CN111426595A

CN111426595A - Moisture granularity detection robot system and sintering mixing granulation control method and system

Info

Publication number: CN111426595A
Application number: CN202010212398.0A
Authority: CN
Inventors: 李宗平; 叶恒棣; 曾小信; 李从波; 刘叔凯
Original assignee: Zhongye Changtian International Engineering Co Ltd
Current assignee: Zhongye Changtian International Engineering Co Ltd
Priority date: 2020-03-24
Filing date: 2020-03-24
Publication date: 2020-07-17

Abstract

The application discloses moisture granularity detection robot system and sintering mixing granulation control method, system carry out moisture detection to the first sample that detects in the first sample cup by robot system, calculate the moisture content of first sample that detects. And performing granularity detection on a second detection sample in the second sample receiving cup to determine the granularity composition of the second detection sample. And judging by the mixed granulation control system according to the detection result of the robot system, and if the moisture content of the first detection sample is judged not to meet the preset moisture threshold range or the particle size composition of the second detection sample is judged not to meet the preset particle size threshold range, adjusting the process parameters of the mixer for mixed granulation of the sintering material based on a preset control strategy. Therefore, the method and the system provided by the invention can adjust the process parameters of the mixer according to the moisture content and the granularity composition of the mixture, so that the mixer with the adjusted process parameters can prepare the mixture meeting the process requirements.

Description

Moisture granularity detection robot system and sintering mixing granulation control method and system

Technical Field

The application relates to the field of sintering process detection, in particular to a moisture granularity detection robot system and a sintering mixing granulation control method and system.

Background

In the field of metallurgical sintering, two parameters of the granularity and the moisture value of a sintering mixture are important for the production of a sintering process, the granularity of the sintering mixture is one of key factors influencing the original air permeability of a sintering material layer, the moisture value of the mixture has an obvious influence on the granulating effect of the mixture, and the granulating effect of the mixture can be obviously improved by the proper mixed moisture value.

The sintering mixture is usually obtained by mixing and granulating the sintering materials by a mixer, and the mixing and granulating are the core process in the sintering process, directly determine the air permeability of the mixture and influence the sintering production process. During mixing and granulating, the sintering materials are added into the mixer, and simultaneously, a proper amount of water is added, and mixture with different particle sizes is obtained through rolling granulation.

However, since the mixer is used for mixing and granulating, the process parameters adopted by the mixer are usually set by empirical values, and the process parameters comprise the water addition amount and the mixing time. Different mixing times and different amounts of water added can affect the granulation effect of the mixture and directly affect the granularity composition of the mixture. If the grain size composition of the mixture is not good, the effect of the subsequent sintering process can be caused. Therefore, how to adjust the process parameters of the mixer in the sintering, mixing and granulating process becomes a technical problem to be solved in the field.

Disclosure of Invention

The application provides a moisture granularity detection robot system and a sintering mixing granulation control method and system to solve the problem that the granulation effect is influenced because the technological parameters of a mixing machine cannot be adjusted when the existing sintering mixing granulation is carried out.

In a first aspect, the application provides a sintering mixing granulation control method based on a moisture particle size detection robot system, comprising the following steps:

respectively placing a first sample receiving cup containing a first detection sample and a second sample receiving cup containing a second detection sample on a weighing device by controlling a mechanical arm to weigh so as to obtain the initial weight of the first detection sample and the initial weight of the second detection sample; the first detection sample and the second detection sample are mixture obtained after the sintering materials are mixed and granulated through a mixer;

controlling a mechanical arm to place the weighed first sample receiving cup into a microwave drying device for drying treatment, weighing the sample after the drying treatment to obtain the dried weight of the first detection sample, and calculating the moisture content of the first detection sample based on the initial weight of the first detection sample and the dried weight of the first detection sample;

the mechanical arm is controlled to place the second sample receiving cup filled with the second detection sample into a liquid nitrogen shaping device for liquid nitrogen shaping treatment, and then the shaped second detection sample is poured into a screening device for screening to obtain detection samples with different particle sizes;

weighing the weights of a plurality of detection samples with different granularities by using the weighing device, and calculating the granularity composition of a second detection sample according to the weights of the detection samples with different granularities;

and if the moisture content of the first detection sample does not meet the preset moisture threshold range, or the particle size composition of the second detection sample does not meet the preset particle size threshold range, adjusting the process parameters of the mixer for mixing and granulating the sintering material based on a preset control strategy.

Further, the process parameters comprise the water adding amount; and if the moisture content of the first detection sample does not meet the preset moisture threshold range, or the particle size composition of the second detection sample does not meet the preset particle size threshold range, adjusting the process parameters of the mixer during granulating the mixture based on a preset control strategy, wherein the process parameters comprise:

the granularity composition of the second detection sample comprises the granularity composition corresponding to a second preset granularity range and the granularity composition corresponding to a third preset granularity range;

under the condition that the granularity component corresponding to the second preset granularity range is within the preset granularity threshold range and the granularity component corresponding to the third preset granularity range is lower than the minimum value of the preset granularity threshold range, judging whether the moisture content of the first detection sample meets the preset moisture threshold range or not;

if the moisture content of the first detection sample is within a preset moisture threshold range, determining a first control strategy, and increasing the water adding amount of the mixer for granulating the mixture based on the first control strategy;

if the moisture content of the first detection sample is lower than the minimum value of a preset moisture threshold range, determining a second control strategy, and increasing the water adding amount of the mixer for granulating the mixture based on the second control strategy;

and if the moisture content of the first detection sample is higher than the maximum value of the preset moisture threshold range, controlling the water adding amount of the mixer to granulate the mixture to be unchanged.

under the condition that the granularity component corresponding to the second preset granularity range is within the preset granularity threshold range and the granularity component corresponding to the third preset granularity range is higher than the maximum value of the preset granularity threshold range, judging whether the moisture content of the first detection sample meets the preset moisture threshold range or not;

when the moisture content of the first detection sample is within a preset moisture threshold range or is lower than the minimum value of the preset moisture threshold range, controlling the water adding amount of the mixing machine to be unchanged when the mixing machine granulates the mixture;

when the moisture content of the first detection sample is higher than the maximum value of the preset moisture threshold range, determining a third control strategy, and reducing the water adding amount of the mixer during the mixture granulating process based on the third control strategy.

under the condition that the granularity component corresponding to the second preset granularity range is lower than the minimum value of the preset granularity threshold range and the granularity component corresponding to the third preset granularity range is within the preset granularity threshold range, judging whether the moisture content of the first detection sample meets the preset moisture threshold range or not;

if the moisture content of the first detection sample is within a preset moisture threshold range or is lower than the minimum value of the preset moisture threshold range, determining a fourth control strategy, and increasing the water adding amount of the mixer during the mixture granulation based on the fourth control strategy;

Further, the process parameters comprise water adding amount and mixing time; and if the moisture content of the first detection sample does not meet the preset moisture threshold range, or the particle size composition of the second detection sample does not meet the preset particle size threshold range, adjusting the process parameters of the mixer during granulating the mixture based on a preset control strategy, wherein the process parameters comprise:

the granularity composition of the second detection sample comprises the granularity composition corresponding to a first preset granularity range, the granularity composition corresponding to a second preset granularity range, the granularity composition corresponding to a third preset granularity range and the granularity composition corresponding to a fourth preset granularity range;

calculating the comprehensive granularity composition of the granularity composition corresponding to the second preset granularity range and the granularity composition corresponding to the third preset granularity range;

if the comprehensive granularity component is higher than a preset large granularity threshold value, controlling the water adding amount of the mixer to granulate the mixture to be unchanged;

if the comprehensive particle size composition is higher than a preset large particle size threshold value and the particle size composition corresponding to the first preset particle size range does not meet the corresponding preset particle size threshold value range, determining a fifth control strategy and increasing the water adding amount of the mixer during granulating the mixture based on the fifth control strategy;

if the comprehensive particle size composition is higher than a preset large particle size threshold value and the particle size composition corresponding to the fourth preset particle size range does not meet the corresponding preset particle size threshold value range, determining a sixth control strategy and reducing the water adding amount of the mixer during granulating the mixture based on the sixth control strategy;

if the comprehensive particle size composition is lower than a preset large particle size threshold value and the particle size composition corresponding to a fourth preset particle size range is larger than the particle size composition corresponding to the first preset particle size range, determining a seventh control strategy, reducing the water adding amount of the mixer during granulating the mixture based on the seventh control strategy, and increasing the mixing time;

and if the comprehensive particle size composition is lower than a preset large particle size threshold value and the particle size composition corresponding to the fourth preset particle size range is smaller than the particle size composition corresponding to the first preset particle size range, determining an eighth control strategy, increasing the water adding amount of the mixer during granulating the mixture based on the eighth control strategy, and increasing the mixing time.

Further, still include:

acquiring appointed adjusting time for adjusting the process parameters of the mixing machine for an appointed time;

and when the specified adjustment moment begins, after waiting for a preset time interval, acquiring the moisture content of a first detection sample and the granularity composition of a second detection sample detected next time, and if the moisture content of the first detection sample corresponding to the next detection process does not meet the preset moisture threshold range, or the granularity composition of the second detection sample does not meet the preset granularity threshold range, performing next adjustment on the process parameters of the mixer based on a preset control strategy.

Further, still include:

controlling the integrated sampling device to grab the mixture conveyed on the belt conveyor and enabling the mixture to enter a chute; the mixture is obtained by mixing the sintering materials through a mixer;

controlling a material discharging switch arranged at a material outlet of the chute to be opened, so that the mixture in the chute enters a first sample receiving cup positioned at the bottom of the chute;

when the first sample receiving cup is filled with the mixture, the emptying switch is controlled to be closed; the mixture in the first sample receiving cup is a first detection sample;

controlling the mechanical arm to place the first sample receiving cup filled with the mixture on the weighing device, and clamping the second sample receiving cup and placing the second sample receiving cup at the bottom of the chute;

starting a material discharging switch to enable the mixture in the chute to enter a second sample receiving cup positioned at the bottom of the chute; and the mixture in the second sample receiving cup is a second detection sample.

Further, the control arm will weigh the first sample cup that connects after putting into microwave drying device and carry out drying process, obtain first detection sample weight after drying through weighing after drying process, include:

the control mechanical arm puts the first detection sample in the weighed first sample receiving cup on a weighing table in a microwave drying device for drying treatment;

in the drying process, acquiring the real-time weight of the first detection sample weighed by the weighing platform; obtaining the weight variation of the first detection sample according to the initial weight of the first detection sample;

if the weight variation of the first detection sample is greater than or equal to 5%, stopping drying treatment;

controlling the mechanical arm to rotate the first detection sample by 180 degrees, and continuously drying the rotated first detection sample;

and when the weight variation of the first detection sample is 0, acquiring the dried weight of the first detection sample weighed by the weighing platform.

Further, the calculating the moisture content of the first detection sample based on the initial weight of the first detection sample and the dried weight of the first detection sample includes:

acquiring the weight of the empty sample receiving cup;

calculating an initial net weight of the first test sample based on the initial weight of the first test sample and the weight of the empty cup;

according to formula M₁＝(W₁₀-W_dry)/W₁₀Calculating the moisture content of the first detection sample;

in the formula, M₁Is the moisture content of the first test sample, W₁₀For the initial net weight of the first test sample, W_dryThe weight of the first test sample after drying.

Further, the control arm puts the second sample cup that connects that is equipped with the second sample that detects into liquid nitrogen setting device and carries out liquid nitrogen setting and handle, includes:

the mechanical arm is controlled to pour the second detection sample in the second sample receiving cup into a material tray of the liquid nitrogen shaping device, and the material tray containing the second detection sample is placed on a supporting plate connected with the material lifting mechanism;

controlling the material lifting mechanism to drive the supporting disc to descend into a liquid nitrogen shaping tank, so that a second detection sample in the material disc is immersed into liquid nitrogen in the liquid nitrogen shaping tank, and performing liquid nitrogen shaping treatment;

and after the liquid nitrogen setting time is reached, controlling the material lifting mechanism to drive the supporting disk to ascend, so that the material disk containing the second detection sample ascends to the outside of the liquid nitrogen setting tank.

Further, still include:

controlling the mechanical arm to clamp the material disc, pouring the shaped second detection sample into a screening device for screening, and weighing the current material disc by the weighing device to obtain the mass of the empty material disc;

acquiring the empty tray quality of a material tray, and determining a shaping time control index when the liquid nitrogen shaping device carries out shaping processing on a second detection sample based on the proportional relation between the empty tray quality and the empty tray quality;

and adjusting the setting time of the liquid nitrogen setting device for carrying out the next setting treatment on the second detection sample according to the setting time control index.

Further, the determining a shaping time control index when the liquid nitrogen shaping device shapes the second detection sample based on a proportional relation between the mass of the empty tray and the mass of the empty material tray includes:

calculating the ratio of the mass of the empty tray to the mass of the empty material tray;

if the ratio is within a first parameter range, determining that the current shaping processing result is over-shaping, and determining a first shaping time control index when the liquid nitrogen shaping device carries out shaping processing on a second detection sample;

if the ratio is within a second parameter range, determining that the current shaping processing result is over shaping, and determining a second shaping time control index when the liquid nitrogen shaping device carries out shaping processing on a second detection sample;

and if the ratio is within a third parameter range, determining that the current shaping processing result is a system error, and determining a third shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample.

Further, still include:

the control mechanical arm places the material tray containing the second detection sample on the weighing device, and the weighing device is used for weighing the material tray containing the second detection sample to obtain the total mass of the material tray;

acquiring empty tray mass of a material tray, and determining net weight of the material based on the empty tray mass and the total mass of the material tray;

after the screening process of the screening device is finished, weighing the screened detection samples with different particle sizes by the weighing device to obtain the net weight of the screened materials;

and determining a shaping time control index when the liquid nitrogen shaping device carries out shaping treatment on the second detection sample based on the proportional relation among the empty tray mass, the material net weight, the empty tray mass and the screened material net weight.

Further, determining a shaping time control index when the liquid nitrogen shaping device shapes the second detection sample based on a proportional relation among the empty tray mass, the material net weight, the empty tray mass and the screened material net weight, comprises:

determining the net weight of the shaped material based on the mass of the empty tray, the net weight of the material and the mass of the empty tray;

calculating the ratio of the net weight of the screened material to the net weight of the sized material;

if the ratio is within a fourth parameter range, determining that the current shaping processing result is excessive and insufficient, and determining a fourth shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample;

if the ratio is within a fifth parameter range, determining that the current shaping processing result is excessive and insufficient, and determining a fifth shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample;

and if the ratio is within a sixth parameter range, determining that the current shaping processing result is excessive and insufficient, and determining a sixth shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample.

Further, after the material tray that splendid attire second detected sample rises to the liquid nitrogen setting jar outside, still include:

after a material tray of the liquid nitrogen shaping device leaves the liquid nitrogen shaping tank, acquiring the 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;

and when the screening device is in an un-started state, controlling the liquid nitrogen replenishing tank to be opened, and performing liquid replenishing operation on the liquid nitrogen shaping tank.

Further, still include:

judging whether the current liquid nitrogen liquid level value reaches the highest value of an ideal liquid level interval or not in the process of liquid supplementing operation;

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, still include:

if the current liquid nitrogen liquid level value does not reach the maximum value of the ideal liquid level interval, counting the starting time of the liquid nitrogen replenishing tank;

and if the starting time exceeds the time threshold, controlling the liquid nitrogen liquid supplementing tank to be closed, and stopping the liquid supplementing operation.

Further, the step of pouring the shaped second detection sample into a screening device for screening to obtain detection samples with different particle sizes includes:

controlling a mechanical arm to pour the shaped second detection sample into a feed hopper of a screening device, wherein the feed hopper is connected with an upper-layer screen; the screening machine is internally provided with 3 layers of screens, and the aperture of each screen is 8mm, 5mm and 3mm from top to bottom;

and opening the screening device, and screening the second detection sample according to preset screening time to obtain a detection sample with the granularity of less than 3mm, a detection sample with the granularity of 3-5mm, a detection sample with the granularity of 5-8mm and a detection sample with the granularity of more than 8 mm.

Further, the weighing device is used for weighing the weights of the detection samples with different granularities, and the granularity composition of the second detection sample is calculated according to the weights of the detection samples with different granularities, and the method comprises the following steps:

respectively weighing the weights of a plurality of detection samples with different granularities by using the weighing device to obtain the granularity<Total weight W of 3mm test specimen _t1. The total weight W of the detection sample with the granularity of 3-5mm _t2. The total weight W of the detection sample with the granularity of 5-8mm _t3, and, particle size>8mm total weight W of test specimen _t4; the material containing tray is positioned below the screen with the aperture of 3mm and is used for receiving the granularity<3mm of mix sample;

acquiring the weight of the material containing disc, the weight of the screen with the aperture of 3mm, the weight of the screen with the aperture of 5mm, the weight of the screen with the aperture of 8mm and the weight of an empty cup of the second sample receiving cup; the material containing tray is positioned below the screen with the aperture of 3mm and is used for receiving a mixture sample with the granularity of less than 3 mm;

based on the weight W of the material containing disc _k1, and the formula W _m1＝W_t1-W _k1, determining the particle size<Weight W of 3mm test specimen _m1; based on the sieve mesh weight W with the aperture of 3mm _k2, and the formula W _m2＝W_t2-W _k2, determining the weight W of the test specimen with the granularity of 3-5mm _m2; according to the weight W of a sieve with a pore diameter of 5mm _k3, and formula W _m3＝W_t3-W _k3, determining the weight W of the detection sample with the granularity between 5 and 8mm _m3, and, according to the weight W of the sieve having a pore diameter of 8mm _k4, and formula W _m4＝W_t4-W _k4, determining the particle size>Weight W of 8mm test specimen _m4；

Calculating the initial net weight W of the second test sample based on the initial weight of the second test sample and the weight of the empty cup₂₀；

According to the formula

Determining<The grain size composition ratio omega 1 of 3 mm; according to the formula

Determining the granularity composition proportion omega 2 of 3mm-5 mm; according to the formula

Determining the particle size composition ratio omega 3 of 5mm-8 mm; according to the formula

Determining>The particle size composition ratio omega 4 of 8 mm;

the grain size composition (ω 1, ω 2, ω 3, ω 4) of the second test sample is determined.

Further, still include:

acquiring the volume of the first sample receiving cup and the volume of the second sample receiving cup;

determining a first bulk density according to the volume of the first sample receiving cup and the initial net weight of the first detection sample;

determining a second bulk density according to the volume of the second sample receiving cup and the initial net weight of a second detection sample;

calculating the bulk density of the mix according to the formula px-K1 × p1+ (1-K1) × p 2;

in the formula, px is the bulk density of the mixture, p1 is the first bulk density, p2 is the second bulk density, and K1 is the coefficient, and the value range is 0.4-0.6.

Further, still include:

judging whether the moisture content of the first detection sample exceeds a moisture diagnosis threshold value and whether the particle size composition corresponding to a third preset particle size range in the second detection sample exceeds a particle size composition diagnosis threshold value;

and if the moisture content of the first detection sample exceeds a moisture diagnosis threshold value, or the particle size composition corresponding to the third preset particle size range does not exceed a particle size composition diagnosis threshold value, determining that the current moisture and particle size composition detection process is abnormal, and discarding the detection data.

Further, still include:

acquiring the moisture content of a first detection sample corresponding to the detection process of the appointed time and the moisture content of the first detection sample corresponding to the detection process of the previous time;

calculating the change rate of the moisture content of the first detection sample in the two detection processes;

and if the change rate exceeds a change threshold value, determining that the current moisture detection process is abnormal, and discarding the detection data.

In a second aspect, the present application further provides a moisture granularity detection robot system, comprising: the device comprises a first sample receiving cup, a second sample receiving cup, a control cabinet, and a mechanical arm, a weighing device, a microwave drying device, a liquid nitrogen shaping device and a screening device which are respectively connected with the control cabinet; the control cabinet is used for generating corresponding device control instructions according to control signals of the process control system, and the device control instructions are used for controlling the mechanical arm, the weighing device, the microwave drying device, the liquid nitrogen shaping device and the screening device to act; the first sample receiving cup is used for containing a first detection sample, the second sample receiving cup is used for containing a second detection sample, and the first detection sample and the second detection sample are mixed materials obtained by mixing and granulating through a mixer; the weighing device is used for weighing the first sample receiving cup and the second sample receiving cup; the microwave drying device is used for drying the first detection sample; the liquid nitrogen shaping device is used for carrying out liquid nitrogen shaping treatment on the second detection sample; the screening device is used for screening the second detection sample to obtain detection samples with different particle sizes; the control cabinet is used for determining the moisture content of the first detection sample and the granularity composition of the second detection sample according to the detection data.

The device further comprises a belt conveyor, wherein the belt conveyor is connected with the mixing machine and the robot system and is used for conveying a mixture obtained by mixing and granulating through the mixing machine; the belt conveyor is obliquely arranged, and one end of the belt conveyor, which is connected with the robot system, is 2-2.5 meters higher than one end of the mixing machine.

Further, still include: the device comprises an integrated sampling device and a chute, wherein the integrated sampling device is arranged on one side of the belt conveyor, a discharge hole of the integrated sampling device is provided with the chute, and the integrated sampling device is used for grabbing the mixture conveyed on the belt conveyor and entering the chute; the bottom of the chute is provided with a first sample receiving cup or a second sample receiving cup; and a discharge hole of the chute is provided with a discharge switch, and the discharge switch is used for loading the mixture in the chute into the first sample receiving cup or the second sample receiving cup when being opened.

Further, the microwave drying apparatus includes: the microwave drying device comprises a drying box, a weighing platform arranged in the drying box, a microwave drying container arranged on the weighing platform, and a drying box furnace door arranged on the drying box; a microwave source is arranged in the drying box and is used for drying treatment; the microwave drying container is used for containing a first detection sample; the weighing platform is used for weighing the first detection sample in the microwave drying container.

Further, the liquid nitrogen setting device comprises: the device comprises a liquid nitrogen shaping tank, a material tray, a supporting disk and a material lifting mechanism; wherein the content of the first and second substances,

the supporting plate is connected with the material lifting mechanism through a connecting rod, and the material lifting mechanism is used for driving the supporting plate to move up and down; the liquid nitrogen shaping tank is positioned on one side of the material lifting mechanism;

the material tray containing the mixture is placed on the supporting plate and is positioned above the liquid nitrogen shaping tank, and during shaping, the material tray is lowered into the liquid nitrogen shaping tank through the material lifting mechanism;

the liquid nitrogen shaping tank is internally filled with liquid nitrogen, the material tray is provided with a liquid leakage hole, and the liquid leakage hole is used for increasing the contact area between the mixture in the material tray and the liquid nitrogen.

Furthermore, the bottom of the supporting disc is provided with an inverted flow hole, and after shaping is finished, the inverted flow hole is used for reversely flowing the liquid nitrogen in the material disc back to the liquid nitrogen shaping tank.

Further, the liquid nitrogen setting device also comprises: a liquid nitrogen liquid supplementing tank; the liquid nitrogen replenishing tank is communicated with the liquid nitrogen shaping tank through a liquid replenishing pipeline, a liquid solenoid valve is arranged on the liquid replenishing pipeline, and the liquid solenoid valve is used for controlling the opening and closing of the liquid nitrogen replenishing tank during liquid replenishing.

Further, the liquid nitrogen setting device also comprises: and the liquid level detection sensor is arranged in the liquid nitrogen shaping tank and is used for detecting the real-time liquid level value of the liquid nitrogen in the liquid nitrogen shaping tank.

In a third aspect, the present application further provides a sintering, mixing and granulating control system based on a moisture particle size detection robot system, including: a process control system, and a mixer, a mixing granulation control system and the robot system of the second aspect which are in communication with the process control system; the mixer is used for mixing and granulating the sintering materials to obtain a mixture; the robot system is used for detecting the moisture content and the granularity composition of the mixture according to a control signal of the process control system; the mixing and granulating control system is used for acquiring the moisture content of a first detection sample and the granularity composition of a second detection sample detected by the robot system according to a control signal of the process control system, and adjusting process parameters of the mixer for mixing and granulating the sintering material based on a preset control strategy;

the process control system is used for controlling the mechanical arm to respectively place a first sample receiving cup containing a first detection sample and a second sample receiving cup containing a second detection sample on the weighing device for weighing to obtain the initial weight of the first detection sample and the initial weight of the second detection sample; the first detection sample and the second detection sample are mixture obtained after the sintering materials are mixed and granulated through a mixer;

According to the technical scheme, the embodiment of the invention provides a moisture particle size detection robot system, and a sintering, mixing and granulating control method and system. And drying the first detection sample in the first sample receiving cup, weighing to obtain the dried weight of the first detection sample, and calculating the moisture content of the first detection sample. And successively carrying out liquid nitrogen sizing and screening classification treatment on the second detection sample in the second sample receiving cup, weighing the detection samples with different particle sizes, and determining the particle size composition of the second detection sample. And judging by the mixed granulation control system according to the detection result of the robot system, and if the moisture content of the first detection sample is judged not to meet the preset moisture threshold range or the particle size composition of the second detection sample is judged not to meet the preset particle size threshold range, adjusting the process parameters of the mixer for mixed granulation of the sintering material based on a preset control strategy. Therefore, the method and the system provided by the invention can adjust the process parameters of the mixer according to the moisture content and the granularity composition of the currently detected mixture, so that the mixer with the adjusted process parameters can prepare the mixture meeting the process requirements.

Drawings

In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.

Fig. 1 is a block diagram of a sintering, mixing and granulating control system based on a moisture particle size detection robot system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a sintering, mixing and granulating control system based on a moisture particle size detection robot system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a robot system according to an embodiment of the present invention;

FIG. 4 is a top block diagram of a robotic system provided by an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an integrated sampling device according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a material receiving state provided in the embodiment of the present invention;

fig. 7 is a schematic structural diagram of a microwave drying device according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a liquid nitrogen sizing device provided in an embodiment of the present invention;

FIG. 9 is a top view of a liquid nitrogen setting device provided by an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a supporting rod according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a liquid nitrogen setting device provided by an embodiment of the present invention in a setting state;

fig. 12 is a top view of a tray according to an embodiment of the present invention;

fig. 13 is a perspective view of a material tray according to an embodiment of the present invention;

FIG. 14 is a flowchart of a sintering, mixing and granulating control method based on a moisture particle size detection robot system according to an embodiment of the present invention;

FIG. 15 is a flowchart illustrating a method for drying a first test sample according to an embodiment of the present invention;

FIG. 16 is a flowchart of a method for calculating a moisture content of a first test sample according to an embodiment of the present invention;

FIG. 17 is a flow chart of a method for performing a liquid nitrogen sizing process according to an embodiment of the present invention;

FIG. 18 is a flowchart of a method for controlling a liquid nitrogen fixing time according to an embodiment of the present invention;

fig. 19 is a flowchart of a method for determining a stereotype time control index according to an embodiment of the present invention;

FIG. 20 is a flow chart of another method for controlling the liquid nitrogen fixing time according to an embodiment of the present invention;

fig. 21 is another flowchart of a method for determining a stereotype time control index according to an embodiment of the present invention;

FIG. 22 is a flowchart of a method for replenishing a liquid nitrogen fixing device according to an embodiment of the present invention;

FIG. 23 is a flow chart of a method for adjusting mixer process parameters provided by an embodiment of the present invention;

FIG. 24 is a schematic diagram of a control strategy for adjusting the water addition of a mixer according to an embodiment of the present invention;

FIG. 25 is a schematic diagram of a control strategy for adjusting the water addition and mixing time of a mixer according to an embodiment of the present invention.

Detailed Description

Fig. 1 is a block diagram of a sintering, mixing and granulating control system based on a moisture particle size detection robot system according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a sintering, mixing and granulating control system based on a moisture particle size detection robot system according to an embodiment of the present invention. Referring to fig. 1 and 2, a sintering, mixing and granulating control system based on a moisture particle size detection robot system according to an embodiment of the present invention is configured to adjust process parameters, such as water addition amount and mixing time, of a mixer 2 during sintering, mixing and granulating in time according to moisture and particle size composition parameters of a mixture, so that the performance of the mixture after granulating by the mixer 2 after adjusting the process parameters can meet process requirements.

The control system includes: the system comprises a process control system 1, and a mixer 2, a belt conveyor 3, a robot system 4 and a mixing and granulating control system 5 which are respectively in communication connection with the process control system 1. The process control system 1 is a master controller of the sintering process, can be configured in a computer and is used for controlling each device or equipment in the sintering process; the mixer 2 is used for mixing and granulating the sintering materials to obtain a mixture; the belt conveyor 3 is connected with the mixer 2 and the robot system 4, and the belt conveyor 3 is used for conveying a mixture obtained by mixing and granulating the mixer 2; the robot system 4 is a moisture and particle size detection robot and is used for detecting the moisture content and the particle size composition of the mixture according to the control signal of the process control system 1; the mixing and granulating control system 5 is a software system, can be configured in a computer, and is used for adjusting the process parameters of the mixer 2 according to the moisture content and the granularity composition of the mixture detected by the robot system 4.

In this embodiment, the belt conveyor 3 is disposed obliquely, and one end of the belt conveyor 3 connected to the robot system 4 is 2-2.5 meters higher than one end of the mixer 2. Set up belt feeder 3 slope, can be convenient for when belt feeder 3 snatchs the mixture, the mixture that sampling device snatched can flow down naturally, gets into in the sample cup that sets up in robot system 4.

Fig. 3 is a schematic structural diagram of a robot system according to an embodiment of the present invention; fig. 4 is a top block diagram of a robot system according to an embodiment of the present invention. Referring to fig. 3 and 4, the robot system 4 includes a first sample receiving cup, a second sample receiving cup, a control cabinet 40, and an integrated sampling device 41, a mechanical arm 42, a weighing device 43, a microwave drying device 44, a liquid nitrogen shaping device 45, a screening device 46 and a material discarding device 47 respectively connected to the control cabinet 40, and can simultaneously detect the moisture content and the particle size composition of the mixture.

The control cabinet 40 is a control system of the robot system 4 and is configured to generate a corresponding device control instruction according to a control signal of the process control system 1, where the device control instruction is configured to control the integrated sampling device 41, the mechanical arm 42, the weighing device 43, the microwave drying device 44, the liquid nitrogen shaping device 45, the sieving device 46, and the discarding device 47 to operate. The first sample receiving cup is used for containing a first detection sample, the second sample receiving cup is used for containing a second detection sample, and the first detection sample and the second detection sample are mixed materials obtained by mixing and granulating through the mixer 2; in some embodiments, a first test sample is used to perform the moisture content test and a second test sample is used to perform the particle size composition test.

FIG. 5 is a schematic structural diagram of an integrated sampling device according to an embodiment of the present invention; fig. 6 is a schematic view of a material receiving state provided in the embodiment of the present invention. Referring to fig. 5 and 6, the integrated sampling device 41 is arranged on one side of the belt conveyor 3, the integrated sampling device 41 is used for sampling the mixture transported on the belt conveyor 3, and the sampling position is a cross section sampling position which can ensure that the sampling is representative.

A discharge hole of the integrated sampling device 41 is provided with a chute 411, and the integrated sampling device 41 is used for grabbing the mixture conveyed on the belt conveyor 3 and enabling the mixture to enter the chute 411; the bottom of the chute 411 is provided with a first sample receiving cup or a second sample receiving cup, a discharge hole of the chute 411 is provided with a discharge switch 412, and the discharge switch 412 is used for loading the mixture in the chute into the first sample receiving cup or the second sample receiving cup when being opened.

A sample receiving cup (a first sample receiving cup or a second sample receiving cup) is placed below the discharge port of the chute 411, and the integrated sampling device 41 grabs the mixture on the belt conveyor 3 and flows into the chute 411. The material placing switch 412 is in communication connection with the control cabinet 40, and when the material receiving cup needs to be filled with the mixture, the control cabinet 40 controls the material placing switch 412 to be opened, so that the mixture in the chute 411 enters the first sample receiving cup, and a first detection sample is obtained. The sample receiving cup is two cups with fixed volumes, and the volumes of the two sample receiving cups are the same, but in other embodiments, the volumes of the two sample receiving cups may also be different, and the embodiment is not particularly limited.

To obtain two test samples, the mixture in the chute 411 is filled into the first sample receiving cup and the second sample receiving cup in sequence. For this purpose, after the first sample receiving cup is filled with the mixture, the control cabinet 40 controls the discharge switch 412 to be turned off, and the first sample receiving cup filled with the mixture is removed by the mechanical arm 42, and then the second sample receiving cup is placed below the discharge port of the chute 411. At this time, the control cabinet 40 controls the emptying switch 412 to be opened again, so that the mixture in the chute 411 flows into the second sample receiving cup, and a second detection sample is obtained. The weight of the first detection sample and the second detection sample is about 2.5-3 kg.

The mechanical arm 42 acts according to a control instruction of the control cabinet 40, and is configured to move the detection sample, for example, the mechanical arm 42 grips a first sample receiving cup filled with a first detection sample, moves to the weighing device 43 for weighing, and moves to the microwave drying device 44 for microwave drying; the mechanical arm 42 clamps the second sample receiving cup filled with the second detection sample, moves to the weighing device 43 for weighing, moves to the liquid nitrogen shaping device 45 for liquid nitrogen shaping, and moves to the screening device 46 for particle size classification; the mechanical arm 42 clamps the first and second detected sample cups and moves to the discarding device 47, so as to pour the first and second detected samples into the discarding device 47 for waste recovery.

To facilitate the movement of the robot arm 42, the robot arm 42 may be disposed at an intermediate position of the area where each device is located in the robot system 4. The robot arm 42 and the control cabinet 40 use Profinet communication bus for information exchange or data interaction through IO port.

The weighing device 43 is used for weighing the first sample receiving cup and the second sample receiving cup. The weighing device 43 may adopt a weighing sensor to weigh the first sample receiving cup containing the first detection sample to obtain an initial weight of the first detection sample; and weighing the dried first detection sample to obtain the dried weight of the first detection sample. Weighing a second sample receiving cup containing a second detection sample to obtain the initial weight of the second detection sample; and operating the mixture of each size fraction after the screening treatment to obtain the weights of a plurality of detection samples with different particle sizes. Meanwhile, the weighing device 43 can weigh the empty sample receiving cup to obtain the weight of the empty cup. Any test sample or container whose weight is to be obtained during the test can be weighed on the weighing device 43.

Fig. 7 is a schematic structural diagram of a microwave drying device according to an embodiment of the present invention. The microwave drying device 44 is configured to perform drying processing on the first detection sample according to a control instruction of the control cabinet 40, so as to perform moisture detection. In this embodiment, a method of drying the thick material at one time is adopted, so that the microwave drying device can be reduced to a range of 1m × 1 m. Referring to fig. 7, the microwave drying device 44 includes: a drying cabinet 441, a weighing table 442 provided inside the drying cabinet 441, a microwave drying container 443 provided on the weighing table 442, and a drying cabinet door 444 provided on the drying cabinet 441; a microwave source 445 is provided in the drying box 441 for performing drying treatment. The microwave drying container 443 is used for containing the first detection sample; the weighing station 442 is used to weigh the first test sample in the microwave drying container 443.

When the first test sample is subjected to microwave drying, the first sample receiving cup is gripped by the robot arm 42 and moved to the microwave drying device 44, and the first test sample in the first sample receiving cup is poured into the microwave drying container 443. The weighing sensor is arranged in the weighing platform 442, and the weighing sensor in the weighing platform 442 is used for weighing the first detection sample in real time, so that the weight change of the first detection sample in the drying process can be determined.

The drying oven door 444 is used for putting in and taking out the mixture sample, and is in a closed state when microwave drying is carried out, so that the tightness of a microwave cavity is ensured. The opening and closing of the dry box door 444 is controlled by the control cabinet 40. During microwave drying, the control cabinet 40 controls the microwave source 445 to be turned on to realize microwave drying,

the drying box 441 is used for microwave drying of the detection sample, the mixture detection sample is placed in the microwave drying container 443, the control cabinet 40 starts the microwave drying device 44, the microwave source 445 is switched on, and microwave drying is achieved.

In the embodiment, a twice drying method is adopted, the moisture characteristic of the sintering mixture is generally 7-15%, and when the moisture is dried by 5%, the microwave device is stopped, the material is turned over, and then the drying is carried out until the moisture drying is finished. The method can realize rapid drying of 5-6mm of higher material, and the one-time drying amount can be doubled, thereby greatly reducing the floor area of the equipment and improving the overall stability of the equipment.

FIG. 8 is a schematic structural diagram of a liquid nitrogen sizing device provided in an embodiment of the present invention; fig. 9 is a top view of a liquid nitrogen setting device provided in an embodiment of the present invention. The liquid nitrogen shaping device 45 is used for carrying out liquid nitrogen shaping treatment on the second detection sample, so that the strength of the mixture is increased, the mixture is not easily shattered or damaged in the grading and screening process, and accurate detection of sintering mixed granularity is realized. Referring to fig. 8 and 9, the liquid nitrogen sizing device 45 includes: liquid nitrogen setting tank 451, material tray 452, support tray 453 and material lifting mechanism 454. Liquid nitrogen design jar 451 is used for carrying out the design operation to the second sample that detects, and material dish 452 is used for the splendid attire second sample that detects, and supporting disk 453 is used for placing material dish 452, and material hoist mechanism 454 can realize reciprocating for make the mixture get into and stereotype in liquid nitrogen design jar 451, take out after the design.

In order to enable the second detection sample to enter the liquid nitrogen shaping tank 451 for shaping operation, the support plate 453 is connected with the material lifting mechanism 454 through a connecting rod, and the material lifting mechanism 454 is used for driving the support plate 453 to move up and down. In this embodiment, the material lifting mechanism 454 includes: motor 4541, shaft coupling 4542, lead screw 4543, slide rail 4544 and fixing base 4549.

The fixing seat 4549 is located on one side of the liquid nitrogen shaping tank 451 and is used for supporting the driving mechanism. The motor 4541 is arranged at the upper part of the fixed seat 4549, the output end of the motor 4541 is connected with one end of the coupling 4542, the other end of the coupling 4542 is connected with one end of the lead screw 4543, and the coupling 4542 is arranged along the side wall of the fixed seat 4549. A slide rail 4544 is arranged on the side wall of the fixed seat 4549 and close to the liquid nitrogen shaping tank 451, and the support rod passes through the slide rail 4544 to position the support rod by using the slide rail 4544, so that the support rod can keep stable when moving up and down and does not swing left and right.

One end and the lead screw 4543 of bracing piece are connected, and the other end and the supporting disk 453 of bracing piece are connected, and the bracing piece plays the effect of connecting supporting disk 453 and material hoist mechanism 454. The control cabinet 40 controls the motor 4541 to start, and the motor 4541 rotates and drives the lead screw 4543 to rotate through the coupler 4542. The supporting rod is connected with the screw 4543 through threads, the screw 4543 rotates to drive the supporting rod to move up and down along the screw 4543, for example, when the motor 4541 drives the screw 4543 to rotate forward, the supporting rod descends; the motor 4541 drives the lead screw 4543 to rotate reversely, so that the support rod rises.

Fig. 10 is a schematic structural view of a support rod according to an embodiment of the present invention. Referring to fig. 10, the support bar includes a slide rail connection block 4545, a vertical rod 4547, and a lead screw bushing 4548. One end of a vertical rod 4547 is vertically connected with the supporting plate 453, the other end of the vertical rod 4547 is vertically connected with one end of a sliding rail connecting block 4545, and the vertical rod 4547 is parallel to the screw rod 4543 or the sliding rail 4544. The middle part of the slide rail connecting block 4545 is sleeved on the slide rail 4544, so that the slide rail 4544 can limit the left and right swinging of the slide rail connecting block 4545. The other end of the slide rail connecting block 4545 is provided with a lead screw shaft sleeve 4548, and the lead screw shaft sleeve 4548 is connected with a lead screw 4543.

The screw 4543 rotates to be matched with the screw bush 4548, and the slide rail connecting block 4545 can be driven to ascend or descend along the slide rail 4544. The up-and-down movement of the sliding rail connecting block 4545 drives the up-and-down movement of the vertical rod 4547, and further drives the up-and-down movement of the supporting plate 453.

When the second test sample is subjected to the liquid nitrogen setting treatment by the liquid nitrogen setting tank 451, the material tray 452 containing the second test sample is placed on the support tray 453. Liquid nitrogen design jar 451 is located one side of material hoist mechanism 454, and is located the below of supporting disk 453 for supporting disk 453 can directly fall into liquid nitrogen design jar 451 under the drive of material hoist mechanism 454, and the second detects the liquid nitrogen full contact in sample and the liquid nitrogen design jar 451, carries out the liquid nitrogen design and handles.

Referring again to fig. 8, liquid nitrogen shaping tank 451 includes a tank body 4511 and a tank cover 4512, liquid nitrogen being contained in tank body 4511, and tank cover 4512 being located at a tank opening of tank body 4511 and being connected to one end of tank body 4511. The can cover 4512 and the can body 4511 may be connected by an automatic opening hinge, which is connected to the control cabinet 40 by a driving device for controlling opening and closing of the automatic opening hinge according to a signal of the control cabinet 40.

When the liquid nitrogen setting treatment is performed by the liquid nitrogen setting tank 451, the control cabinet 40 controls the automatic lid opening hinge operation so that the tank lid 4512 is opened, as shown in fig. 8, in an unshaped state. Meanwhile, the driving motor 4541 is started, and the motor 4541 rotates and drives the lead screw 4543 to rotate through the coupler 4542. The lead screw 4543 drives the slide rail connecting block 4545 and the vertical rod 4547 to move downwards through the lead screw shaft sleeve 4548, so that the supporting plate 453 moves downwards. And the material tray 452 containing the second detection sample is placed on the support tray 453 and above the liquid nitrogen shaping tank 451, and when shaping is performed, the material tray 452 is lowered into the liquid nitrogen shaping tank 451 by the material lifting mechanism 454, as shown in the schematic diagram of fig. 11, in which the liquid nitrogen shaping apparatus is in a shaping state.

Liquid nitrogen is contained in the liquid nitrogen shaping tank 451, and a second detection sample contained in the material tray 452 on the supporting tray 453 is in contact with the liquid nitrogen to carry out liquid nitrogen shaping treatment, so that the hardness and the strength of a mixture are increased, and the phenomenon of subsequent crushing in the screening process is avoided. The second detection sample does not need to be immersed into the liquid nitrogen too deeply, and the liquid level of the liquid nitrogen is just higher than the upper surface of the second detection sample, so that the second detection sample is prevented from being immersed into the liquid nitrogen too deeply, the reaction is too violent, the setting time can not be accurately controlled, and the condition of insufficient or excessive setting is easy to occur.

In the process of setting, the cover 4512 of the liquid nitrogen setting tank 451 needs to be opened, and if the cover 311 is opened for a long time, liquid nitrogen in the tank 4511 is easily gasified. Therefore, in order to ensure that the liquid nitrogen in the tank body 4511 is not gasified when the liquid nitrogen shaping tank 451 is shaped, in the present embodiment, the end cap 4546 is disposed on the supporting rod opposite to the supporting plate 453, and the end cap 4546 is fixed on the vertical rod 4547 and is parallel to the supporting plate 453. The size of the end cover 4546 is the same as the shape and size of the mouth of the tank body 4511, so that when the material lifting mechanism 454 lowers the material tray 452 into the liquid nitrogen shaping tank 451, the end cover 4546 can cover the mouth of the liquid nitrogen shaping tank 451, and when liquid nitrogen shaping is performed, the tank body 4511 and the end cover 4546 form a closed space to avoid liquid nitrogen gasification.

In order to avoid setting, the supporting plate 453 is immersed too deeply into the liquid nitrogen, so that the second detection sample reacts too violently with the liquid nitrogen, in this embodiment, the distance between the supporting plate 453 and the end cover 4546 is set to meet the requirement that the second detection sample can be just immersed into the liquid nitrogen, that is, when the supporting plate 453 is driven by the material lifting mechanism 454 to descend into the liquid nitrogen, the end cover 4546 can cover the opening of the tank body 4511, and the second detection sample contained in the material disc 452 on the supporting plate 453 is just immersed into the liquid nitrogen.

In order to ensure that when the liquid nitrogen shaping tank 451 shapes the second detection sample by using liquid nitrogen, the liquid nitrogen can be fully contacted with the second detection sample, in the device provided by the embodiment, the material tray 452 is provided with the liquid leakage hole 4521, and the liquid leakage hole 4521 is used for increasing the contact area between the second detection sample in the material tray 452 and the liquid nitrogen.

Fig. 12 is a top view of a tray according to an embodiment of the present invention; fig. 13 is a perspective view of a material tray according to an embodiment of the present invention. Referring to fig. 12 and 13, a plurality of weep holes 4521 are provided at the bottom and each side of the material tray 452, and when the material tray 452 is immersed in liquid nitrogen, the liquid nitrogen may enter the inner space of the material tray 452 through the weep holes 4521 to sufficiently contact the second test sample. Meanwhile, when the liquid nitrogen shaping is completed and the material tray 452 leaves the liquid nitrogen, the liquid nitrogen remained in the material tray 452 can flow back to the liquid nitrogen shaping tank through the liquid leakage hole 4521, so that the liquid nitrogen is saved, and the problem of environmental pollution caused by liquid nitrogen gasification is reduced.

In the mix particle size detecting system, after the mechanical arm 42 pours the second detection sample in the second sample receiving cup into the material tray 452, the material tray 452 is placed on the supporting base 48. The tray 452 holding the second test sample is moved to the liquid nitrogen setter by the robot arm 42 and placed on the support tray 453. To facilitate the clamping of the robot arm 42, a clamping lug 4522 is provided at one side of the material tray 452, and the clamping lug 4522 is used for clamping. In order to enable the mechanical arm 42 to clamp the clamping lug 4522 to stably place the material tray 452 on the supporting plate 453, in the embodiment, a positioning block 4523 is disposed at a bottom edge of one side of the material tray 452, and the positioning block 4523 is used for fixing the material tray 452 and the supporting plate 453. The positioning block 4523 may be in a convex shape, and a groove is formed at a corresponding position of the support plate 453, and the positioning block 4523 is embedded into the groove to position the material tray 452, so that the material tray 452 and the support plate 453 are stably connected.

In order to further accelerate the backflow of the liquid nitrogen, referring to fig. 10 again, in the present embodiment, a backflow hole 4531 is provided at the bottom of the support plate 453, and after the sizing is completed, the backflow hole 4531 is used for backflow of the liquid nitrogen in the material tray 452 into the liquid nitrogen sizing tank 451. After the mixture is shaped, the material lifting mechanism 454 drives the supporting plate 453 to move upwards to leave liquid nitrogen, and the plurality of backflow holes 4531 formed in the bottom of the supporting plate 453 can enable liquid nitrogen remaining in the plate to flow back into the liquid nitrogen shaping tank 451, so that volatilization of the liquid nitrogen is reduced, and the influence of the liquid nitrogen on the environment is reduced.

After the liquid nitrogen shaping operation is performed on the liquid nitrogen shaping tank 451 for multiple times, the liquid nitrogen in the tank body 4511 gradually decreases, and in order to ensure smooth proceeding of the shaping operation, when the liquid nitrogen is insufficient, liquid is replenished to the liquid nitrogen shaping tank 451. For this reason, the apparatus provided in this embodiment further includes: and a liquid nitrogen replenishing tank 455. The liquid nitrogen replenishing tank 455 is communicated with the liquid nitrogen shaping tank 451 through a liquid replenishing pipeline 456, a liquid solenoid valve 457 is arranged on the liquid replenishing pipeline 456, and the liquid solenoid valve 457 is used for controlling the opening and closing of the liquid nitrogen replenishing tank 455 during liquid replenishing.

When the liquid nitrogen shaping tank 451 needs to be supplemented with liquid nitrogen, the control cabinet 40 sends a control instruction to the liquid solenoid valve 457, so that the liquid solenoid valve 457 is opened, and liquid nitrogen in the liquid nitrogen supplementing tank 455 flows into the liquid nitrogen shaping tank 451 through the liquid supplementing pipeline 456 under the action of gravity.

In order to make liquid nitrogen fluid reservoir 455 only can realize the replenishment of liquid nitrogen to liquid nitrogen forming tank 451 under the action of gravity, need not other external forces, the device that this embodiment provided still includes: support seat 459. The liquid nitrogen replenishing tank 455 is placed on the support base 459, so that the bottom of the liquid nitrogen replenishing tank 455 is higher than the upper surface of the liquid nitrogen shaping tank 451. One end of the liquid supplementing pipeline 456 is communicated with the bottom of the liquid nitrogen supplementing tank 455, the other end of the liquid supplementing pipeline is communicated with the bottom of the liquid nitrogen shaping tank 451, and the liquid outlet is higher than the liquid inlet, so that liquid nitrogen in the liquid nitrogen supplementing tank 455 at a high position flows into the liquid nitrogen shaping tank 451 under the self gravity, and the liquid nitrogen supplementation is realized.

The liquid supplementing process in the liquid nitrogen shaping tank 451 is triggered at the time and detected by a liquid level detection sensor 458 for closing liquid supplementing, the liquid level detection sensor 458 is arranged in the liquid nitrogen shaping tank 451 and is positioned on the side wall of the liquid nitrogen shaping tank 451, which corresponds to the liquid level at the ideal interval, and the real-time liquid level value of the liquid nitrogen in the liquid nitrogen shaping tank 451 is detected by an ultrasonic detection method.

After the liquid level detection sensor 458 sends the detected real-time liquid level value to the control cabinet 40, the control cabinet 40 judges that the real-time liquid level value is lower than the low value of the ideal interval, at the moment, the control cabinet 40 generates a control instruction to send to the liquid electromagnetic valve 457, and the liquid electromagnetic valve 457 is opened, so that liquid nitrogen in the liquid nitrogen replenishing tank 455 flows into the liquid nitrogen shaping tank 451 through the liquid replenishing pipeline 456 under the self gravity, and the liquid nitrogen replenishing is realized.

In the process of supplementing liquid nitrogen, the liquid level detection sensor 458 continuously detects the current liquid level value and sends the current liquid level value to the control cabinet 40, and when the control cabinet 40 judges that the current liquid level value reaches the high value of the ideal interval, the control instruction is generated again to the liquid electromagnetic valve 457, the liquid electromagnetic valve 457 is closed, and the liquid nitrogen supplementation of the liquid nitrogen shaping tank 451 is stopped.

After the second detection sample is shaped by the liquid nitrogen, the mechanical arm 42 clamps the material tray 452 and moves to the weighing device 43 for weighing, and then moves to the screening device 46, and the second detection sample shaped by the liquid nitrogen in the material tray 452 is poured into the screening device 46. The screening device 46 is used for screening the second detection sample according to the control instruction of the control cabinet 40 to obtain detection samples with different particle sizes, so as to realize detection of particle size components.

Screening plant 46 can select the vibration screening machine, and the vibration screening machine comprises parts such as feeder hopper, baffle, cylinder, base, servo motor, reduction gear, bracing piece, and the screening machine adopts the straight line reciprocating motion, and its speed is adjustable. Be equipped with a plurality of screens in screening plant 46, according to the user demand, the aperture of screen cloth can be 3mm respectively, 5mm and 8mm, and the order of placing is 8mm, 5mm, 3mm from top to bottom respectively.

The screen cloth is fixed by base and bracing piece, and the accessible baffle separates between the screen cloth, avoids when the screening, and the material in the current screen cloth falls into other screen cloths, influences the screening effect. The second test sample is fed from the hopper into a large aperture screen, such as an 8mm screen. When the mixture is sieved, the servo motor, the speed reducer and the cylinder drive the screen to shake, so that the mixture with small granularity can fall down along the screens with different apertures. After the screening is finished, the mixture sample with the granularity larger than 8mm is contained in the screen with the aperture of 8mm, the mixture sample with the granularity of 5-8mm is contained in the screen with the aperture of 5mm, the mixture sample with the granularity of 3-5mm is contained in the screen with the aperture of 3mm, and the mixture sample with the granularity smaller than 3mm falls into the material containing tray below the screen through the screen with the aperture of 3mm, so that the primary grading and screening process is finished immediately.

After the second test sample is subjected to particle size classification, the mechanical arm 42 clamps the corresponding screen or tray and moves the screen or tray to the weighing device 43 for weighing, so as to obtain the weights of the test samples with different particle sizes. The control cabinet 40 obtains a weight value of each weighing device 43 for determining the moisture content of the first test sample and the grain size composition of the second test sample according to the detected weight data.

After the robot system 4 finishes the detection of the moisture content and the granularity composition of the mixture, the process control system 1 sends the detection value to the mixed granulation control system 5, or the mixed granulation control system 5 obtains the moisture content and the granularity composition of the mixture detected by the robot system 4 through the process control system 1. The mixing and granulating control system 5 is used for acquiring the moisture content of the first detection sample and the granularity composition of the second detection sample detected by the robot system 4 according to the control signal of the process control system 1, and adjusting the process parameters of the mixer 2 for mixing and granulating the sintering material based on a preset control strategy.

In order to improve the recycling of resources, the waste materials subjected to moisture and particle size composition detection can be put on the belt conveyor 3 again for continuous use. For this reason, the present embodiment performs material recovery using the discard device 47. The waste material device 47 may adopt a waste hopper lifter for receiving waste materials discharged from a waste belt, including a first detection sample for detecting moisture content and a second detection sample for detecting particle size composition, and lifting the waste materials to the belt conveyor 3 for conveying a sintering mixture.

Therefore, the sintering, mixing and granulating control system provided by the embodiment of the invention divides the whole control system working flow into the mixed material granularity composition and moisture detection flow and the sintering, mixing and granulating control flow, and the mixed material granularity composition and moisture detection flow are realized by the moisture granularity detection robot (the robot system 4), so that the granularity composition detection and the moisture content detection of the mixed material can be simultaneously carried out, the detection is not interfered with each other, and the detection efficiency is improved. And the mixing granulation control system judges and adjusts the technological parameters of the mixer in real time according to the detection result of the robot system, so that the mixer 2 with the adjusted technological parameters can prepare a mixture meeting the technological requirements.

In order to further explain the execution process and the obtained beneficial effects of the sintering, mixing and granulating control system provided by the embodiment of the invention, the embodiment of the invention also provides a sintering, mixing and granulating control method based on the moisture granularity detection robot system, which is applied to the sintering, mixing and granulating control system based on the moisture granularity detection robot system provided by the embodiment.

Fig. 14 is a flowchart of a sintering, mixing and granulating control method based on a moisture particle size detection robot system according to an embodiment of the present invention. As shown in fig. 14, in the sintering, mixing and granulating control method based on the moisture particle size detection robot system according to the embodiment of the present invention, the moisture content and the particle size composition of the mixture are detected, and then the process parameters of the mixer are adjusted. Specifically, the method is executed by a process control system in a sintering, mixing and granulating control system based on a moisture granularity detection robot system, and comprises the following steps:

step 01, controlling the integrated sampling device to grab the mixture conveyed on the belt conveyor and enter a chute; the mixture is a material obtained by mixing the sintering material through a mixer.

The sintering materials are mixed and granulated in a mixer 2, and the mixed mixture is conveyed to the subsequent working procedure by a belt conveyor 3. When the robot system 4 detects the moisture content and the granularity composition of the mixture, the integrated sampling device 41 takes materials from the cross section of the belt conveyor 3. When the process is realized, the process control system 1 controls the robot system 4 to start, and the control cabinet 40 in the robot system 4 controls the integrated sampling device 41 to grab the mixture on the belt conveyor 3 according to the received control instruction of the process control system 1 and flow into the chute 411 below the integrated sampling device 41.

Because the method provided by the embodiment can simultaneously detect the moisture content and the particle size composition, two detection samples need to be obtained. To ensure the amount of material for the test sample, the amount of mixture in the chute 411 is greater than or equal to the amount of material required for two test samples.

And 02, controlling a material discharging switch arranged at a material outlet of the chute to be opened, so that the mixture in the chute enters a first sample receiving cup positioned at the bottom of the chute.

A receiving cup is placed below the chute 411, when the receiving cup is filled with the mixture, the control cabinet 40 sends an opening instruction to a discharging switch 412 arranged at a discharging port of the chute 411, and controls the discharging switch 412 to be opened, so that the mixture in the chute 411 enters the first receiving cup.

Step 03, controlling a discharging switch to be closed when the first sample receiving cup is filled with the mixture; the mixture in the first sample receiving cup is a first detection sample.

Because the volume of the receiving cup is fixed, the amount of the mixture injected into the receiving cup can be determined. After the control cabinet 40 controls the chute 411 to flow a corresponding amount of mixture, it sends a closing instruction to the emptying switch 412 to stop the material filling operation of the chute 411 to the first receiving cup, and at this time, the first receiving cup is filled with the mixture, which is the first detection sample.

And step 04, controlling the mechanical arm to place the first sample receiving cup filled with the mixture on the weighing device, and clamping the second sample receiving cup and placing the second sample receiving cup at the bottom of the chute.

After the first receiving cup is filled with the mixture, the control cabinet 40 controls the mechanical arm 42 to move, so that the first receiving cup is moved away and placed on the weighing device for weighing, and meanwhile, the second receiving cup is placed on the discharge hole of the chute 411.

Step 05, starting a material discharging switch to enable the mixture in the chute to enter a second sample receiving cup positioned at the bottom of the chute; the mixture in the second sample receiving cup is a second detection sample.

The control cabinet 40 receives the completion action signal of the mechanical arm 42, sends an opening instruction to the emptying switch 412 again, controls the emptying switch 412 to be opened, enables the mixture in the chute 411 to flow into the second sample receiving cup, and closes the emptying switch 412 after the material injection operation is completed. At this time, the second sample receiving cup is filled with the mixture, and the second detection sample is obtained.

S1, controlling a mechanical arm to respectively place the first sample receiving cup containing the first detection sample and the second sample receiving cup containing the second detection sample on a weighing device for weighing to obtain the initial weight of the first detection sample and the initial weight of the second detection sample; the first detection sample and the second detection sample are mixture obtained after the sintering materials are mixed and granulated through a mixer.

After the first sample receiving cup and the second sample receiving cup are respectively filled with the mixture, the mechanical arm 42 respectively moves the first sample receiving cup and the second sample receiving cup to the weighing device 43 for weighing, the obtained initial weight of the first detection sample is the total weight of the first sample receiving cup and the first detection sample, and the obtained initial weight of the second detection sample is the total weight of the second sample receiving cup and the second detection sample.

S2, controlling the mechanical arm to place the weighed first sample receiving cup into a microwave drying device for drying treatment, weighing the dried first sample receiving cup after the drying treatment to obtain the dried weight of the first detection sample, and calculating the moisture content of the first detection sample based on the initial weight of the first detection sample and the dried weight of the first detection sample.

After the two sample receiving cups are weighed, the two detection samples are detected. In this embodiment, the process of detecting the moisture content of the first detection sample is performed first, that is, the first detection sample is dried, the moisture in the first detection sample is evaporated, and then the dried weight is weighed, so that the moisture content of the first detection sample can be determined.

Fig. 15 is a flowchart of a method for drying a first test sample according to an embodiment of the present invention. Referring to fig. 15, the control arm puts the first sample cup that connects after will weighing into microwave drying device and dries and handles, obtains first detection sample weight after drying through weighing after drying handles, includes:

s211, controlling the mechanical arm to place the weighed first detection sample in the first sample receiving cup on a weighing platform in the microwave drying device for drying.

After the weighing is completed, the control cabinet 40 controls the microwave drying device 44 to open the oven door 444 of the drying oven, controls the mechanical arm 42 to clamp the first sample receiving cup, pours the first detection sample in the first sample receiving cup into the microwave drying container 443 in the drying oven 441, and weighs the first detection sample in real time by the weighing platform 442 located below the microwave drying container 443.

And then the oven door 444 of the drying oven is controlled to be closed, the microwave source 445 is started, and the first detection sample is dried.

S212, in the drying process, acquiring the real-time weight of the first detection sample weighed by the weighing platform; and obtaining the weight variation of the first detection sample according to the initial weight of the first detection sample.

As the microwave drying process progresses, the moisture content of the first detection sample gradually decreases, the weight change of the first detection sample is detected by the weighing platform 442 in real time, and the control cabinet 40 calculates the weight change λ of the first detection sample (W) according to the weight obtained in real time and the initial weight of the first detection sample_1i-W_1i-1)/W_1i-1. In the formula, W_1iThe weight value, W, detected by the weighing station at the present moment_1i-1The weight value detected by the weighing platform at the previous moment.

And S213, stopping the drying process if the weight change amount of the first detection sample is greater than or equal to 5%.

Because the method provided by this embodiment adopts the method of two drying processes when drying the first detection sample, when the weight variation of the first detection sample is greater than or equal to 5%, the drying process is stopped, the first detection sample is turned over, and the drying is continued until the end.

S214, controlling the mechanical arm to rotate the first detection sample by 180 degrees, and continuously drying the rotated first detection sample.

When the first detection sample needs to be turned over, the control cabinet 40 opens the drying box door 444, controls the mechanical arm 42 to clamp the microwave drying container 443 to rotate 180 °, then closes the drying box door 444, and continues the drying process on the rotated first detection sample.

S215, when the weight variation of the first detection sample is 0, acquiring the dried weight of the first detection sample weighed by the weighing platform.

When the weight of the first detection sample does not change any more, it indicates that the moisture in the first detection sample is completely dried, and at this time, the detection value of the weighing platform 442 can be read, that is, the dried weight of the first detection sample. The dried weight of the first test sample can be directly read by the weighing platform 442, or can be obtained by weighing by the weighing device 43, which is not specifically limited in this embodiment.

FIG. 16 is a flowchart of a method for calculating a moisture content of a first test sample according to an embodiment of the present invention. After the dried weight detection of the first detection sample is completed, the moisture content of the first detection sample can be calculated. Referring to fig. 16, calculating the moisture content of the first test sample based on the initial weight of the first test sample and the dried weight of the first test sample includes:

s221, obtaining the weight of the empty sample cup of the first sample receiving cup.

S222, calculating the initial net weight of the first detection sample based on the initial weight of the first detection sample and the weight of the empty cup.

S223, according to formula M₁＝(W₁₀-W_dry)/W₁₀And calculating the moisture content of the first detection sample.

The first sample receiving cup is weighed once before being filled with the first detection sample so as to obtain the empty cup weight of the first sample receiving cup. The initial weight of the first detection sample is the total weight of the first sample receiving cup and the first detection sample, and therefore, the initial net weight W of the first detection sample can be obtained by subtracting the weight of the empty cup of the first sample receiving cup from the initial weight of the first detection sample₁₀。

The dried weight of the first detection sample is the net weight of the sample, so that the initial net weight of the first detection sample and the dried weight of the first detection sample are the weight loss difference of the dried first detection sample, and further the initial net weight W of the first detection sample can be used₁₀The weight W of the dried first detection sample_dryAccording to the formula M₁＝(W₁₀-W_dry)/W₁₀And calculating the moisture content of the first detection sample.

And S3, controlling the mechanical arm to place the second sample receiving cup filled with the second detection sample into a liquid nitrogen shaping device for liquid nitrogen shaping, and pouring the shaped second detection sample into a screening device for screening to obtain detection samples with different particle sizes.

When first testing sample carries out drying process, for improving detection efficiency, the steerable arm 42 of switch board 40 connects the second to put into liquid nitrogen setting device with the appearance cup and carries out the liquid nitrogen design, increases the intensity of mixture, avoids being shaken the bits of broken glass at the screening in-process, leads to the granularity to constitute testing result inaccurate. And then screening to obtain detection samples with different particle sizes.

Fig. 17 is a flowchart of a method for performing liquid nitrogen sizing according to an embodiment of the present invention. Specifically, referring to fig. 17, the controlling the mechanical arm to put the second sample cup containing the second detection sample into the liquid nitrogen setting device for performing liquid nitrogen setting treatment includes:

s31, controlling the mechanical arm to pour the second detection sample in the second sample receiving cup into a material tray of the liquid nitrogen shaping device, and placing the material tray containing the second detection sample on a supporting plate connected with the material lifting mechanism.

When the second detection sample is subjected to liquid nitrogen sizing, the control cabinet 40 controls the mechanical arm 42 to clamp the second sample receiving cup and move the second sample receiving cup into the liquid nitrogen sizing device 45, specifically, the second detection sample in the second sample receiving cup is poured into the material tray 452, and then the material tray 452 containing the second detection sample is placed on the support plate 453.

And S32, controlling the material lifting mechanism to drive the supporting disc to descend into the liquid nitrogen shaping tank, so that the second detection sample in the material disc is immersed into liquid nitrogen in the liquid nitrogen shaping tank, and performing liquid nitrogen shaping treatment.

After the second detection sample is placed on the support disc 453, the control cabinet 40 drives the material lifting mechanism 454 again, and the support disc 453 is lowered into the liquid nitrogen shaping tank 451 by the material lifting mechanism 454, so that the second detection sample in the support disc 453 can be in full contact with liquid nitrogen in the liquid nitrogen shaping tank 451 to carry out liquid nitrogen shaping.

And S33, controlling the material lifting mechanism to drive the supporting disc to ascend after the liquid nitrogen shaping time is reached, and enabling the material disc containing the second detection sample to ascend to the outside of the liquid nitrogen shaping tank.

After the contact time of the second detection sample and the liquid nitrogen reaches the liquid nitrogen shaping time, the liquid nitrogen shaping processing is completed, and at this time, the control cabinet 40 controls the material lifting mechanism 454 to act to drive the support plate 453 to ascend, so that the material tray 452 loaded with the second detection sample is separated from the liquid nitrogen.

In this embodiment, the specific operation process of the liquid nitrogen sizing device 45 for performing the liquid nitrogen sizing treatment on the second detection sample can refer to the description of the liquid nitrogen sizing device in the foregoing embodiment, and details are not repeated here.

When the liquid nitrogen setting device 45 is used for setting the second detection sample by liquid nitrogen, in order to avoid the situation of insufficient or excessive setting, the detection result of the particle size composition of the mixture is influenced by the dipping of the plate or the dipping of the sieve, and therefore, the liquid nitrogen setting time needs to be controlled.

Fig. 18 is a flowchart of a method for controlling a liquid nitrogen fixing time according to an embodiment of the present invention. The method provided by this embodiment, referring to fig. 18, further includes a related step of controlling the finalization time:

and S341, controlling the mechanical arm to clamp the material disc, pouring the shaped second detection sample into a screening device for screening, and weighing the current material disc by using a weighing device to obtain the mass of the empty material disc.

After the liquid nitrogen sizing is completed, the control cabinet 40 sends a control command to the mechanical arm 42 again, and the mechanical arm 42 transfers the sized tray 452 containing the second detection sample to the screening device 46, so that the second detection sample in the tray 452 is poured into the screening device 46 for screening processing. At this time, the control cabinet 40 sends a control command to the robot arm 42 again to transfer the tray 452 from which the second test sample is poured to the weighing device 43, and the weighing device 43 weighs the current tray. After the weighing device 43 finishes weighing, the control cabinet 40 can obtain the current weighing value to obtain the empty material tray mass. The current material tray refers to an empty material tray after the second detection sample shaped by liquid nitrogen is poured into the screening device 46, and the material tray may be stained with a little mixture.

And S342, acquiring the empty tray quality of the material tray, and determining a shaping time control index when the liquid nitrogen shaping device shapes the second detection sample based on the proportional relation between the empty tray quality and the empty tray quality.

And S343, adjusting the setting time of the liquid nitrogen setting device for carrying out the next setting treatment on the second detection sample according to the setting time control index.

The mass of the empty tray and the mass of the empty material tray can represent the mass loss change condition of the second detection sample before and after the liquid nitrogen sizing, and if the sizing time is not proper, the second detection sample may be excessively sized or insufficiently sized during the liquid nitrogen sizing. The over-sizing phenomenon can be expressed as material sticking to the tray, and the under-sizing phenomenon can be expressed as material sticking to the screen during subsequent screening treatment.

In this embodiment, for adjusting the design time to liquid nitrogen setting device in real time, can be according to the excessive design of difference or the phenomenon that the design is not enough, carry out different design time control index, and then guarantee that liquid nitrogen setting device 45 carries out the rationalization of the design time that liquid nitrogen was stereotyped to the second testing sample, and then avoid appearing that the material is stained with a dish or the material is stained with the sieve.

Corresponding setting time control indexes are determined according to the quality change of the current second detection sample before and after liquid nitrogen setting, the determined setting time control indexes are executed by the control cabinet 40, and intelligent adjustment of the setting time of the liquid nitrogen setting device 45 is completed, so that the setting time of the liquid nitrogen setting device 45 for performing liquid nitrogen setting on the next second detection sample is proper, and the phenomenon of excessive setting or insufficient setting is avoided.

In the embodiment, different setting time control indexes are determined according to the proportional relation between the mass of the empty tray and the mass of the empty material tray, so that the intelligent control of the setting time of the liquid nitrogen setting device is realized.

Fig. 19 is a flowchart of a method for determining a fixed-type time control indicator according to an embodiment of the present invention. Specifically, referring to fig. 19, determining a setting time control index when the liquid nitrogen setting device performs setting processing on the mixture based on a proportional relationship between the empty tray mass and the empty material tray mass includes:

s3421, calculating the ratio of the mass of the empty tray to the mass of the empty material tray.

Since the mass comparison between the empty tray mass and the empty tray mass can determine whether the tray sticking phenomenon of the material exists, in this embodiment, the weight ratio of the material tray before and after the liquid nitrogen sizing treatment is used for the accurate determination of the tray sticking phenomenon of the material.

The ratio is calculated as: θ ═ W_k*-W_k)/W_k；

In the formula, θ is the ratio, W_kFor empty disc mass, W_kIs the empty material tray mass.

If when handling through the liquid nitrogen design, the design time of liquid nitrogen setting device is unsuitable, for example the design time overlength, then can make the material be stained with a set phenomenon, and the mixture after handling through the liquid nitrogen design can be stained with on the material dish a little promptly for empty material dish quality is greater than empty dish quality. The mass loss change of the mixture after the liquid nitrogen sizing treatment is characterized by a ratio.

In order to precisely adjust the setting time of the liquid nitrogen setting device, the present embodiment may set three determination methods including, but not limited to, setting three parameter ranges, determining which parameter range the ratio is within according to the calculated ratio, and then executing the corresponding setting time control index.

S3422, if the ratio is within the first parameter range, determining that the current shaping processing result is excessive shaping, and determining a first shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample.

In this embodiment, a first parameter range is set, for example: 0.5 to 1 percent. After the ratio theta is calculated, the ratio theta is compared with a first parameter range, if the ratio theta is within the first parameter range, the setting result of the current second detection sample is judged to be excessively set, the setting time is too long, a material sticking disc exists, and at the moment, a first setting time control index, namely T_n+1＝T_n-1。

For example, the liquid nitrogen setting device 45 has an initial setting time T₀35s, the nth setting time is T_n. If the mixture of the nth time is shaped by liquid nitrogen, the ratio theta of the front weight to the rear weight of the material tray is within a first parameter range, namely theta₁Within 0.5-1%, adjusting the setting time of the liquid nitrogen setting device 45 for the next setting treatment of the second detection sample, namely T, according to the first setting time control index_n+1＝T_n-1-35-1-34 s, then the next set time is 34 s.

S3423, if the ratio is in the second parameter range, determining that the current shaping processing result is over-shaping, and determining a second shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample.

In this embodiment, a second parameter range is set, for example: 1 to 2 percent. After the ratio theta is calculated, the ratio theta is compared with a second parameter range, if the ratio theta is within the second parameter range, the setting result of the current second detection sample is judged to be excessively set, the setting time is too long, a material sticking disc exists, and at the moment, a second setting time control index, namely T_n+1＝T_n-2。

For example, the liquid nitrogen setting device 45 has an initial setting time T₀35s, the nth setting time is T_n. If the mixture of the nth time is shaped by liquid nitrogen, the ratio theta of the front weight to the rear weight of the material tray is within a second parameter range, namely theta₂Within 1-2%, adjusting the setting time of the liquid nitrogen setting device 45 for the next setting treatment of the second detection sample, namely T_n+1＝T_n-2-35-2-33 s, then the next set time is 33 s.

S3424, if the ratio is within the third parameter range, determining that the current shaping processing result is a system error, and determining a third shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample.

In this embodiment, a third parameter range is set, for example: not less than 2 percent. After the ratio theta is calculated, the ratio theta is compared with a third parameter range, if the ratio theta is within the third parameter range, the error of the current system is judged, the weighing device is reset, and at the moment, a third setting time control index, namely T is determined_n+1＝T_nAnd controlling the liquid nitrogen setting device 45 to set the second detection sample for the next time, wherein the setting time of the second detection sample is the same as the setting time of the current setting treatment.

For example, the initial setting time of the liquid nitrogen setting device is T₀35s, the nth setting time is T_n. If the mixture of the nth time is shaped by liquid nitrogen, the ratio theta of the front weight to the rear weight of the material tray is within a third parameter range, namely theta₃More than or equal to 2 percent, the setting time, namely T, of the liquid nitrogen setting device 45 for carrying out the next setting treatment on the second detection sample is adjusted according to the third setting time control index_n+1＝T_nThen the next set time is 35 s.

The method can be used for solving the problems that excessive sizing is generated, and the sizing time of the liquid nitrogen sizing device 45 is intelligently adjusted when a material is stained with a plate. And aiming at the insufficient sizing and the sizing time adjusting method with the material sticking phenomenon, the weight change value of a second detection sample before and after the screening is also required to be utilized.

FIG. 20 is a flow chart of another method for controlling the liquid nitrogen fixing time according to the embodiment of the present invention. Therefore, the method provided by the embodiment of the invention further comprises the following steps in the process of controlling the liquid nitrogen setting time of the liquid nitrogen setting device:

s351, controlling the mechanical arm to place the material tray containing the second detection sample on the weighing device, and weighing the material tray containing the second detection sample by using the weighing device to obtain the total mass of the material tray.

The control cabinet 40 sends a control instruction to the mechanical arm 42, the mechanical arm 42 is controlled to place the second detection sample in the second sample receiving cup on the material tray 452, the mechanical arm 42 transfers the material tray 452 containing the second detection sample to the weighing device 43 for weighing, and the control cabinet 40 obtains a current weight value, namely the total mass of the material tray representing the weight of the material tray 452 containing the second detection sample.

S352, the empty tray mass of the material tray is obtained, and the net weight of the material is determined based on the empty tray mass and the total mass of the material tray.

Before the second detection sample is not loaded into the material tray, the material tray is clamped to the weighing device 43 by the mechanical arm 42 to be weighed, and the weight of the empty material tray, namely the empty tray mass, is obtained. 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 may be indicative of the weight of the second test sample.

And S353, after the screening process of the screening device is finished, weighing the screened second detection samples with different particle sizes by using the weighing device to obtain the net weight of the screened materials.

After the second detection sample shaped by the liquid nitrogen is screened by the screening device 46, the control cabinet 40 generates a control command and sends the control command to the mechanical arm 42, and the second detection samples with different particle sizes and the corresponding sieve trays are transferred to the weighing device 43 for weighing, so that the weight (including the corresponding sieve trays) of the second detection sample with each particle size can be obtained. And then obtaining the mass of the empty sieve tray corresponding to each granularity, and calculating according to the weight (including the corresponding sieve tray) of the second detection sample of each granularity and the mass of the empty sieve tray by a difference method to obtain the net weight of the second detection sample of each granularity. And finally, summing the net weights of the second detection samples with the different particle sizes to obtain the net weight of the screened material.

And the net weight of the screened material can represent the net weight of the second detection sample subjected to the liquid nitrogen sizing treatment and subjected to the screening treatment. The screened sieve tray may be stained with some second detection samples, which may indicate that the setting time of the liquid nitrogen setting device is not appropriate, i.e. the time is too short.

S354, determining a shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample based on the proportional relation among the empty tray mass, the material net weight, the empty tray mass and the screened material net weight.

In order to adjust the setting time of the liquid nitrogen setting device 45, in this embodiment, different setting time control indexes are determined according to the proportional relationship between the empty tray mass, the material net weight, the empty tray mass and the screened material net weight, and the intelligent adjustment of the setting time of the liquid nitrogen setting device 45 is completed, so that the setting time of the liquid nitrogen setting device 45 for performing liquid nitrogen setting on the next second detection sample is proper, and the phenomenon of insufficient setting is avoided.

Fig. 21 is another flowchart of a method for determining a fixed-type time control indicator according to an embodiment of the present invention. Referring to fig. 21, in step S354, determining a shaping time control index when the liquid nitrogen shaping device shapes the second detection sample based on a proportional relationship between the empty tray mass, the material net weight, the empty tray mass, and the screened material net weight includes:

s3541, determining the net weight of the shaped materials based on the mass of the empty trays, the net weight of the materials and the mass of the empty trays.

According to the method provided by the embodiment, the corresponding setting time control index is determined according to the proportional relation between the net weight of the screened second detection sample and the net weight of the mixture after setting.

The total mass of the mixture before and after shaping with liquid nitrogen should be the same, so the empty plate mass (W)_k) The net weight of the materials (W)_i) Should be consistent with the empty material tray mass (W)_kNet weight of material (W) after setting_Stator) Are the same, i.e. W_k+W_i＝W_k*+W_Stator。

Wherein the empty tray mass (W)_k) The net weight of the materials (W)_i) And is used to characterize the total mass of the second test sample, the empty material tray mass (W), before it is shaped by liquid nitrogen_kNet weight of material (W) after setting_Stator) And is used to characterize the total mass of the blend after setting with liquid nitrogen.

Therefore, based on the empty tray mass, the material net weight and the empty tray mass, the formula for determining the net weight of the shaped material is as follows: w_Stator＝W_i+W_k-W_k*。

S3542, calculating the ratio of the net weight of the screened material to the net weight of the shaped material.

If the material is stained with the screen, the net weight of the screened material is smaller than the net weight of the sized 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 sized material.

In this embodiment, the calculation formula of the ratio of the net weight of the screened material to the net weight of the sized material is as follows:

λ＝W_i*/W_stator＝W_i*/(W_i+W_k-W_k*)；

Wherein λ is the ratio, W_iAnd the net weight of the screened material.

If when handling through the liquid nitrogen design, the design time of liquid nitrogen design device is unsuitable, for example the design time is not enough, then can make the material be stained with the sieve phenomenon, and the second that handles through the liquid nitrogen design promptly detects the sample and can be stained with on the sieve tray a little for the material net weight is lighter than after the design after the screening. And characterizing the mass loss change of the second detection sample after the screening treatment by a ratio.

In order to accurately adjust the setting time of the liquid nitrogen setting device, the present embodiment may set three determination methods including, but not limited to, setting three parameter ranges, determining which parameter range the ratio is within according to the calculated ratio, and then executing the corresponding setting time control index.

S3543, if the ratio is within the range of the fourth parameter, determining that the current shaping processing result is excessive and insufficient, and determining a fourth shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample.

In this embodiment, a fourth parameter range is set, for example: 99 to 99.5 percent. After the ratio lambda is calculated, the ratio lambda is compared with a fourth parameter range, if the ratio lambda is located in the fourth parameter range, the current setting result of the second detection sample is judged to be insufficient in setting, the setting time is too short, a material is stained and sieved, and at the moment, a fourth setting time control index, namely T_n+1＝T_n+1。

For example, the initial setting time of the liquid nitrogen setting device is T₀35s, the nth setting time is T_n. If the mixed material of the nth time is sieved, the ratio of the front weight to the rear weight of the material tray is within the lambda parameter range, namely lambda₁Within 99-99.5%, adjusting the setting time of the liquid nitrogen setting device for the next setting treatment of the second detection sample, namely T according to the fourth setting time control index_n+1＝T_nAnd +1 is 35+1 is 36s, then the next setting time is 36 s.

S3544, if the ratio is within the range of the fifth parameter, determining that the current shaping processing result is excessive and insufficient, and determining a fifth shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample.

In this embodiment, a fifth parameter range is set, for example: 98 to 99 percent. After the ratio lambda is calculated, the ratio lambda is compared with the range of the fifth parameter, if the ratio lambda is within the range of the fifth parameter, the current setting result of the second detection sample is judged to be insufficient in setting, the setting time is too short, the material is stained and sieved, and at the moment, a fifth setting time control index, namely T_n+1＝T_n+2。

E.g. of a liquid nitrogen setting deviceThe initial setting time is T₀35s, the nth setting time is T_n. If the mixed material of the nth time is sieved, the ratio of the front weight to the rear weight of the material tray is within the lambda parameter range, namely lambda₂Within 98-99%, adjusting the setting time of the liquid nitrogen setting device for performing the next setting treatment on the second detection sample, namely T, according to the fifth setting time control index_n+1＝T_nAnd + 2+ 35+ 2+ 37s, the next setting time is 37 s.

S3545, if the ratio is within the sixth parameter range, determining that the current shaping processing result is excessive and insufficient, and determining a sixth shaping time control index when the liquid nitrogen shaping device carries out shaping processing on the second detection sample.

In this embodiment, a sixth parameter range is set, for example: less than or equal to 98 percent. After the ratio lambda is calculated, the ratio lambda is compared with the range of the fifth parameter, if the ratio lambda is located in the range of the sixth parameter, the error of the current system is judged, the weighing device is reset, and at the moment, a sixth setting time control index, namely T is determined_n+1＝T_nAnd controlling the liquid nitrogen setting device to set the second detection sample for the next time, wherein the setting time is the same as that of the current setting treatment.

For example, the initial setting time of the liquid nitrogen setting device is T₀35s, the nth setting time is T_n. If the mixed material of the nth time is sieved, the ratio of the front weight to the rear weight of the material tray is within the lambda parameter range, namely lambda₃Within less than or equal to the third setting time control index, adjusting the setting time of the liquid nitrogen setting device for carrying out the next setting treatment on the second detection sample, namely T_n+1＝T_nThen the next set time is 35 s.

Therefore, according to the method for controlling the liquid nitrogen sizing time provided by this embodiment, the plate-sticking condition of the second detection sample before and after the liquid nitrogen sizing can be determined according to the mass values (the mass of the empty plate and the mass of the empty plate) obtained by weighing the empty plate before and after the liquid nitrogen sizing. If the setting time of the liquid nitrogen setting device is too long, excessive setting can be caused, and materials are stained on the plate. At the moment, according to the calculated different ratios of the mass of the front and rear empty material trays, the corresponding setting time control index is executed so as to adjust the setting time when the liquid nitrogen setting device carries out the next setting treatment on the second detection sample, so that the setting time is proper, and the phenomenon of sticking the tray can not occur. The method can also determine the screen touching condition of the second detection sample before and after screening according to the net weight change of the mixture before and after screening (the net weight of the shaped material and the net weight of the screened material). If the setting time of the liquid nitrogen setting device is too short, insufficient setting can be caused, and materials are stained with the screen. At the moment, according to different specific values of net weights of the second detection samples before and after the calculation and the screening, corresponding setting time control indexes are executed, so that the setting time when the liquid nitrogen setting device carries out the next setting treatment on the mixture is adjusted, the setting time is appropriate, the screen sticking phenomenon cannot occur, and the accuracy of subsequent mixture granularity detection data is ensured.

When the liquid nitrogen setting device 45 performs the liquid nitrogen setting process on the second detection sample, the liquid nitrogen is consumed due to each setting operation. And in order to ensure the liquid nitrogen shaping effect, 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 can be supplemented in time to ensure that the liquid nitrogen shaping is completed within proper shaping time, and further ensure that the granularity of the second detection sample forms the accuracy of the detection result.

Fig. 22 is a flowchart of a method for supplementing liquid to a liquid nitrogen sizing device according to an embodiment of the present invention. Referring to fig. 22, after the tray containing the second test sample is lifted out of the liquid nitrogen setting tank in step S33, the method further includes:

and S361, after the material tray of the liquid nitrogen shaping device leaves the liquid nitrogen shaping tank, acquiring the current liquid nitrogen level value of the liquid nitrogen shaping tank detected by the liquid level detection sensor.

After the liquid nitrogen setting is performed, the control cabinet 40 controls the material lifting mechanism 454 to ascend, so that the material tray 452 containing the second detection sample leaves the liquid nitrogen setting tank 451. And after the liquid nitrogen in the liquid nitrogen shaping tank is stabilized, acquiring the detection value of the liquid level detection sensor, and determining the current liquid nitrogen liquid level value of the liquid nitrogen shaping tank.

And S362, detecting the starting state of the screening device if the current liquid nitrogen liquid level value is smaller than the lowest value of the ideal liquid level interval.

When the liquid level in the liquid nitrogen shaping tank drops below a certain liquid level, the liquid nitrogen needs to be supplemented at the moment. Therefore, in this embodiment, the minimum value of the ideal liquid level interval is set, and the current liquid level value of the liquid nitrogen setting tank is smaller than the minimum value of the ideal liquid level interval, which indicates that the liquid supplementing operation needs to be performed on the liquid nitrogen setting tank.

In order to ensure the smooth operation of liquid supplementing, the operation needs to be carried out under the condition 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. Screening plant is when opening the sieve, produces the comparatively big device of vibrations in the system, and liquid nitrogen design jar is nearer apart from screening plant for screening plant's vibrations can drive the vibrations of liquid nitrogen design jar, and then leads to the liquid level of liquid nitrogen in the liquid nitrogen design jar unstable, is in the fluctuation state, influences liquid level detection sensor's detection accuracy.

Therefore, when the liquid needs to be replenished to the liquid nitrogen shaping tank, whether the screening device is in a starting state or not needs to be detected, and the liquid replenishing operation can be continued only when the screening device is in a non-starting state.

And S363, when the screening device is not started, controlling the liquid nitrogen replenishing tank to be opened, and performing liquid replenishing operation on the liquid nitrogen shaping tank.

The activation state of the screening device 46 is detected by the screening device motion detection means (which may be provided on the screening device) and the detection result is sent to the control cabinet 40. When the control cabinet 40 receives a detection result that the screening device returned by the screening device motion detection device is in an unactivated state, a control instruction is generated in time and sent to the liquid electromagnetic valve 457, and the liquid electromagnetic valve 457 is opened, so that liquid nitrogen in the liquid nitrogen replenishing tank 455 enters the liquid nitrogen shaping tank 451 through the liquid replenishing pipeline 456 to replenish the liquid nitrogen shaping tank.

If the screening device is detected to be in the starting state, after the screening device 46 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 setting tank.

It can be seen that, detect the liquid nitrogen liquid level value in liquid nitrogen design jar 451 in real time through liquid level detection sensor 458, and when the liquid nitrogen is not enough, in time open liquid nitrogen fluid infusion jar 455 and carry out the fluid infusion operation to liquid nitrogen design jar 451, in order to ensure that the storage is by sufficient liquid nitrogen in the liquid nitrogen design jar, make liquid nitrogen setting device 45 can be in suitable design time, the completion is to the liquid nitrogen design operation of mixture, avoid appearing the not enough phenomenon of liquid nitrogen design, and then influence the testing result that the granularity of second detection sample constitutes.

To ensure that the replenishment operation is stopped after sufficient liquid nitrogen has been replenished, the method further comprises: judging whether the current liquid nitrogen liquid level value reaches the highest value of an ideal liquid level interval or not in the process of liquid supplementing operation; 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.

In the liquid supplementing operation process of the liquid nitrogen shaping tank 451 by the liquid nitrogen supplementing tank 455, the liquid level detection sensor 458 detects the liquid level value of the liquid nitrogen in real time, and sends the detection result to the control cabinet 40. When the control cabinet 40 receives a certain current liquid nitrogen level value, whether the value reaches the highest value of the ideal liquid level interval is judged. The highest value of the ideal liquid level interval is a control index for controlling the liquid nitrogen replenishing tank to stop liquid replenishing operation.

When the control cabinet 40 receives a certain current liquid nitrogen level value, the value is judged to reach the highest value of the ideal liquid level interval, and the liquid nitrogen shaping tank is indicated to be filled with enough liquid nitrogen, so that the liquid nitrogen supplement can be stopped. The control cabinet 40 sends a control command to the liquid solenoid valve 457 to close the liquid solenoid valve, and stops the liquid replenishing operation.

Since the total time for completing the liquid nitrogen fixing treatment, the sieving treatment and the weighing treatment in the particle size composition detection of the second test sample is about 5 minutes, while the time for completing the liquid nitrogen fixing treatment is about 1 minute, and the total time for sieving treatment and weighing treatment is about 2 minutes, it can be seen that there may be an interval time of about 2 minutes in one flow. In order to avoid the influence on the overall detection efficiency caused by the 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.

Therefore, the method provided by the embodiment of the invention further comprises the following steps: if the current liquid nitrogen liquid level value does not reach the maximum value of the ideal liquid level interval, counting the opening time of the liquid nitrogen replenishing tank; and if the opening duration exceeds the time threshold, controlling the liquid nitrogen liquid supplementing tank to be closed, and stopping the liquid supplementing operation.

During the liquid supplementing operation process of the liquid nitrogen replenishing tank 455 to the liquid nitrogen shaping tank 451, the opening duration of the liquid nitrogen replenishing tank is counted in real time. The time threshold is set to characterize a time interval, such as 2 minutes. If the opening duration of the liquid nitrogen replenishing tank reaches the time threshold, in order to avoid the follow-up detection process, even if enough liquid nitrogen is not replenished in the liquid nitrogen shaping tank, the liquid replenishing operation is stopped immediately. At this time, after judging that the opening time length exceeds the time threshold, the control cabinet 40 generates a control command to the liquid electromagnetic valve 457, closes the liquid electromagnetic valve, and stops the liquid supplementing operation for the liquid nitrogen setting tank.

It should be noted that the index for controlling the liquid supplementing operation of the liquid nitrogen replenishing tank on the liquid nitrogen shaping tank to stop includes, but is 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 duration of the liquid nitrogen replenishing tank exceeds the time threshold. In other embodiments, the index for controlling the stopping of the fluid replacement operation may be set according to actual application.

For example, if the current liquid nitrogen level value does not reach the highest value of the ideal liquid level interval within the time threshold, such as 2 minutes, the liquid replenishing operation is continuously maintained until the current liquid nitrogen level value stops after reaching the highest value of the ideal liquid level interval. And 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 does not reach 2 minutes.

Therefore, the method can control the opening and closing of the liquid nitrogen replenishing tank in time when the liquid nitrogen setting device sets the liquid nitrogen for the second detection sample, can finish the replenishing operation within the specified time on the premise of ensuring that enough liquid nitrogen exists in the liquid nitrogen setting tank, and avoids the influence on the subsequent flow of the particle size composition detection of the second detection sample caused by overtime replenishing operation.

And after the second detection sample is shaped by liquid nitrogen, screening and grading treatment can be carried out. Therefore, in the method provided by this embodiment, the second test sample after sizing is poured into a screening device for screening, so as to obtain test samples with different particle sizes:

step 371, controlling the mechanical arm to pour the shaped second detection sample into a feed hopper of the screening device, wherein the feed hopper is connected with an upper screen; 3 layers of screens are arranged in the screening device, and the aperture of each screen is sequentially 8mm, 5mm and 3mm from top to bottom.

And 372, starting a screening device, and screening the second detection sample according to preset screening time to obtain a detection sample with the granularity of less than 3mm, a detection sample with the granularity of 3-5mm, a detection sample with the granularity of 5-8mm, and a detection sample with the granularity of more than 8 mm.

Be provided with the three-layer screen cloth in screening plant 46, the screen cloth that the aperture is biggest (8mm) is located the below of feeder hopper, 5mm and 3 mm's the below that is located 8mm screen cloth in proper order, and 3 mm's screen cloth is located the lower floor, and the below of 3mm screen cloth sets up the containing tray to the detection sample that the splendid attire particle diameter is less than 3 mm.

The control cabinet 40 controls the robot arm 42 to pick up the shaped tray 452 and move the shaped tray 452 to the screening device 46, and the second test sample in the tray 452 is poured into the hopper of the screening device. Then, the control cabinet 40 controls the sieving device 46 to start sieving operation, and after the sieving operation is completed, a detection sample (located in the material containing tray) with the granularity of less than 3mm, a detection sample (located in the 3 mm-size sieve) with the granularity of 3-5mm, a detection sample (located in the 5 mm-size sieve) with the granularity of 5-8mm, and a detection sample (located in the 8 mm-size sieve) with the granularity of more than 8mm can be obtained.

And S4, weighing the weights of the detection samples with different granularities by using the weighing device, and calculating the granularity composition of the second detection sample according to the weights of the detection samples with different granularities.

The mechanical arm 42 sends the detection samples with different particle sizes together with the screen to the weighing device 43 for weighing, and the particle size composition of the second detection sample is calculated according to the obtained weight value. Specifically, calculating the grain size composition of the second test sample includes:

step 41, weighing the weights of a plurality of detection samples with different granularities by using the weighing device to obtain the granularity<Total weight W of 3mm test specimen _t1. The total weight W of the detection sample with the granularity of 3-5mm _t2. The total weight W of the detection sample with the granularity of 5-8mm _t3, and, particle size>8mm total weight W of test specimen _t4; the material containing tray is positioned below the screen with the aperture of 3mm and is used for receiving the granularity<3mm samples of the mix.

After four-stage screening, the sieve with the aperture of 8mm contains detection samples with the granularity larger than 8mm, the sieve with the aperture of 5mm contains detection samples with the granularity of 5-8mm, the sieve with the aperture of 3mm contains detection samples with the granularity of 3-5mm, and the detection samples with the granularity smaller than 3mm fall into a material containing tray below the sieve through the sieve with the aperture of 3 mm.

The mechanical arm 42 sequentially clamps the screen with the aperture of 8mm, the screen with the aperture of 5mm, the screen with the aperture of 3mm and the material containing tray to the weighing device 43 for weighing, and then the total weight of the screen and the corresponding detection sample can be obtained.

Step 42, acquiring the weight of a material containing disc, the weight of a screen with the aperture of 3mm, the weight of a screen with the aperture of 5mm, the weight of a screen with the aperture of 8mm and the weight of an empty cup of a second sample receiving cup; the material containing tray is positioned below the screen with the aperture of 3mm and is used for receiving the mixture sample with the granularity of less than 3 mm.

Step 43, based on the weight W of the material containing tray _k1, and the formula W _m1＝W_t1-W _k1, determining the particle size<Weight W of 3mm test specimen _m1; based on the sieve mesh weight W with the aperture of 3mm _k2, and the formula W _m2＝W_t2-W _k2, determining the weight W of the test specimen with the granularity of 3-5mm _m2; according to the weight W of a sieve with a pore diameter of 5mm _k3, and formula W _m3＝W_t3-W _k3, determining the weight W of the detection sample with the granularity between 5 and 8mm _m3, and, according to the weight W of the sieve having a pore diameter of 8mm _k4, in order toAnd formula W _m4＝W_t4-W _k4, determining the particle size>Weight W of 8mm test specimen _m4。

Before the screening, the weighing device 43 is used to weigh the screens and trays separately to obtain the weight of the empty screens and trays. The total weight determined in step S41 is the common weight of the sieve and the corresponding test sample, and the common weight of the material tray and the corresponding test sample, so that to accurately obtain the weight of the test sample of each size fraction, the weight of the corresponding sieve or material tray is subtracted from the total weight determined in step S41.

Step 44, calculating the initial net weight W of the second test sample based on the initial weight of the second test sample and the weight of the empty cup₂₀。

To determine the proportion of each size test sample to the total test sample, the initial net weight of the second test sample is determined. In this embodiment, the initial weight of the second test sample refers to the total weight of the second sample cup and the second test sample, and the empty cup weight of the second sample cup can be weighed by the weighing device 43 before the test. Subtracting the weight of the empty cup from the initial weight of the second test sample to determine the initial net weight W of the second test sample₂₀。

Step 45, according to the formula

Determining>8mm particle size composition ratio omega 4.

And step 46, determining the granularity composition (omega 1, omega 2, omega 3, omega 4) of the second detection sample.

The composition of each particle size is the ratio of the weight of the detected sample of the particle size to the total weight of the second detected sample, and different particle size compositions of <3mm, 3-5mm, 5-8mm, and 8mm or more can be determined according to the formula in step S45, at this time, the particle size composition of the second detected sample is ω 1, ω 2, ω 3, ω 4.

Therefore, the method provided by the embodiment divides the working process of the whole robot system 4 into two process flows of the mixture particle size composition detection and the mixture moisture detection, and can simultaneously perform the moisture detection and the particle size composition detection on the sintering mixture, without mutual interference, thereby improving the detection efficiency.

And S5, if the moisture content of the first detection sample does not meet the preset moisture threshold range, or the particle size composition of the second detection sample does not meet the preset particle size threshold range, adjusting the process parameters of the mixer for mixing and granulating the sintering material based on the preset control strategy.

After the robot system 4 finishes the detection of the granularity composition and the moisture content of the mixture, the moisture content of the first detection sample and the granularity composition of the second detection sample which are detected by the robot system 4 are obtained by the mixing granulation control system 5, so that whether the mixing granulation process of the mixer 2 reaches the standard or not is judged, and the technological parameters of the mixer for mixing and granulating the sintering material are adjusted according to the corresponding preset control strategy when the mixing granulation process of the mixer 2 does not reach the standard.

The reference basis for judging whether the mixing granulation process of the mixer 2 reaches the standard is the granularity composition and the moisture content of the mixture, the moisture content can represent whether the amount of added moisture meets the requirement when the mixer 2 performs mixing granulation, and the granularity composition can represent whether the mixing time of the materials when the mixer 2 performs mixing granulation meets the requirement.

Therefore, in order to adjust the process parameters of the mixer and enable the mixer to prepare the mixture meeting the requirements, a preset moisture threshold range and a preset granularity threshold range are configured in the process control system in advance and used as judgment bases for adjusting the process parameters of the mixer.

In the sintering generation process, the requirement range of the mixture moisture is 6.7% -7.0%, and then the preset moisture threshold range is determined to be 6.7% -7.0%. The range of the requirements on the granularity and the composition of the mixture is as follows: the grain diameters of <3mm and >8mm are both less than 20%, the grain diameter of 5-8mm is 30-40%, the grain diameter of 3-5mm is 25-35%, and the grain diameter of 3-8 mm is 60-70%. Wherein S5-8mm represents the proportion of the mixture with the particle size of 5-8mm, and S3-5mm represents the proportion of the mixture with the particle size of 3-5mm, so that the preset particle size range can be determined.

The process parameters of the mixer 2 include the water addition and the mixing time, for which different control strategies are generated according to different process parameters and different judgment criteria.

FIG. 23 is a flow chart of a method for adjusting mixer process parameters according to an embodiment of the present invention. In a first embodiment, the process parameters include the amount of added water; and, referring to fig. 23, the mixing and granulating control system 5 adjusts the process parameters of the mixer for granulating the mixture based on the preset control strategy according to the following steps:

and S511, judging whether the moisture content of the first detection sample meets the preset moisture threshold range or not under the condition that the granularity component corresponding to the second preset granularity range is within the preset granularity threshold range and the granularity component corresponding to the third preset granularity range is lower than the minimum value of the preset granularity threshold range.

In the granularity composition of the sintering mixture, the larger the content of medium and large particles is, the better the performance of the mixture is, namely, in the second detection sample, the larger the proportion of 3-8 mm particle size is, the better the performance is. Therefore, in this embodiment, the ratio of the detection samples with the particle sizes of 3-8 mm is used for determination, that is, the particle size composition of the second detection sample includes the particle size composition (3-5 mm) corresponding to the second preset particle size range and the particle size composition (5-8 mm) corresponding to the third preset particle size range.

In this example, only the amount of water added to the mixer was adjusted. And comparing the particle size composition of the second detection sample with a preset particle size preset range, and if the particle size composition corresponding to the second preset particle size range (3-5 mm) is within the preset particle size preset range, namely omega 2 is 25-35%, the proportion is normal, and the particle size composition corresponding to the third preset particle size range (5-8 mm) is lower than the minimum value of the preset particle size preset range, namely omega 3 is lower than the minimum value of 30-40%, judging whether the moisture content of the first detection sample meets the preset moisture threshold range.

S512, if the moisture content of the first detection sample is within the preset moisture threshold range, determining a first control strategy, and increasing the water adding amount of the mixer for granulating the mixture based on the first control strategy.

FIG. 24 is a schematic diagram of a control strategy for adjusting the water addition of the mixer according to an embodiment of the present invention. Referring to fig. 24, in this embodiment, it is determined whether the moisture content of the first detection sample meets the preset moisture threshold range, and there are three situations, namely, the moisture content is normal, the moisture content is lower than the preset moisture threshold range, and the moisture content is higher than the preset moisture threshold range.

At the moisture content (M) of the first test sample₁) And when the water content is within the preset water threshold range of 6.7% -7.0%, namely the water content is normal, determining a first control strategy: the water addition amount is increased by 0.05%. And adjusting the water adding amount of the mixer by the mixing and granulating control system 5 according to the determined first control strategy to increase the water adding amount by 0.05% when the mixture is granulated.

And S513, if the moisture content of the first detection sample is lower than the minimum value of the preset moisture threshold range, determining a second control strategy, and increasing the water adding amount of the mixer for granulating the mixture based on the second control strategy.

When the moisture content of the first detection sample is lower than the minimum value of the preset moisture threshold range (6.7% -7.0%), namely lower than 6.7%, determining a second control strategy: the water addition amount is increased by 0.1%. And the mixing and granulating control system 5 adjusts the water adding amount of the mixer according to the determined second control strategy, so that the water adding amount is increased by 0.1% when the mixture is granulated.

And S514, if the moisture content of the first detection sample is higher than the maximum value of the preset moisture threshold range, controlling the mixer to granulate the mixture without changing the water adding amount.

At the first inspectionMeasuring the moisture content (M) of the sample₁) Above the maximum value of the preset moisture threshold range (6.7% to 7.0%), i.e. above 7.0%, the water addition of the mixer does not need to be changed.

In a second embodiment, the process parameters include the amount of water added; and adjusting the technological parameters of the mixer for granulating the mixture based on a preset control strategy according to the following steps:

and 521, judging whether the moisture content of the first detection sample meets the preset moisture threshold range or not under the condition that the particle size composition corresponding to the second preset particle size range is within the preset particle size threshold range and the particle size composition corresponding to the third preset particle size range is higher than the maximum value of the preset particle size threshold range.

Referring to fig. 24 again, in this embodiment, the ratio of the grain size composition (3-5 mm) corresponding to the second preset grain size range and the grain size composition (5-8 mm) corresponding to the third preset grain size range in the grain size compositions of the second detection sample is still used as the judgment basis.

Comparing the particle size composition of the second detection sample with a preset particle size preset range, and if the particle size composition (3-5 mm) corresponding to the second preset particle size range is within the preset particle size preset range, namely omega 2 is 25% -35%, the proportion is normal, and the particle size composition (5-8 mm) corresponding to the third preset particle size range is higher than the maximum value of the preset particle size preset range, namely omega 3 is higher than the maximum value of 30% -40%, the moisture content (M) of the first detection sample needs to be judged₁) Whether the preset moisture threshold range is met.

And 522, when the moisture content of the first detection sample is within the preset moisture threshold range or is lower than the minimum value of the preset moisture threshold range, controlling the water adding amount of the mixer to be unchanged when the mixture is granulated.

At the moisture content (M) of the first test sample₁) When the water content is within the preset water content threshold range (6.7-7.0%), or is lower than the minimum value of the preset water content threshold range, namely lower than 6.7%, the water adding amount of the mixer does not need to be changed.

Step 523, when the moisture content of the first detection sample is higher than the maximum value of the preset moisture threshold range, determining a third control strategy, and reducing the water adding amount of the mixer during the granulation of the mixture based on the third control strategy.

At the moisture content (M) of the first test sample₁) And when the maximum value is 6.7% -7.0% higher than the preset moisture threshold range, namely higher than 7.0%, determining a third control strategy: the water addition amount is reduced by 0.05 percent. And the mixing and granulating control system 5 adjusts the water adding amount of the mixer according to the determined third control strategy, so that the water adding amount during the granulating of the mixture is reduced by 0.05%.

In a third embodiment, the process parameter comprises the amount of added water; and adjusting the technological parameters of the mixer for granulating the mixture based on a preset control strategy according to the following steps:

531, judging whether the moisture content of the first detection sample satisfies a preset moisture threshold range under the condition that the particle size composition corresponding to the second preset particle size range is lower than the minimum value of the preset particle size threshold range and the particle size composition corresponding to the third preset particle size range is within the preset particle size threshold range;

Comparing the particle size composition of the second detection sample with a preset particle size preset range, if the particle size composition (3-5 mm) corresponding to the second preset particle size range is lower than the minimum value of the preset particle size range (25% -35%), namely omega 2 is lower than 25%, and the particle size composition of the particle size composition (5-8 mm) corresponding to the third preset particle size range is within the preset particle size range, namely omega 3 is within 30% -40%, and when the proportion is normal, the moisture content (M) of the first detection sample needs to be judged₁) Whether the preset moisture threshold range is met.

And 532, if the moisture content of the first detection sample is within the preset moisture threshold range or is lower than the minimum value of the preset moisture threshold range, determining a fourth control strategy, and increasing the water adding amount of the mixer during the mixture granulating process based on the fourth control strategy.

At the moisture content (M) of the first test sample₁) And when the water content is within the preset water threshold range of 6.7% -7.0%, namely the water content is normal, or the water content is lower than the minimum value of the preset water threshold range (6.7% -7.0%), namely the water content is lower than 6.7%, determining a fourth control strategy: the water addition amount is increased by 0.05%. And the water adding amount of the mixing machine is adjusted by the mixing and granulating control system 5 according to the determined fourth control strategy, so that the water adding amount is increased by 0.05% when the mixture is granulated.

And step 533, if the moisture content of the first detection sample is higher than the maximum value of the preset moisture threshold range, controlling the water adding amount of the mixer to granulate the mixture to be unchanged.

At the moisture content (M) of the first test sample₁) Above the maximum value of the preset moisture threshold range (6.7% to 7.0%), i.e. above 7.0%, the water addition of the mixer does not need to be changed.

In a fourth embodiment, the process parameters include the amount of water added and the mixing time. In this embodiment, when determining whether the mixer needs to adjust the process parameters according to the particle size composition of the second test sample, it is ensured that the too fine and too large particles are not too large, in addition to ensuring that the content of medium and large particles in the particle size composition of the sinter mix is more. The granularity composition of the second detection sample comprises the granularity composition corresponding to the first preset granularity range, the granularity composition corresponding to the second preset granularity range, the granularity composition corresponding to the third preset granularity range and the granularity composition corresponding to the fourth preset granularity range. Therefore, the ratio of the granularity component (3-5 mm) corresponding to the second preset granularity range to the granularity component (5-8 mm) corresponding to the third preset granularity range is required to be outside the preset granularity range, and the ratio of the granularity component (less than 3mm) corresponding to the first preset granularity range to the granularity component (more than 8mm) corresponding to the fourth preset granularity range is required to meet the preset granularity range.

FIG. 25 is a schematic diagram of a control strategy for adjusting the water addition and mixing time of a mixer according to an embodiment of the present invention. Specifically, in this embodiment, referring to fig. 25, the mixing and granulating control system 5 adjusts the process parameters of the mixer for granulating the mixture based on the preset control strategy according to the following steps:

step 541, calculating a comprehensive particle size composition of the particle size composition corresponding to the second preset particle size range and the particle size composition corresponding to the third preset particle size range.

The adjustment strategy provided in this example adjusts the water addition amount and the mixing time of the mixer according to only the particle size composition of the second test sample. In order to avoid the influence of the moisture content of the first detection sample on the process parameters of the mixer, the present embodiment can be applied to the case where the moisture content satisfies the preset moisture preset range.

In order to ensure that the proportion of the medium and large particles in the sintering mixture meets the requirements, the comprehensive particle size composition (omega 2+ omega 3) of the particle size composition (omega 2) corresponding to the second preset particle size range (3-5 mm) and the particle size composition (omega 3) corresponding to the third preset particle size range (5-8 mm) is calculated.

And 542, if the comprehensive granularity component is higher than a preset large granularity threshold value, controlling the water adding amount of the mixer to be unchanged when the mixture is granulated.

When the comprehensive particle size composition (omega 2+ omega 3) is higher than the preset large particle size threshold value, the sintering mixture is proved to have more medium and large particles, and the requirements of the particle size composition of the mixture are met, and at the moment, the process parameters of the mixer do not need to be adjusted. The preset large-granularity threshold value can be the maximum value of a preset granularity threshold value range.

And 543, if the comprehensive particle size composition is higher than the preset large particle size threshold value and the particle size composition corresponding to the first preset particle size range does not meet the corresponding preset particle size threshold value range, determining a fifth control strategy and increasing the water adding amount of the mixer during the granulation of the mixture based on the fifth control strategy.

In the normal grain size composition of the sintering mixture, omega 1 should be less than 20%, and omega 2+ omega 3 should be more than 70%. Therefore, when the judgment is made according to the particle size compositions in the second detection sample, if the comprehensive particle size composition (ω 2+ ω 3) is higher than the preset large particle size threshold, that is, ω 2+ ω 3> 70%, and the particle size composition corresponding to the first preset particle size range does not satisfy the corresponding preset particle size threshold range, that is, ω 1> 20%, the fifth control strategy is determined: and FI is FI +0.2 t/h. FI is the water addition amount and represents the flow rate of the injected water.

The small particle material (omega 1) has too much proportion, which indicates that the water injection amount is less and the caking property of the sintering material is insufficient when the mixer is used for mixing and granulating. Therefore, the water adding amount of the mixer is adjusted by the mixing and granulating control system 5 according to the determined fifth control strategy, namely, the water adding amount during the granulating of the mixture is increased according to FI +0.2 t/h.

And 544, if the comprehensive particle size composition is higher than the preset large particle size threshold value and the particle size composition corresponding to the fourth preset particle size range does not meet the corresponding preset particle size threshold value range, determining a sixth control strategy and reducing the water adding amount of the mixer during the granulation of the mixture based on the sixth control strategy.

In the normal grain size composition of the sintering mixture, omega 4 should be less than 20%, and omega 2+ omega 3 should be more than 70%. Therefore, when the judgment is made according to the particle size compositions in the second detection sample, if the comprehensive particle size composition (ω 2+ ω 3) is higher than the preset large particle size threshold, that is, ω 2+ ω 3> 70%, and the particle size composition corresponding to the fourth preset particle size range does not satisfy the corresponding preset particle size threshold range, that is, ω 4> 20%, the sixth control strategy is determined: FI-0.2 t/h. FI is the water addition amount and represents the flow rate of the injected water.

The large particle material (omega 4) has too much proportion, which indicates that the water injection amount is more and the caking property of the sintering material is too high when the mixer is used for mixing and granulating. Therefore, the water adding amount of the mixer is adjusted by the mixing and granulating control system 5 according to the determined sixth control strategy, namely, the water adding amount during the granulating of the mixture is reduced according to FI-0.2 t/h.

Step 545, if the comprehensive particle size composition is lower than the preset large particle size threshold value and the particle size composition corresponding to the fourth preset particle size range is larger than the particle size composition corresponding to the first preset particle size range, determining a seventh control strategy, reducing the water adding amount of the mixer during granulating the mixture based on the seventh control strategy, and increasing the mixing time.

In the normal grain size composition of the sintering mixture, omega 4 should be less than 20%, and omega 2+ omega 3 should be more than 70%. Therefore, when the judgment is made according to the particle size compositions in the second detection sample, if the comprehensive particle size composition (ω 2+ ω 3) is lower than the preset large particle size threshold, that is, ω 2+ ω 3< 70%, and the particle size composition corresponding to the fourth preset particle size range is larger than the particle size composition corresponding to the first preset particle size range, that is, ω 4> ω 1, the seventh control strategy is determined: FI-0.2t/h, increase mixing time Mix 1. FI is the water addition amount and represents the flow rate of the injected water.

The proportion of medium-large particle materials (omega 2+ omega 3) is less, and the proportion of large particle materials (omega 4) is larger than that of small particle materials (omega 1), which indicates that the water injection amount is more and the mixing time of the sintering materials is insufficient when the mixer is used for mixing and granulating, so that the sintering materials are not completely granulated. Therefore, the water addition amount of the mixer is adjusted by the mixing and granulating control system 5 according to the determined seventh control strategy, namely, the water addition amount during the granulating of the mixture is reduced according to FI-0.2t/h, and simultaneously, the mixing time Mix1 is increased.

Step 546, if the comprehensive particle size composition is lower than the preset large particle size threshold value, and the particle size composition corresponding to the fourth preset particle size range is smaller than the particle size composition corresponding to the first preset particle size range, determining an eighth control strategy, and increasing the water adding amount of the mixer during the granulation of the mixture based on the eighth control strategy, and increasing the mixing time.

In the normal grain size composition of the sintering mixture, omega 4 should be less than 20%, and omega 2+ omega 3 should be more than 70%. Therefore, when the judgment is made according to the particle size compositions in the second detection sample, if the comprehensive particle size composition (ω 2+ ω 3) is lower than the preset large particle size threshold, that is, ω 2+ ω 3< 70%, and the particle size composition corresponding to the fourth preset particle size range is smaller than the particle size composition corresponding to the first preset particle size range, that is, ω 4< ω 1, the eighth control strategy is determined: FI ═ FI +0.2t/h, increase mixing time Mix 1. FI is the water addition amount and represents the flow rate of the injected water.

The proportion of medium-large particle materials (omega 2+ omega 3) is less, and the proportion of large particle materials (omega 4) is less than that of small particle materials (omega 1), which indicates that the water injection amount is less and the mixing time of the sintering materials is insufficient when the mixer is used for mixing and granulating, so that the sintering materials are not completely granulated. Therefore, the water addition amount of the mixer is adjusted by the mixing and granulating control system 5 according to the determined eighth control strategy, that is, the water addition amount during the granulating of the mixture is increased according to FI +0.2t/h, and simultaneously, the mixing time Mix1 is increased.

In the embodiment, the four embodiments are provided, and the mixing and granulating control system 5 adjusts the water adding amount and the mixing time of the mixer according to the moisture content and the particle size composition, so that the mixer can prepare the mixture according to the most suitable process parameters, the mixture can be ensured to have the particle size composition and the moisture content required by the sintering process, and the sintering effect is improved.

When the mixing granulation control system 5 adjusts the process parameters of the mixer, in order to avoid frequent adjustment of the process parameters of the mixer 2, and the mixer 2 cannot respond in time, which causes the mixer 2 to be abnormal, for this reason, the method provided in the embodiment of the present invention needs to set a time interval between two adjacent adjustments of the process parameters of the mixer, specifically, the method includes:

acquiring appointed adjusting time for adjusting the process parameters of the mixing machine for an appointed time; and starting at the appointed adjustment moment, waiting for a preset time interval, acquiring the moisture content of the first detection sample and the granularity composition of the second detection sample for the next detection, and adjusting the process parameters of the mixer for the next time based on a preset control strategy if the moisture content of the first detection sample corresponding to the next detection process does not meet the preset moisture threshold range or the granularity composition of the second detection sample does not meet the preset granularity threshold range.

When the mixer receives the adjustment command of the mixing and granulation control system 5, the current adjustment moment is determined by the mixing and granulation control system 5 at the same time. And waits for a preset time interval, which in this embodiment may be set to 6 minutes. After 6 minutes, the mixing and granulating control system 5 obtains the moisture content and the granularity composition of the mixture detected by the robot system 4 next time, judges whether the technological parameters of the mixer need to be adjusted according to the moisture content and the granularity composition of the mixture detected next time according to the method, and adjusts according to the corresponding control strategy when the technological parameters need to be adjusted.

According to the method provided by the embodiment of the invention, when the moisture content and the granularity composition of the mixture are detected, the bulk density of the mixture can be determined so as to further determine the performance of the mixture. To this end, the method further comprises:

and step 71, acquiring the volume of the first sample cup and the volume of the second sample cup.

And step 72, determining a first bulk density according to the volume of the first sample receiving cup and the initial net weight of the first detection sample.

And 73, determining a second bulk density according to the volume of the second sample receiving cup and the initial net weight of the second detection sample.

Step 74, calculating the bulk density of the mixture according to the formula px-K1 × p1+ (1-K1) × p 2.

In this embodiment, the mixture to be detected is divided into a first detection sample and a second detection sample, and in order to obtain the bulk density of the mixture, the bulk density of the first detection sample and the bulk density of the second detection sample need to be determined respectively.

According to the formula p1 ═ W₁₀/V₁Calculating a first bulk density p1, W₁₀For the initial net weight, V, of the first test sample₁Is the volume of the first sample cup.

According to the formula p2 ═ W₂₀/V₂Calculating a second bulk density p2, W₂₀For the second test sample initial net weight, V₂Is the volume of the first sample cup.

In other embodiments, when the first sample cup and the second sample cup are the same type of sample cup, the volume of the first sample cup and the volume of the second sample cup are equal.

The bulk density of the mix was determined from the first and second bulk densities and the formula px-K1 × p1+ (1-K1) × p 2.

When the robot system 4 detects the moisture content and the particle size composition of the mixture, normal value ranges are preset for the moisture content and the particle size composition, and if the detected moisture content and the detected particle size composition exceed the particle size composition diagnosis threshold, the current detection process is abnormal. For this reason, the robot system 4 is required to have a self-diagnosis function, that is, a self-diagnosis method including:

step 81, judging whether the moisture content of the first detection sample exceeds a moisture diagnosis threshold value, and whether the particle size composition corresponding to the third preset particle size range in the second detection sample exceeds a particle size composition diagnosis threshold value.

And 82, if the moisture content of the first detection sample exceeds the moisture diagnosis threshold, or the particle size composition corresponding to the third preset particle size range does not exceed the particle size composition diagnosis threshold, determining that the current moisture and particle size composition detection process is abnormal, and discarding the detection data.

In this embodiment, the diagnostic threshold for moisture is set to 15%, the particle size composition detection index is mainly the particle size composition ω 3 corresponding to the fourth preset particle size range, and the diagnostic threshold for particle size composition is set to 50%.

And if the moisture content of the first detection sample is greater than 15%, or the particle size composition omega 3 corresponding to the third preset particle size range is less than 50%, determining that the current moisture and particle size composition detection process is abnormal, and discarding the detection data.

In other diagnostic methods, further comprising:

and step 91, acquiring the moisture content of the first detection sample corresponding to the detection process of the appointed time and the moisture content of the first detection sample corresponding to the detection process of the previous time.

And step 92, calculating the change rate of the moisture content of the first detection sample in the two detection processes.

And step 93, if the change rate exceeds the change threshold, determining that the current moisture detection process is abnormal, and discarding the detection data.

In this embodiment, the results of the two previous and subsequent moisture content detections are diagnosed, and if the rate of change of the moisture content corresponding to the two previous and subsequent detections is greater than 20%, it is determined that the current moisture detection process is abnormal, and the detection data is discarded.

According to the technical scheme, the moisture particle size detection robot system, the sintering mixing granulation control method and the sintering mixing granulation control system provided by the embodiment of the invention respectively weigh the first sample receiving cup containing the first detection sample and the second sample receiving cup containing the second detection sample to obtain the initial weight of the first detection sample and the initial weight of the second detection sample. And drying the first detection sample in the first sample receiving cup, weighing to obtain the dried weight of the first detection sample, and calculating the moisture content of the first detection sample. And successively carrying out liquid nitrogen sizing and screening classification treatment on the second detection sample in the second sample receiving cup, weighing the detection samples with different particle sizes, and determining the particle size composition of the second detection sample. And if the moisture content of the first detection sample is judged not to meet the preset moisture threshold range, or the particle size composition of the second detection sample does not meet the preset particle size threshold range, adjusting the process parameters of the mixer for mixing and granulating the sintering material based on a preset control strategy. Therefore, the method provided by the invention can adjust the process parameters of the mixer according to the moisture content and the granularity composition of the mixture detected at present, so that the mixer with the adjusted process parameters can prepare the mixture meeting the process requirements.

In a specific implementation, the present invention further provides a computer storage medium, wherein the computer storage medium may store a program, and the program may include some or all of the steps of the sintering, mixing and granulating control method based on the moisture particle size detection robot system provided by the present invention when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a Random Access Memory (RAM).

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 essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention.

Claims

1. A sintering, mixing and granulating control method based on a moisture particle size detection robot system is characterized by comprising the following steps:

2. The method of claim 1, wherein the process parameters include an amount of added water; and if the moisture content of the first detection sample does not meet the preset moisture threshold range, or the particle size composition of the second detection sample does not meet the preset particle size threshold range, adjusting the process parameters of the mixer during granulating the mixture based on a preset control strategy, wherein the process parameters comprise:

3. The method of claim 1, wherein the process parameters include an amount of added water; and if the moisture content of the first detection sample does not meet the preset moisture threshold range, or the particle size composition of the second detection sample does not meet the preset particle size threshold range, adjusting the process parameters of the mixer during granulating the mixture based on a preset control strategy, wherein the process parameters comprise:

4. The method of claim 1, wherein the process parameters include an amount of added water; and if the moisture content of the first detection sample does not meet the preset moisture threshold range, or the particle size composition of the second detection sample does not meet the preset particle size threshold range, adjusting the process parameters of the mixer during granulating the mixture based on a preset control strategy, wherein the process parameters comprise:

5. The method of claim 1, wherein the process parameters include an amount of water added and a mixing time; and if the moisture content of the first detection sample does not meet the preset moisture threshold range, or the particle size composition of the second detection sample does not meet the preset particle size threshold range, adjusting the process parameters of the mixer during granulating the mixture based on a preset control strategy, wherein the process parameters comprise:

6. The method of claim 1, further comprising:

7. The method of claim 1, further comprising:

8. The method of claim 1, wherein the controlling the mechanical arm to place the weighed first sample cup into a microwave drying device for drying, and weighing the dried first sample cup to obtain a dried weight of the first test sample comprises:

9. The method of claim 1, wherein calculating the moisture content of the first test sample based on the initial weight of the first test sample and the oven-dried weight of the first test sample comprises:

acquiring the weight of the empty sample receiving cup;

in the formula, M₁Is the moisture content of the first test sample, W₁₀For the initial net weight of the first test sample, W_drThe weight of the first test sample after drying.

10. The method according to claim 1, wherein the controlling mechanical arm puts the second sample receiving cup containing the second detection sample into a liquid nitrogen sizing device for liquid nitrogen sizing treatment, and the method comprises the following steps:

11. The method of claim 10, further comprising:

12. The method according to claim 11, wherein the determining a setting time control index when the liquid nitrogen setting device performs the setting processing on the second detection sample based on the proportional relationship between the empty tray mass and the empty tray mass comprises:

13. The method of claim 11, further comprising:

14. The method of claim 13, wherein the determining a setting time control index when the liquid nitrogen setting device performs the setting process on the second detection sample based on the proportional relationship between the empty tray mass, the material net weight, the empty tray mass and the screened material net weight comprises:

15. The method according to claim 10, wherein after the tray containing the second test sample is raised out of the liquid nitrogen setting tank, the method further comprises:

16. The method of claim 15, further comprising:

17. The method of claim 16, further comprising:

18. The method of claim 1, wherein the step of pouring the second test sample after sizing into a sieving device for sieving to obtain test samples with different particle sizes comprises:

19. The method of claim 1, wherein the weighing the plurality of test samples with different particle sizes by using the weighing device, and calculating the particle size composition of the second test sample according to the weights of the test samples with different particle sizes comprises:

respectively weighing the weights of a plurality of detection samples with different granularities by using the weighing device to obtain the granularity<Total weight W of 3mm test specimen_t1. The total weight W of the detection sample with the granularity of 3-5mm_t2. The total weight W of the detection sample with the granularity of 5-8mm_t3, and, particle size>8mm total weight W of test specimen_t4; the material containing tray is positioned below the screen with the aperture of 3mm and is used for receiving the granularity<3mm of mix sample;

based on the weight W of the material containing disc_k1, and the formula W_m1＝W_t1-W_k1, determining the particle size<Weight W of 3mm test specimen_m1; based on the sieve mesh weight W with the aperture of 3mm_k2, and the formula W_m2＝W_t2-W_k2, determining the weight W of the test specimen with the granularity of 3-5mm_m2; according to the weight W of a sieve with a pore diameter of 5mm_k3, and formula W_m3＝W_t3-W_k3, determining the weight W of the detection sample with the granularity between 5 and 8mm_m3, and, according to the weight W of the sieve having a pore diameter of 8mm_k4, and formula W_m4＝W_t4-W_k4, determining the particle size>Weight W of 8mm test specimen_m4；

According to the formula

Determining the granularity composition proportion omega 2 of 3mm-5 mm; push buttonLighting type

Determining>The particle size composition ratio omega 4 of 8 mm;

20. The method of claim 1, further comprising:

21. The method of claim 1, further comprising:

22. The method of claim 1, further comprising:

23. A moisture particle size detection robot system, comprising: the device comprises a first sample receiving cup, a second sample receiving cup, a control cabinet, and a mechanical arm, a weighing device, a microwave drying device, a liquid nitrogen shaping device and a screening device which are respectively connected with the control cabinet; the control cabinet is used for generating corresponding device control instructions according to control signals of the process control system, and the device control instructions are used for controlling the mechanical arm, the weighing device, the microwave drying device, the liquid nitrogen shaping device and the screening device to act; the first sample receiving cup is used for containing a first detection sample, the second sample receiving cup is used for containing a second detection sample, and the first detection sample and the second detection sample are mixed materials obtained by mixing and granulating through a mixer; the weighing device is used for weighing the first sample receiving cup and the second sample receiving cup; the microwave drying device is used for drying the first detection sample; the liquid nitrogen shaping device is used for carrying out liquid nitrogen shaping treatment on the second detection sample; the screening device is used for screening the second detection sample to obtain detection samples with different particle sizes; the control cabinet is used for determining the moisture content of the first detection sample and the granularity composition of the second detection sample according to the detection data.

24. The system of claim 23, further comprising a belt conveyor, wherein the belt conveyor is connected with the mixing machine and the robot system, and is used for conveying the mixed materials obtained by mixing and granulating through the mixing machine; the belt conveyor is obliquely arranged, and one end of the belt conveyor, which is connected with the robot system, is 2-2.5 meters higher than one end of the mixing machine.

25. The system of claim 24, further comprising: the device comprises an integrated sampling device and a chute, wherein the integrated sampling device is arranged on one side of the belt conveyor, a discharge hole of the integrated sampling device is provided with the chute, and the integrated sampling device is used for grabbing the mixture conveyed on the belt conveyor and entering the chute; the bottom of the chute is provided with a first sample receiving cup or a second sample receiving cup; and a discharge hole of the chute is provided with a discharge switch, and the discharge switch is used for loading the mixture in the chute into the first sample receiving cup or the second sample receiving cup when being opened.

26. The system of claim 23, wherein the microwave drying device comprises: the microwave drying device comprises a drying box, a weighing platform arranged in the drying box, a microwave drying container arranged on the weighing platform, and a drying box furnace door arranged on the drying box; a microwave source is arranged in the drying box and is used for drying treatment; the microwave drying container is used for containing a first detection sample; the weighing platform is used for weighing the first detection sample in the microwave drying container.

27. The system of claim 23, wherein said liquid nitrogen sizing device comprises: the device comprises a liquid nitrogen shaping tank, a material tray, a supporting disk and a material lifting mechanism; wherein the content of the first and second substances,

28. The system of claim 27, wherein the bottom of the support tray is provided with a backflow hole, and after the sizing is finished, the backflow hole is used for backflow of liquid nitrogen in the material tray into the liquid nitrogen sizing tank.

29. The system of claim 27, wherein said liquid nitrogen sizing device further comprises: a liquid nitrogen liquid supplementing tank; the liquid nitrogen replenishing tank is communicated with the liquid nitrogen shaping tank through a liquid replenishing pipeline, a liquid solenoid valve is arranged on the liquid replenishing pipeline, and the liquid solenoid valve is used for controlling the opening and closing of the liquid nitrogen replenishing tank during liquid replenishing.

30. The system of claim 27, wherein said liquid nitrogen sizing device further comprises: and the liquid level detection sensor is arranged in the liquid nitrogen shaping tank and is used for detecting the real-time liquid level value of the liquid nitrogen in the liquid nitrogen shaping tank.

31. A sintering mixing granulation control system based on a moisture particle size detection robot system is characterized by comprising: a process control system, and, in communication therewith, a mixer, a mixing granulation control system, and the robotic system of any of claims 23-30; the mixer is used for mixing and granulating the sintering materials to obtain a mixture; the robot system is used for detecting the moisture content and the granularity composition of the mixture according to a control signal of the process control system; the mixing and granulating control system is used for acquiring the moisture content of a first detection sample and the granularity composition of a second detection sample detected by the robot system according to a control signal of the process control system, and adjusting process parameters of the mixer for mixing and granulating the sintering material based on a preset control strategy;