CN114849884B - Movable crushing system - Google Patents
Movable crushing system Download PDFInfo
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- CN114849884B CN114849884B CN202210490343.5A CN202210490343A CN114849884B CN 114849884 B CN114849884 B CN 114849884B CN 202210490343 A CN202210490343 A CN 202210490343A CN 114849884 B CN114849884 B CN 114849884B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C21/00—Disintegrating plant with or without drying of the material
- B02C21/02—Transportable disintegrating plant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
- B02C23/02—Feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/52—Mechanical processing of waste for the recovery of materials, e.g. crushing, shredding, separation or disassembly
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
Abstract
The application is applicable to the technical field of engineering control, and provides a movable crushing system, which comprises: the device comprises a main control device, N-level crushing units, N first auxiliary control devices and N second auxiliary control devices, wherein each level crushing unit comprises a feeding device and a crushing device; the first auxiliary control device includes: the first acquisition unit is used for acquiring a current value of the target crushing device in the target crushing unit when the target crushing device works; the second acquisition unit is used for acquiring a first distance value acquired by a distance sensor arranged at a discharge hole of the target crushing device; the third acquisition unit is used for acquiring a second distance value acquired by a distance sensor arranged at a discharge port of the previous-stage crushing device; and the speed control unit is used for controlling the feeding speed of the target feeding device based on the current value, the first distance value and the second distance value, so that the production efficiency of the whole movable crushing system is improved, and the use scene of the crushing system is enlarged.
Description
Technical Field
The application belongs to the technical field of engineering control, and particularly relates to a movable crushing system.
Background
Crushers, also known as rock crushers, are crushing devices used in ore processing that are capable of crushing mined raw ore into small pieces of particles and discharging the small pieces of particles through a discharge opening. Crushers are usually fed with vibratory feeders, the feeding speed of which can directly influence the production efficiency of the crusher. If the feeding speed is proper, the crusher can realize higher production efficiency; if the feeding speed is too high, the load of the crusher is too high, the service life of the crusher is reduced, and blocking is generated when the service life is serious; if the feeding speed is too slow, the production efficiency of the crusher can be reduced, so that the energy consumption of the crusher is increased, and the production cost is increased.
In the actual production process, in order to improve the production efficiency of the crusher and reduce the production cost, the traditional mode is to realize the control of the feeding speed of the crusher based on the current of the crusher. However, for a crushing system including a multistage crusher, since different crushers may affect each other, it is difficult to control the feeding speed of the crusher solely according to the current of the crusher, and the entire crushing system is in a high-efficiency operation state, and a blocking phenomenon is easily generated, resulting in a high production cost of the entire crushing system; in addition, the existing crushing systems are arranged at fixed places, so that the use scenes of the crushing systems are limited.
Disclosure of Invention
In view of the above, the embodiment of the application provides a movable crushing system, which solves the technical problems that the feeding speed control method of the existing crushing system is difficult to make the whole crushing system in a high-efficiency running state, the blocking phenomenon is easy to generate, the production cost is high, and the use scene is limited.
The embodiment of the application provides a movable crushing system, which comprises N stages of crushing units, wherein each stage of crushing unit comprises a feeding device and a crushing device, and the feeding device in each stage of crushing unit is used for acquiring materials to be crushed from a discharge hole of the crushing device in the previous stage of crushing unit and conveying the materials to be crushed to the crushing device in the current stage of crushing unit; the movable crushing system further comprises a main control device, N first auxiliary control devices and N second auxiliary control devices; the N first auxiliary control devices and the N second auxiliary control devices are connected with the control devices, each first auxiliary control device is connected with one feeding device, and each second auxiliary control device is connected with one crushing device; the first auxiliary control device is used for controlling the feeding speed of the connected target crushing unit;
The first auxiliary control device includes:
the first acquisition unit is used for acquiring a current value of the target crushing device in the target crushing unit when the target crushing device works;
the second acquisition unit is used for acquiring a first distance value acquired by a distance sensor arranged at a discharge hole of the target crushing device; the first distance value is used for describing the distance between the discharge hole of the target crushing device and crushed materials piled below the discharge hole of the target crushing device;
the third acquisition unit is used for acquiring a second distance value acquired by a distance sensor arranged at a discharge port of the previous-stage crushing device; the second distance value is used for describing the distance between the discharge hole of the previous-stage crushing device and crushed materials piled below the discharge hole of the previous-stage crushing device;
and the speed control unit is used for controlling the feeding speed of the target feeding device in the target crushing unit based on the current value, the first distance value and the second distance value.
In an alternative implementation, the speed control unit is specifically configured to:
if the current value is greater than or equal to a first preset current threshold value, the first distance value is smaller than the first preset distance threshold value, and the second distance value is greater than or equal to a second preset distance threshold value, controlling a target feeding device in the target crushing unit to run at a reduced speed; wherein the second preset distance threshold is greater than the first preset distance threshold.
In an alternative implementation, the speed control unit includes:
a first calculation unit configured to calculate a first current difference between the current value and the first preset current threshold;
a second calculation unit configured to calculate a first distance difference between the first preset distance threshold and the first distance value;
a third calculation unit configured to calculate a second distance difference between the second distance value and the second preset distance threshold;
a first determining unit configured to determine a first speed adjustment amount according to the first current difference, the first distance difference, the second distance difference, and a first speed adjustment formula; the first speed adjustment formula is:
V1＝a*(S1+S2)+b*I1；
wherein V1 is the first speed adjustment amount, a is a distance map coefficient, b is a current map coefficient, S1 is the first distance difference, S2 is the second distance difference, and I1 is the first current difference;
and the speed reducing unit is used for reducing the feeding speed of the target feeding device by the first speed regulating amount.
In an alternative implementation, the speed control unit is specifically configured to:
if the current value is smaller than a second preset current threshold value, the first distance value is larger than or equal to a second preset distance threshold value, and the second distance value is smaller than the first preset distance threshold value, controlling a target feeding device in the target crushing unit to accelerate running; wherein the second preset distance threshold is greater than the first preset distance threshold.
In an alternative implementation, the speed control unit includes:
a fourth calculation unit configured to calculate a second current difference between the second preset current threshold value and the current value;
a fifth calculation unit, configured to calculate a third distance difference between the first distance value and the second preset distance threshold;
a sixth calculation unit configured to calculate a fourth distance difference between the first preset distance threshold and the second distance value;
a second determining unit configured to determine a second speed adjustment amount according to the second current difference, the third distance difference, the fourth distance difference, and a second speed adjustment formula; the second speed adjustment formula is:
V2＝a*(S3+S4)+b*I2；
wherein V2 is the second speed adjustment amount, a is a distance map coefficient, b is a current map coefficient, I2 is the second current difference, S3 is the third distance difference, and S4 is the fourth distance difference;
and the acceleration unit is used for increasing the feeding speed of the target feeding device by the second speed adjustment amount.
In an alternative implementation, the speed control unit is specifically configured to:
and if the current value is greater than or equal to a first preset current threshold value, the first distance value is greater than or equal to a first preset distance threshold value and is smaller than a second preset distance threshold value, and the second distance value is greater than or equal to the first preset distance threshold value and is smaller than the second preset distance threshold value, controlling the speed of a target feeding device in the target crushing unit to be unchanged.
In an alternative implementation, the first auxiliary control device is a programmable logic controller.
In an alternative implementation, the second auxiliary control device is a programmable logic controller.
In an alternative implementation, the master control device includes a central processing unit.
In an alternative implementation, the mobile crushing system is provided on an unmanned device.
The movable crushing system provided by the embodiment of the application has the following beneficial effects:
according to the movable crushing system provided by the embodiment of the application, for any target crushing unit, the feeding speed of the target crushing device is controlled based on the current value, the first distance value and the second distance value acquired by the distance sensor arranged at the discharge hole of the target crushing device and the second distance value acquired by the distance sensor arranged at the discharge hole of the previous stage crushing device by acquiring the current value of the target crushing device in the target crushing unit during operation. When the feeding speed of the target crushing device in any target crushing unit is controlled, the current value of the target crushing device during operation, the quantity of crushed materials accumulated below a discharge hole of the target crushing device and the quantity of crushed materials accumulated below a discharge hole of a previous stage crushing device are comprehensively considered, so that the dynamic adjustment of the feeding speed of each crushing device can be realized, the phenomenon that any crushing device in a movable crushing system is blocked is avoided, each crushing device can be always in a normal running state, the production efficiency of the whole movable crushing system is improved, and the production cost of the movable crushing system is reduced; in addition, the movable crushing system provided by the application has the advantage that the use field of the crushing system is enlarged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a movable crushing system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a first auxiliary control device in a movable crushing system according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a first auxiliary control device in a movable crushing system according to an embodiment of the present application.
Detailed Description
It is to be understood that the terminology used in the embodiments of the application is for the purpose of describing particular embodiments of the application only, and is not intended to be limiting of the application. In the description of the embodiments of the present application, unless otherwise indicated, "a plurality" means two or more, and "at least one", "one or more" means one, two or more. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a definition of "a first", "a second" feature may explicitly or implicitly include one or more of such features.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a movable crushing system according to an embodiment of the application. As shown in fig. 1, the movable crushing system may comprise an N-stage crushing unit 11. Wherein each stage of crushing unit 11 comprises a feeding device 111 and a crushing device 112. The feeding device 111 in each stage of crushing unit 11 is arranged below the discharge port of the crushing device 112 in the previous stage of crushing unit 11, and the feeding device 111 in each stage of crushing unit 11 is used for acquiring the material to be crushed from the discharge port of the crushing device 112 in the previous stage of crushing unit 111 and delivering the acquired material to be crushed to the crushing cavity of the crushing device 112 in the current stage of crushing unit 11, so that the crushing device 112 in the current stage of crushing unit 11 crushes the material to be crushed and then delivers the crushed material from the discharge port.
Illustratively, the feeding device 111 in the second stage crushing unit 11 is disposed below the discharge port of the crushing device 112 in the first stage crushing unit 11, and the feeding device 111 in the second stage crushing unit 11 is configured to obtain the material to be crushed from the discharge port of the crushing device 112 in the first stage crushing unit 11, and send the material to be crushed to the crushing cavity of the crushing device 112 in the second stage crushing unit 11, so that the crushing device 112 in the second stage crushing unit 11 crushes the material to be crushed and then sends the crushed material to the discharge port.
In a specific application, the type of crushing device 112 in each stage of crushing unit 11 may be different. By way of example, the types of crushing devices 112 may include, but are not limited to, jaw crushers, cone crushers, weight crushers, flyback crushers, etc., and may be specifically set according to actual needs, and are not particularly limited herein.
In the embodiment of the present application, the movable crushing system further includes a main control device 12 and N groups of auxiliary control devices communicatively connected to the main control device 12. Each set of auxiliary control means comprises a first auxiliary control means 131 and a second auxiliary control means 132. Specifically, each first auxiliary control device 131 is in communication with one feeding device 111, and each second auxiliary control device 132 is in communication with one crushing device 112. The first auxiliary control device 131 is used for controlling the feeding device 111 connected thereto, and the second auxiliary control device 132 is used for controlling the crushing device 112 connected thereto.
The communication connection manner between the main control device 12 and the first auxiliary control device 131, the communication connection manner between the main control device 12 and the second auxiliary control device 132, the communication connection manner between the first auxiliary control device 131 and the feeding device 111, and the communication connection manner between the second auxiliary control device 132 and the crushing device 112 may be wired connection or wireless connection.
By way of example and not limitation, the wired connection may include, but is not limited to, a serial communication interface (e.g., RS-232 or RS-485), a multi-drop interface (multi point interface, MPI) or a universal serial bus (universal serial bus, USB) based wired connection. The wireless connection may include, but is not limited to, wireless connections based on wireless fidelity (wireless fidelity, WIFI) protocol, bluetooth protocol, zigbee protocol, or the like. The specific connection mode may be set according to actual requirements, and is not particularly limited herein.
In a specific application, the first auxiliary control device 131 and the second auxiliary control device 132 may each be a programmable logic controller (programmable logic controller, PLC). Master 12 may include a central processing unit (central processing unit, CPU).
In a specific application, the mobile crushing system may be provided on a vehicle. For example, the mobile crushing system may be provided on an unmanned device.
In this embodiment of the present application, when the main control device 12 receives the crushing start instruction, it may start from the last group of auxiliary control devices and sequentially send the start operation instruction to each group of auxiliary control devices, that is, in every two adjacent groups of auxiliary control devices, the time when the last group of auxiliary control devices receives the start operation instruction is earlier than the time when the previous group of auxiliary control devices receives the start operation instruction, and the time when the second auxiliary control device 132 in each group of auxiliary control devices receives the start operation instruction is earlier than the time when the first auxiliary control device 131 in the group of auxiliary control devices receives the start operation instruction. Wherein the start-up instruction is used for instructing the auxiliary control device to control the feeding device 111 or the crushing device 112 connected with the auxiliary control device to start operation.
Illustratively, the first auxiliary control device 131 may control the feeding device 111 connected thereto to start operating after receiving the start-operating command; the second auxiliary control device 132 may control the crushing device 112 connected thereto to start operation after receiving the start operation command.
In the embodiment of the application, the crushing start instruction can be triggered by a user.
By way of example and not limitation, the master device 12 may be provided with a start crush button, which may be a physical button or a control in the form of software, which is not particularly limited herein. Based on this, the user may trigger the start crushing command by triggering a start crushing button on master device 12, i.e. master device 12 determines that the start crushing command is received when it detects that the start crushing button is triggered.
In the embodiment of the present application, after each feeding device 111 starts to operate, the first auxiliary control device 131 connected to each feeding device 111 may control the feeding speed of the feeding device. Referring to fig. 2, fig. 2 is a schematic structural diagram of a first auxiliary control device in a movable crushing system according to an embodiment of the application. As shown in fig. 2, the first auxiliary control device 131 may include a first acquisition unit 21, a second acquisition unit 22, a third acquisition unit 23, and a speed control unit 24.
For any one target crushing unit 11 of the N-stage crushing units 11, the first acquisition unit 21 of the first auxiliary control device 131 connected with the target feeding device 111 of the target crushing unit 11 is used for acquiring a current value when the target crushing device 112 of the target crushing unit 11 is operated.
The second acquiring unit 22 is configured to acquire a first distance value acquired by a distance sensor disposed at a discharge port of the target crushing device 112.
The third obtaining unit 23 is configured to obtain a second distance value obtained by a distance sensor disposed at a discharge port of the previous stage crushing device 112.
The speed control unit 24 is configured to control the feeding speed of the target crushing device 111 based on the above-described current value, the first distance value, and the second distance value.
In an embodiment of the present application, a current detection circuit may be provided in the working circuit of each crushing device 112. For example, the current detection circuit may comprise sampling resistors, i.e. the current value at which each crushing device 112 operates may be acquired by connecting sampling resistors in series in the operating circuit of each crushing device 112.
Based on this, the second auxiliary control device 132 connected to each crushing device 112 may obtain the collected current value of each crushing device 112 during operation from the current detection circuit of each crushing device 112, and send the current value to the main control device 12. The first acquisition unit 21 in the first auxiliary control device 131 connected to the target feeding device 111 may acquire the current value of the target crushing device 112 in operation from the main control device 12.
It will be appreciated that the smaller the current value at which the crushing device 112 operates, the less material to be crushed in its crushing chamber; the greater the current value at which the crushing device 112 is operated, the more material to be crushed in its crushing chamber. Thus, by detecting the magnitude of the current (i.e. the current value) at which the target crushing device 112 is operating, it is possible to preliminarily determine how much material to be crushed is in the crushing chamber of the target crushing device 112.
In the embodiment of the present application, a distance sensor is disposed at the discharge port of each crushing device 112, and the distance sensor is used for measuring the distance between the discharge port of the crushing device 112 and crushed materials stacked below the discharge port. As an example and not by way of limitation, the distance sensor may be a radar range finder or an infrared range finder, etc., and may be specifically set according to actual requirements, and the type of the distance sensor is not particularly limited here.
It can be understood that the larger the distance value acquired by the distance sensor, the less crushed materials are accumulated below the discharge hole where the distance sensor is located, and the smaller the distance value acquired by the distance sensor, the more crushed materials are accumulated below the discharge hole where the distance sensor is located.
In the embodiment of the present application, the distance sensor disposed at the discharge port of each crushing device 112 may send the collected distance value to the main control device 12. Based on this, the second acquiring unit 22 in the first auxiliary control device 131 connected to the target feeding device 111 may acquire the first distance value acquired by the distance sensor provided at the discharge port of the target crushing device 112 from the main control device 12, and the third acquiring unit 23 may acquire the second distance value acquired by the distance sensor provided at the discharge port of the previous stage crushing device 112 from the main control device 12. Wherein the first distance value is used to describe the distance between the discharge port of the target crushing device 112 and crushed material deposited below the discharge port; the second distance value is used to describe the distance between the discharge opening of the prior stage crushing device 112 and crushed material deposited below the discharge opening.
Wherein the previous stage crushing device 112 refers to the crushing device 112 in the previous stage crushing unit 11 of the target crushing unit 11. Illustratively, if the target crushing device 112 is a crushing device 112 in the second stage crushing unit 11, then the previous stage crushing device 112 is a crushing device 112 in the first stage crushing unit 11.
Since the current value of the target crushing device 112 during operation can reflect the amount of the material to be crushed in the crushing cavity of the target crushing device 112, the first distance value collected by the distance sensor disposed at the discharge port of the target crushing device 112 can reflect the amount of the crushed material accumulated below the discharge port of the target crushing device 112, and the second distance value collected by the distance sensor disposed at the discharge port of the previous stage crushing device 112 can reflect the amount of the crushed material accumulated below the discharge port of the previous stage crushing device 112, in order to ensure that the whole movable crushing system can not generate the blocking phenomenon, achieve higher production efficiency, the speed control unit 24 in the first auxiliary control device 131 connected with the target feeding device 111 can control the feeding speed of the target crushing device 111 based on the current value, the first distance value and the second distance value after the current value, the first distance value and the second distance value of the target crushing device 112 are obtained during operation.
In a specific application, a safe current value capable of ensuring that each crushing device 112 does not plug may be preset as the first preset current threshold, that is, when the current value of each crushing device 112 is lower than the first preset current threshold, it may be ensured that each crushing device 112 does not plug.
In a specific application, a standard current value capable of ensuring that the production efficiency of each crushing device 112 meets the standard may be preset, which is used as a second preset current value, that is, when the current value of each crushing device 112 is higher than the second preset current value, the production efficiency of each crushing device 112 may be ensured to meet the standard.
Wherein the first preset current threshold is greater than the second preset current threshold.
In a specific application, a distance value that can ensure that the crushed materials stacked below the discharge hole of each crushing device 112 will not force the crushing device 112 to shut down may be preset, which is used as a first preset distance threshold, that is, when the distance value between the discharge hole of the crushing device 112 and the crushed materials stacked below the discharge hole is smaller than the first preset distance threshold, the crushing device 112 does not need to be shut down, and the crushing device 112 may continue to perform normal crushing operation. For example, the first preset distance threshold may be 30% of the vertical distance between the discharge opening and the ground.
In a specific application, a distance value that can ensure that the crushed material deposited under the discharge port of each stage of crushing device 112 will not cause the idle rotation of the subsequent stage of crushing device 112 may be preset, and as the second preset distance value, that is, when the distance between the discharge port of a certain stage of crushing device 112 and the crushed material deposited under the discharge port is smaller than the second preset distance threshold, the subsequent stage of crushing device 112 may be ensured not to idle. Wherein the second preset distance threshold is greater than the first preset distance threshold. An exemplary second preset distance threshold may be 70% of the vertical distance between the tap and the ground.
It should be noted that the first preset current threshold, the second preset current threshold, the first preset distance threshold, and the second preset distance threshold may all be empirical values obtained through multiple tests.
Based on this, in one embodiment of the present application, when the speed control unit 24 in the first auxiliary control device 131 connected to the target feeding device 111 determines that the current value of the target crushing device 112 is greater than or equal to the first preset current threshold value, and the first distance value is smaller than the first preset distance threshold value, and the second distance value is greater than or equal to the second preset distance threshold value, the target feeding device 111 may be controlled to perform a deceleration operation, so that the falling speed of the crushed materials stacked under the discharge port of the previous stage crushing device 112 may be slowed down, and the growing speed of the crushed materials stacked under the discharge port of the target crushing device 112 may be slowed down, so that the idle or blocking phenomenon of the target crushing device 112 may be avoided, so that each stage of the crushing device 112 may be always in a normal operation state, and further, the production efficiency of the whole movable crushing system may be improved.
In a specific implementation manner of this embodiment, the speed control unit 24 may specifically include a first calculating unit 241, a second calculating unit 242, a third calculating unit 243, a first determining unit 244, and a speed reducing unit 245. Wherein:
The first calculating unit 241 is configured to calculate a first current difference between the current value and the first preset current threshold.
The second calculating unit 242 is configured to calculate a first distance difference between the first preset distance threshold and the first distance value.
The third calculating unit 243 is configured to calculate a second distance difference between the second distance value and the second preset distance threshold.
The first determining unit 244 is configured to determine a first speed adjustment amount according to the first current difference, the first distance difference, the second distance difference, and a first speed adjustment formula; the first speed adjustment formula is:
V1＝a*(S1+S2)+b*I1；
wherein V1 is the first speed adjustment amount, a is a distance map coefficient, b is a current map coefficient, S1 is the first distance difference, S2 is the second distance difference, and I1 is the first current difference.
The deceleration unit 245 is configured to reduce the feeding speed of the target feeding device by the first speed adjustment amount.
In this implementation manner, the first calculating unit 241 may perform a difference operation on the current value when the target crushing device 112 works as a reduction number, and the first preset current threshold value as a reduced number, to obtain a first current difference; the second calculating unit 242 may use the first preset distance threshold as a reduction number, use the first distance value as a reduced number, and perform a difference operation on the first preset distance threshold and the reduced number to obtain a first distance difference; the third calculation unit 243 may perform a difference operation on the second distance value as a reduction number and the second preset distance threshold value as a reduced number to obtain a second distance difference.
That is, the first current difference, the first distance difference, and the second distance difference are all greater than or equal to 0.
The larger the first current difference, the more the current value exceeds the first preset current threshold when the target crushing device 112 works, so that the feeding speed of the target crushing device 112 needs to be reduced more; the larger the first distance difference, the more crushed material that accumulates at the discharge port of the target crushing device 112, and therefore the more the feed rate of the target crushing device 112 needs to be reduced; the larger the second distance difference, the less crushed material that builds up at the discharge port of the prior stage crushing device 112, and thus the more the feed rate of the target crushing device 112 needs to be reduced. Based on this, the amount of decrease in the feeding speed of the target feeding device 111 can be comprehensively determined by the first speed adjustment formula. The distance mapping coefficient a and the current mapping coefficient b are constant and are used for mapping the first current difference, the first distance difference and the second distance difference into a first speed adjustment quantity.
After determining the first speed adjustment amount, the deceleration unit 245 may determine the first target feeding speed according to the current feeding speed and the first speed adjustment amount of the target feeding device 111, and control the target feeding device 111 to operate at the first target feeding speed. Specifically, the deceleration unit 245 may determine a difference between the current feeding speed of the target feeding device 111 and the first speed adjustment amount as the first target feeding speed.
In another embodiment of the present application, when the speed control unit 24 in the first auxiliary control device 131 connected to the target feeding device 111 determines that the current value when the target crushing device 112 is operated is smaller than the second preset current threshold value, and the first distance value is greater than or equal to the second preset distance threshold value, and the second distance value is smaller than the first preset distance threshold value, the target feeding device 111 may be controlled to accelerate, so that the falling speed of crushed materials stacked under the discharge port of the previous stage crushing device 112 may be accelerated, and the growing speed of crushed materials stacked under the discharge port of the target crushing device 112 may be accelerated, so that the production efficiency of the target crushing device 112 may be improved.
In a specific implementation manner of this embodiment, the speed control unit 24 may specifically include a fourth calculation unit 246, a fifth calculation unit 247, a sixth calculation unit 248, a second determination unit 249, and an acceleration unit 240. Wherein:
the fourth calculating unit 246 is configured to calculate a second current difference between the second preset current threshold value and the current value.
The fifth calculating unit 247 is configured to calculate a third distance difference between the first distance value and the second preset distance threshold.
The sixth calculating unit 248 is configured to calculate a fourth distance difference between the first preset distance threshold and the second distance value.
The second determining unit 249 is configured to determine a second speed adjustment amount according to the second current difference, the third distance difference, the fourth distance difference, and a second speed adjustment formula; the second speed adjustment formula is:
V2＝a*(S3+S4)+b*I2；
wherein V2 is the second speed adjustment amount, a is a distance map coefficient, b is a current map coefficient, I2 is the second current difference, S3 is the third distance difference, and S4 is the fourth distance difference.
The acceleration unit 240 is configured to increase the feeding speed of the target feeding device by the second speed adjustment amount.
In this implementation manner, the fourth calculation unit 246 may use the second preset current threshold value as a reduction number, use the current value when the target crushing device 112 works as a reduced number, and perform a difference operation on the two values to obtain a second current difference; taking the first distance value as a reduction number, the fifth calculation unit 247 may take the second preset distance threshold value as a reduced number, and perform a difference operation on the two values to obtain a third distance difference; the sixth calculating unit 248 may perform a difference operation on the first preset distance threshold value as a reduction number and the second distance value as a reduced number to obtain a fourth distance difference.
That is, the second current difference, the third distance difference, and the fourth distance difference are all greater than or equal to 0.
The larger the second current difference, the more the current value of the target crushing device 112 is smaller than the second preset current threshold value, so that the feeding speed of the target crushing device 112 needs to be increased more; the larger the third distance difference, the less crushed material is accumulated at the discharge port of the target crushing device 112, so that the feeding speed of the target crushing device 112 needs to be increased more; the larger the fourth distance difference, the more crushed material that builds up at the discharge port of the prior stage crushing device 112, and therefore the more the feed rate of the target crushing device 112 needs to be reduced. Based on this, the amount of elevation of the feeding speed of the target feeding device 111 can be comprehensively determined by the second speed adjustment formula. The distance mapping coefficient a and the current mapping coefficient b are constant and are used for mapping the second current difference, the third distance difference and the fourth distance difference into a second speed adjustment quantity.
The second determining unit 249 may determine the second target feeding speed according to the current feeding speed of the target feeding device 111 and the second speed adjustment amount, and control the target feeding device 111 to operate at the second target feeding speed after determining the second speed adjustment amount. Specifically, the acceleration unit 240 may determine the sum of the current feeding speed of the target feeding device 111 and the second speed adjustment amount as the second target feeding speed.
In still another embodiment of the present application, when the speed control unit 24 in the first auxiliary control device 131 connected to the target feeding device 111 determines that the current value of the target crushing device 112 when in operation is greater than or equal to the first preset current threshold value, and the first distance value is greater than or equal to the first preset distance threshold value and less than the second preset distance threshold value, and the second distance value is greater than or equal to the first preset distance threshold value and less than the second preset distance threshold value, the speed of the target feeding device 111 may be controlled to remain unchanged, so that the production efficiency of the crushing device may not be reduced while ensuring that crushed material below the discharge port of the target crushing device 112 is normally piled up.
It can be seen from the foregoing that, in the movable crushing system provided by the embodiment of the application, for any target crushing unit, by acquiring the current value of the target crushing device in the target crushing unit when the target crushing device works, the first distance value acquired by the distance sensor arranged at the discharge port of the target crushing device and the second distance value acquired by the distance sensor arranged at the discharge port of the previous stage crushing device, the feeding speed of the target crushing device is controlled based on the current value, the first distance value and the second distance value. When the feeding speed of the target crushing device in any target crushing unit is controlled, the current value of the target crushing device during operation, the quantity of crushed materials accumulated below a discharge hole of the target crushing device and the quantity of crushed materials accumulated below a discharge hole of a previous stage crushing device are comprehensively considered, so that the dynamic adjustment of the feeding speed of each crushing device can be realized, the phenomenon that any crushing device in a movable crushing system is blocked is avoided, each crushing device can be always in a normal running state, the production efficiency of the whole movable crushing system is improved, and the production cost of the movable crushing system is reduced; in addition, the movable crushing system provided by the application has the advantage that the use field of the crushing system is enlarged.
It will be clear to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units is illustrated, and in practical application, the above-mentioned functional allocation may be performed by different functional units, that is, the internal structure of the first auxiliary control device is divided into different functional units, so as to perform all or part of the above-mentioned functions. The functional units in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present application. The specific working process of the units in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating another structure of a first auxiliary control device in a movable crushing system according to an embodiment of the application. As shown in fig. 3, the first auxiliary control device 3 provided in the present embodiment may include: a processor 30, a memory 31 and a computer program 32 stored in the memory 31 and executable on the processor 30. The processor 30, when executing the computer program 32, performs the functions of the modules/units of the corresponding embodiment of fig. 2 described above.
By way of example, the computer program 32 may be partitioned into one or more modules/units that are stored in the memory 31 and executed by the processor 30 to complete the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 32 in the first auxiliary control device 3. For example, the computer program 32 may be divided into a first acquiring unit, a second acquiring unit, a third acquiring unit and a speed control unit, and the specific functions of the respective units are described in the corresponding embodiment of fig. 2, which is not repeated here.
It will be appreciated by those skilled in the art that fig. 3 is merely an example of the first auxiliary control device 3 and does not constitute a limitation of the first auxiliary control device 3, and may include more or fewer components than shown, or may combine certain components, or may be different components.
The processor 30 may be a general purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), an off-the-shelf programmable gate array (field-programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may be an internal storage unit of the first auxiliary control device 3, for example a hard disk or a memory of the first auxiliary control device 3. The memory 31 may also be an external storage device of the first auxiliary control apparatus 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, or a flash card (flash card) provided on the first auxiliary control apparatus 3. Further, the memory 31 may also include both an internal memory unit and an external memory device of the first auxiliary control device 3. The memory 31 is used to store a computer program and other programs and data required by the first auxiliary control device. The memory 31 may also be used to temporarily store data that has been output or is to be output.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference may be made to related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. The movable crushing system is characterized by comprising N stages of crushing units, wherein each stage of crushing unit comprises a feeding device and a crushing device, and the feeding device in each stage of crushing unit is used for acquiring materials to be crushed from a discharge hole of the crushing device in the previous stage of crushing unit and conveying the materials to be crushed to the crushing device in the current stage of crushing unit; the movable crushing system further comprises a main control device, N first auxiliary control devices and N second auxiliary control devices; the N first auxiliary control devices and the N second auxiliary control devices are connected with the main control device, each first auxiliary control device is connected with one feeding device, and each second auxiliary control device is connected with one crushing device; the first auxiliary control device is used for controlling the feeding speed of the connected target crushing unit;
The first auxiliary control device includes:
the first acquisition unit is used for acquiring a current value of the target crushing device in the target crushing unit when the target crushing device works;
the second acquisition unit is used for acquiring a first distance value acquired by a distance sensor arranged at a discharge hole of the target crushing device; the first distance value is used for describing the distance between the discharge hole of the target crushing device and crushed materials piled below the discharge hole of the target crushing device;
the third acquisition unit is used for acquiring a second distance value acquired by a distance sensor arranged at a discharge port of the previous-stage crushing device; the second distance value is used for describing the distance between the discharge hole of the previous-stage crushing device and crushed materials piled below the discharge hole of the previous-stage crushing device;
and the speed control unit is used for controlling the feeding speed of the target feeding device in the target crushing unit based on the current value, the first distance value and the second distance value.
2. The mobile crushing system according to claim 1, wherein the speed control unit is specifically configured to:
if the current value is greater than or equal to a first preset current threshold value, the first distance value is smaller than the first preset distance threshold value, and the second distance value is greater than or equal to a second preset distance threshold value, controlling a target feeding device in the target crushing unit to run at a reduced speed; wherein the second preset distance threshold is greater than the first preset distance threshold.
3. The mobile crushing system of claim 2, wherein the speed control unit comprises:
a first calculation unit configured to calculate a first current difference between the current value and the first preset current threshold;
a second calculation unit configured to calculate a first distance difference between the first preset distance threshold and the first distance value;
a third calculation unit configured to calculate a second distance difference between the second distance value and the second preset distance threshold;
a first determining unit configured to determine a first speed adjustment amount according to the first current difference, the first distance difference, the second distance difference, and a first speed adjustment formula; the first speed adjustment formula is:
V1＝a*(S1+S2)+b*I1；
wherein V1 is the first speed adjustment amount, a is a distance map coefficient, b is a current map coefficient, S1 is the first distance difference, S2 is the second distance difference, and I1 is the first current difference;
and the speed reducing unit is used for reducing the feeding speed of the target feeding device by the first speed regulating amount.
4. The mobile crushing system according to claim 1, wherein the speed control unit is specifically configured to:
If the current value is smaller than a second preset current threshold value, the first distance value is larger than or equal to a second preset distance threshold value, and the second distance value is smaller than the first preset distance threshold value, controlling a target feeding device in the target crushing unit to accelerate running; wherein the second preset distance threshold is greater than the first preset distance threshold.
5. The mobile crushing system of claim 4, wherein the speed control unit comprises:
a fourth calculation unit configured to calculate a second current difference between the second preset current threshold value and the current value;
a fifth calculation unit, configured to calculate a third distance difference between the first distance value and the second preset distance threshold;
a sixth calculation unit configured to calculate a fourth distance difference between the first preset distance threshold and the second distance value;
a second determining unit configured to determine a second speed adjustment amount according to the second current difference, the third distance difference, the fourth distance difference, and a second speed adjustment formula; the second speed adjustment formula is:
V2＝a*(S3+S4)+b*I2；
wherein V2 is the second speed adjustment amount, a is a distance map coefficient, b is a current map coefficient, I2 is the second current difference, S3 is the third distance difference, and S4 is the fourth distance difference;
And the acceleration unit is used for increasing the feeding speed of the target feeding device by the second speed adjustment amount.
6. The mobile crushing system according to claim 1, wherein the speed control unit is specifically configured to:
and if the current value is greater than or equal to a first preset current threshold value, the first distance value is greater than or equal to a first preset distance threshold value and is smaller than a second preset distance threshold value, and the second distance value is greater than or equal to the first preset distance threshold value and is smaller than the second preset distance threshold value, controlling the speed of a target feeding device in the target crushing unit to be unchanged.
7. The mobile crushing system of any one of claims 1-6 wherein the first auxiliary control device is a programmable logic controller.
8. The mobile crushing system of any one of claims 1-6 wherein the second auxiliary control device is a programmable logic controller.
9. A mobile crushing system according to any one of claims 1-6, wherein the main control device comprises a central processing unit.
10. The mobile crushing system of any one of claims 1-6 wherein the mobile crushing system is disposed on an unmanned apparatus.
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