval in the liquid supplementing operation process;
and if the current liquid nitrogen liquid level value reaches the highest value of the ideal liquid level interval, controlling the liquid nitrogen liquid supplementing tank to be closed, and stopping liquid supplementing operation.
7. The method as recited in claim 6, further comprising:
if the current liquid nitrogen liquid level value does not reach the highest value of the ideal liquid level interval, counting the opening time of the liquid nitrogen liquid supplementing tank;
and if the opening time exceeds the time threshold, controlling the liquid nitrogen liquid supplementing tank to be closed, and stopping liquid supplementing operation.
8. A control system for liquid nitrogen set time, comprising: the device comprises a controller, and an industrial robot, a sampling device, a liquid nitrogen shaping device, a screening device and a weighing device which are in communication connection with the controller;
the sampling device, the liquid nitrogen shaping device, the screening device and the weighing device are positioned around the industrial robot; the sampling device is used for grabbing the mixture; the liquid nitrogen shaping device is used for shaping the mixture; the screening device is used for screening the shaped mixture; the industrial robot is used for accommodating the mixture grabbed by the sampling device in a material tray in the liquid nitrogen shaping device, moving an empty material tray or a material tray with the mixture to the weighing device, and moving the weighed material tray with the mixture to the screening device; the weighing device is used for weighing the empty material tray and the material tray containing the mixture; the controller is configured to perform the control method of the liquid nitrogen shaping time according to any one of claims 1 to 7.
9. The system of claim 8, wherein the liquid nitrogen sizing device comprises: the device comprises a liquid nitrogen shaping tank, a material tray, a supporting tray and a material lifting mechanism; wherein, the liquid crystal display device comprises a liquid crystal display device,
the supporting disc is connected with the material lifting mechanism through a connecting rod, and the material lifting mechanism is used for driving the supporting disc to move up and down; the liquid nitrogen shaping tank is positioned at one side of the material lifting mechanism;
the material tray filled with the mixture is placed on the supporting tray and is positioned above the liquid nitrogen shaping tank, and the material tray is lowered into the liquid nitrogen shaping tank through the material lifting mechanism during shaping;
the liquid nitrogen shaping tank is internally filled with liquid nitrogen, and the material tray is provided with a liquid leakage hole which is used for improving the contact area between the mixture in the material tray and the liquid nitrogen.
10. The system of claim 9, wherein the bottom of the support plate is provided with a backflow hole for backflow of liquid nitrogen in the material plate into the liquid nitrogen shaping tank after shaping.
11. The system of claim 9, further comprising: the liquid nitrogen liquid supplementing tank is communicated with the liquid nitrogen shaping tank through a liquid supplementing pipeline, a liquid electromagnetic valve is arranged on the liquid supplementing pipeline, and the liquid electromagnetic valve is connected with the controller and used for controlling the liquid nitrogen liquid supplementing tank to be opened and closed during liquid supplementing according to instructions of the controller.
12. The system of claim 11, further comprising: a support base; the liquid nitrogen liquid supplementing tank is arranged on the supporting seat, so that the bottom of the liquid nitrogen liquid supplementing tank is higher than the upper surface of the liquid nitrogen shaping tank.
13. The system of claim 9, further comprising: the liquid level detection sensor is arranged in the liquid nitrogen shaping tank and is used for detecting the real-time liquid nitrogen liquid level value of liquid nitrogen in the liquid nitrogen shaping tank.
CN202010212811.3A 2020-03-24 2020-03-24 Control method and system for liquid nitrogen setting time Active CN111426544B (en)

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