JP2023027602A - Controller of crushing system, crushing system and method for controlling the same - Google Patents

Abstract

To provide a controller of a crushing system that can intuitively set a target value for obtaining desired production volumes of products in a predetermined grain-size range and stably control a gyratory crusher so that the desired production volumes can be obtained, a crushing system and a method for controlling the same.SOLUTION: A controller of a crushing system comprises a gyratory crusher and a feeder. The controller comprises: a load index obtaining part that obtains a load index which directly or indirectly represents a crushing load on the gyratory crusher; a grain size ratio calculating part that calculates a grain-size ratio represented by a ratio of production volumes of products in a predetermined grain-size range obtained from crushed matters crushed by the gyratory crusher to predetermined reference production volumes; a target value generating part that generates a load index target value on the basis of the obtained load index and a correlation between the load index and the grain-size ratio; and a control command generating part that generates a control command value from the load index and the load index target value.SELECTED DRAWING: Figure 4

Description

TECHNICAL FIELD The present disclosure relates to a controller for a crushing system with a gyre crusher, a crushing system and a control method thereof.

Conventionally, a tumbling type crusher in which a truncated cone-shaped mantle arranged inside a conical cylindrical cone cave is eccentrically rotated, and crushed materials such as raw stones are caught between the cone cave and the mantle and crushed. It has been known. When the material to be crushed is supplied from the top of the gyration crusher, the material to be crushed captured in the crushing chamber between the gyrating mantle and the cone cave is crushed to a predetermined particle size and discharged. At that time, by changing the feed amount supplied to the gyre crusher or the outlet gap of the crushing chamber, called the set, it is possible to adjust the output and the particle size of the product discharged from the gyre crusher.

In the orbital crusher, the discharged product is sorted by a predetermined particle size range. For each of the products sorted by particle size range, it is required to adjust the ratio of crushed material to supply according to demand. In a conventional gyration crusher, the operator visually confirms the proportion of products sorted by particle size range, and changes the supply amount or set of crushed materials based on this.

Japanese Patent Application Laid-Open No. 2003-200079 JP 2019-202245 A

On the other hand, in the above-mentioned Patent Document 1, in a crushing system that crushes in stages using a plurality of crushers, the actual value of the production amount or production ratio of the product for each particle size range, the amount of ore input at that time, and It is disclosed that the relationship between the two is estimated from the set values of each crusher, and the estimated relationship is used to determine the set values of each crusher so as to achieve the desired production amount or production rate. there is However, even if the setting values for each crusher are determined so as to achieve the desired production volume or production ratio, the crushing results may vary depending on the size of the ore put into the crusher or the properties such as the amount of moisture adhering to it. can. Therefore, even in the above configuration, there is room for improvement in order to stably control the crusher so that the desired production amount of products within a predetermined particle size range is achieved.

Further, in Patent Document 2, a load index representing the crushing load in a gyration crusher is measured, and when the measured value of the load index is outside a predetermined steady range, the target value and the measured value of the load index are changed. Determining a new manipulated variable based on the deviation of . According to this configuration, it is possible to perform stable production by determining the manipulated variable that causes the load to converge to the target value. However, in this configuration, it is necessary for the operator to set the target value of the load. The operator has to guess, either by intuition or empirically, the target value of the load for obtaining the desired production volume for the product within a given particle size range. That is, even in the above configuration, there is room for improvement in order to intuitively set a target value for obtaining a desired production amount for a product within a predetermined particle size range.

The present disclosure has been made to solve the above problems, and can intuitively set a target value for obtaining a desired production amount for a product within a predetermined particle size range, resulting in a desired production amount. It is an object of the present invention to provide a crushing system controller, a crushing system, and a method of controlling the same that can stably control a gyration crusher.

A controller of a crushing system according to an aspect of the present disclosure is a controller of a crushing system including a gyration crusher and a feeder that supplies crushed objects to the gyration crusher, wherein the gyration a load index acquisition unit that acquires a load index that directly or indirectly represents the crushing load applied to the crusher; a particle size ratio calculation unit that calculates a particle size ratio in which the amount is expressed as a ratio to a predetermined reference production amount; and the load index target value based on the acquired load index and the correlation between the load index and the particle size ratio. and a control command generator for generating a control command value from the load index and the load index target value, wherein the load index is within a reference range based on the load index target value. and controlling at least one of said orbital crusher or said feeder.

A crushing system according to another aspect of the present disclosure includes a gyration crusher, a feeder that supplies crushed objects to the gyration crusher, and a controller configured as described above.

Further, a control method according to another aspect of the present disclosure is a control method of a crushing system including a gyration crusher and a feeder for supplying crushed objects to the gyration crusher, wherein the gyration A load indicator that directly or indirectly represents the crushing load applied to the crusher is detected, and the production amount of products in a predetermined particle size range obtained from the material to be crushed by the orbital crusher is determined to a predetermined standard. calculating a grain size ratio expressed as a percentage of production volume; generating the load index target value based on the detected load index and a correlation between the load index and the grain size ratio; A control command value for controlling at least one of the orbital crusher and the feeder is generated from the load index and the load index target value so as to be within a reference range based on the index target value. .

According to the present disclosure, it is possible to intuitively set a target value for obtaining a desired production amount for a product within a predetermined particle size range, and to stably control the rotary crusher so as to achieve the desired production amount. can be done.

FIG. 1 is a diagram showing a schematic configuration of a crushing system according to one embodiment of the present disclosure. FIG. 2 is a diagram showing a schematic configuration of an example of a gyration crusher applied to the crushing system shown in FIG. 3 is a block diagram showing a schematic configuration of a control system of the crushing system shown in FIG. 1. FIG. FIG. 4 is a block diagram showing the configuration of the control block of the controller in this embodiment. FIG. 5 is a block diagram showing a configuration example of a target value generator shown in FIG. FIG. 6 is a graph showing the correlation between the load index and granularity ratio in this embodiment. 7 is a block diagram showing a configuration example of a control command generation unit shown in FIG. 4. FIG. FIG. 8 is a graph showing the relationship between the electric power supplied to the electric motor of the transport conveyor and the transport amount per unit time of the product transported by the transport conveyor. FIG. 9 is a block diagram showing a configuration example of a particle size ratio calculator shown in FIG. FIG. 10 is a graph showing simulation results of control modes based on the present embodiment. FIG. 11 is a diagram showing a schematic configuration of another example of the gyration crusher applied to the crushing system shown in FIG.

An embodiment of the present disclosure will be described below with reference to the drawings.

[Outline of crushing system]
FIG. 1 is a diagram showing a schematic configuration of a crushing system according to one embodiment of the present disclosure. A crushing system 100 in this embodiment comprises a gyration crusher 1 , a feeder 4 , a load index detector 140 and a controller 9 . The feeder 4 feeds the object to be crushed to the orbital crusher 1 . The load index detector 140 detects a load index that directly or indirectly represents the crushing load applied to the orbital crusher 1 . The controller 9 controls at least one of the orbital crusher 1 and the feeder 4 so that the load index is within the reference range based on the load index target value.

The feeder 4 includes, for example, a conveyor 40 and is capable of adjusting the amount of material to be crushed to be fed to the orbital crusher 1 . The conveyor 40 is driven by an electric motor 41 which is a variable speed motor. As shown in FIG. 2 to be described later, the electric motor 41 is driven by a motor driver 43 .

The crushing system 100 includes a sorter 110 that sorts out the crushed materials crushed by the gyration crusher 1 according to the particle size, and the crushed materials that are crushed by the sorter 110 from the outlet of the gyration crusher 1. An intermediate conveyor 113 is provided for conveying crushed objects. Intermediate conveyor 113 is driven by electric motor 114 .

In this embodiment, the sorter 110 performs two stages of sorting including a coarse first sieve 111 and a fine second sieve 112 . As a result, the material to be crushed by the orbital crusher 1 passes through the first product G1 in the first particle size range, which has passed through both the first sieve 111 and the second sieve 112, and the first sieve 111. are sorted into a second product G2 with a second particle size range that cannot pass through the second sieve 112 and a third product G3 with a third particle size range that cannot pass through the first sieve 111 . That is, these products G1, G2, and G3 are arranged in descending order of average particle size so that G3>G2>G1. Note that the sorting machine 110 may perform one stage of sorting, or may perform three or more stages of sorting.

Furthermore, the crushing system 100 further includes, on the downstream side of the sorter 110, a first transport conveyor 115 that transports the first product G1 sorted by the sorter 110, and a second transport conveyor 115 that transports the second product G2 sorted by the sorter 110. A second conveyor 116 and a third conveyor 117 for conveying the third product G3 sorted by the sorter 110 are provided. In the present embodiment, the third product G3 having the largest average particle size is transported by the third transport conveyor 117 and then put into the tumbling crusher 1 again. The first product G1 and the second product G2 are the final products in the crushing system 100. FIG. That is, the crushing system 100 is a production device that produces the first product G1 and the second product G2.

In this way, the sorter 110 sorts the products produced by the orbital crusher 1 into two or more kinds of products based on the particle size. Further, the transport conveyors include two or more transport conveyors 115, 116, 117 each carrying two or more products.

The first transport conveyor 115 is driven by an electric motor 118 . The second transport conveyor 116 is driven by an electric motor 119 . The third transport conveyor 117 is driven by an electric motor 120 .

The crushing system 100 includes a particle size index detector 130 that detects a particle size index Pact that directly or indirectly represents the production amount of products Gj (j=1, 2, 3) in a predetermined particle size range sorted by the sorter 110. I have. In the present embodiment, the particle size index detector 130 detects a value indicating the production amount of Gj per unit time on the conveyors 115, 116, 117 as the particle size index Pact.

More specifically, the particle size index detector 130 drives the first power meter 131 that measures the first power P1 supplied to the electric motor 118 that drives the first conveyor 115 and the second conveyor 116. A second electric power measuring instrument 132 that measures the second electric power P2 supplied to the electric motor 119 that drives the third transport conveyor 117, and a third electric power measuring instrument that measures the third electric power P3 supplied to the electric motor 120 that drives the third transport conveyor 117. 133. Note that the power meters 131, 132, and 133 may be power meters that measure the power itself, or may have an ammeter and a voltmeter and calculate the power from the measured current and voltage.

In the present embodiment, as will be described later, the first power P1 measured by the first power meter 131 can be used as the granularity index of the first product G1. Also, the second power P2 measured by the second power meter 132 can be used as the granularity index of the second product G2. Also, the third power P3 measured by the third power meter 133 can be used as the granularity index of the third product G3.

Further, the crushing system 100 is provided with a supply amount detector 150 that detects a value Pall indicating the amount of material to be crushed supplied to the orbital crusher 1 per unit time. In this embodiment, the supply amount detector 150 detects a value indicating the amount of material to be crushed per unit time supplied to the conveyor 40 of the supply device 4 . More specifically, the supply amount detector 150 includes a fourth power meter 134 that measures the fourth power P4 supplied to the electric motor 41 that drives the conveyor 40 . Alternatively, the supply amount detector 150 may include a fifth power meter 135 that measures the fifth power supplied to the electric motor 114 that drives the intermediate conveyor 113 . Alternatively, as will be described later, when the supply amount is calculated using the particle size index of the first product G1, the particle size index of the second product G2, and the particle size index of the third product G3, the supply amount detector 150 is unnecessary. be.

[Overview of gyration crusher]
FIG. 2 is a diagram showing a schematic configuration of an example of a gyration crusher applied to the crushing system shown in FIG. The gyration-type crusher 1 illustrated in FIG. 2 is a hydraulic gyration-type crusher in which the operation of a hydraulic cylinder 6 can be controlled through a hydraulic circuit 7, which will be described later. A gyration crusher 1 according to this embodiment includes a hopper 2 , a mantle 13 and a cone cave 14 . The mantle 13 is fixed to the main shaft 5 which makes an eccentric turning motion. The cone cave 14 has a crushing chamber 16 inside. The hopper 2 stores the material to be crushed supplied from the supplier 4 . The objects to be crushed that have fallen from the hopper 2 are put into the crushing chamber 16 . In the crushing chamber 16, the cone cable 14 bites the object to be crushed between it and the mantle 13 and crushes it.

Further, the rotary crusher 1 has a frame 3 consisting of a top frame 31 and a bottom frame 32 . The hopper 2 is arranged above the top frame 31 . A cone-shaped tubular cone 14 is held on the inner circumference of the top frame 31 . A truncated cone-shaped mantle 13 is arranged inside the cone cave 14 . The crushing chamber 16 is defined as the space between the spaced apart crushing surfaces of the cone 14 and the mantle 13 and has a wedge-shaped vertical cross-section.

A mantle 13 is attached via a mantle core 12 fixed to the top of the main shaft 5 . The main shaft 5 is arranged in the frame 3 with its axis tilted from the vertical direction. The upper end of the main shaft 5 is rotatably supported by an upper bearing 34 provided at the upper end of the top frame 31 . A lower portion of the main shaft 5 is fitted into an inner bush 51 . The inner bushing 51 is fixed to the eccentric sleeve 52 . The eccentric sleeve 52 is fitted in an outer bushing 53 attached to the bottom frame 32 . A lower portion of the eccentric sleeve 52 is supported by a sliding bearing 66 attached to the cylinder tube 63 of the hydraulic cylinder 6 . A lower end of the main shaft 5 is supported by a slide bearing 62 attached to a ram 61 of the hydraulic cylinder 6 .

Further, the gyration crusher 1 includes a main shaft motor 8 and a power transmission mechanism 80 which are electric motors. The power transmission mechanism 80 transmits rotational power from the main shaft motor 8 to the main shaft 5 . As a result, the mantle 13 fixed to the main shaft 5 is rotated by the rotational power of the main shaft motor 8 . The spindle motor 8 is arranged outside the frame 3 . The gyration-type crusher 1 includes a rotational speed sensor 25 for detecting the rotational speed of the spindle motor 8 and a torque sensor 26 for detecting the output torque of the spindle motor 8 . The spindle motor 8 is driven by a motor driver 88 .

The power transmission mechanism 80 transmits power from the main shaft motor 8 to the main shaft 5 to which the mantle 13 is fixed. The power transmission mechanism 80 includes a horizontal shaft 83, a belt-type or chain-type transmission mechanism 82 for transmitting rotational power from the output shaft 81 of the main shaft motor 8 to the horizontal shaft 83, an eccentric sleeve 52, and the eccentric sleeve 52 from the horizontal shaft 83 to the eccentric sleeve 52. It includes a bevel gear transmission mechanism 84 that transmits rotational power to. When the eccentric sleeve 52 rotates in response to the output of the main shaft motor 8, the main shaft 5 fitted in the eccentric sleeve 52 eccentrically turns. As a result, the mantle 13 performs an eccentric turning motion, a so-called precession motion, with respect to the cone cave 14 whose position is fixed. The opening between the fracture surface of mantle 13 and the fracture surface of cone 14 is called a set. The set changes according to the swivel position of the main shaft 5 due to the eccentric swivel motion of the mantle 13 .

The gyroscopic crusher 1 in this embodiment includes a hydraulic cylinder 6 for adjusting the set by raising and lowering the mantle 13 with respect to the cone 14, and a controller 9 for controlling the operation of the gyroscopic crusher 1. I have. By operating the hydraulic cylinder 6, the mantle 13 moves up and down with respect to the cone cave 14 to change the set at the narrowest position of the gap between the two crushing surfaces of the cone cave 14 and the mantle 13, that is, the closed set. The hydraulic cylinder 6 also functions as pressure receiving means for receiving crushing pressure applied to the mantle 13 .

The hydraulic cylinder 6 includes a cylinder tube 63 , a ram 61 sliding inside the cylinder tube 63 , a set sensor 23 , an oil tank 67 and a hydraulic circuit 7 . The set sensor 23 is, for example, a contact or non-contact position sensor that detects the position or displacement of the ram 61 . The position or displacement of the ram 61 detected by the set sensor 23 is used to determine the position of the mantle 13 in the height direction with respect to the cone cave 14 , and the set is determined from the relative positional relationship between the cone cave 14 and the mantle 13 .

A hydraulic chamber 65 in the cylinder tube 63 is defined by the inner wall of the cylinder tube 63 and the ram 61 . The capacity of the hydraulic chamber 65 changes according to the displacement of the ram 61 . A hydraulic circuit 7 is connected to the hydraulic chamber 65 . The hydraulic oil in the oil tank 67 is supplied to the hydraulic chamber 65 through the hydraulic circuit 7, so that the ram 61 is lifted. Further, the ram 61 is lowered by draining the hydraulic oil in the hydraulic chamber 65 to the oil tank 67 through the hydraulic circuit 7 .

In the hydraulic circuit 7 , a communicating pipe 71 communicated with the lower portion of the hydraulic chamber 65 , and an accumulator 72 is connected to the communicating pipe 71 . A balance cylinder may be connected instead of the accumulator 72 . A fuel supply pipe 73 is connected to the communication pipe 71 . An oil drain pipe 74 is connected to the oil supply pipe 73 . However, the configuration of the hydraulic circuit 7 is not limited to this embodiment.

A strainer 75 , a gear pump 76 , a check valve 77 , and a normally closed shutoff valve 78 are interposed in the oil supply pipe 73 in order from the upstream side along the flow of hydraulic oil from the oil tank 67 to the hydraulic chamber 65 . ing. Gear pump 76 is driven by pump motor 68 . The pump motor 68 is an electric motor and is driven by a motor driver 69 . Further, the hydraulic circuit 7 has a pressure sensor 24 that detects the pressure of hydraulic fluid in the hydraulic chamber 65 . The pressure sensor 24 may be installed in any of the hydraulic chamber 65 , the communication pipe 71 , or the oil supply pipe 73 . Oil drain pipe 74 is connected between check valve 77 and shutoff valve 78 in oil supply pipe 73 . A normally closed shutoff valve 79 is connected to the drain pipe 74 .

[Control system of crushing system]
3 is a block diagram showing a schematic configuration of a control system of the crushing system shown in FIG. 1. FIG. As shown in FIG. 3 , the controller 9 is connected to transmit or receive signals from the load indicator detector 140 , the particle size indicator detector 130 , the feeder 4 and the hydraulic circuit 7 . Furthermore, the controller 9 is connected to receive a signal from the set sensor 23 . Note that the controller 9 can also be connected to other sensors and the like. The controller 9 also includes a memory 90 that stores control programs and various data.

Controller 9 includes a computer such as a microcontroller, a programmable logic controller, or a personal computer. For example, the controller 9 includes a CPU, a main memory such as a RAM, a communication interface, and the like. The controller 9 receives detection signals from various sensors according to a control program and transmits control commands to each controlled object.

It should be noted that the functionality of the elements disclosed herein may be achieved by general purpose processors, special purpose processors, integrated circuits, Application Specific Integrated Circuits (ASICs), conventional circuits, or any combination thereof configured or programmed to perform the disclosed functions. can be implemented using a circuit or processing circuit that includes a combination of A processor is considered a processing circuit or circuit because it includes transistors and other circuits. As used herein, a circuit, unit, control block or means is hardware that performs or is programmed to perform the recited function. The hardware may be the hardware disclosed herein, or other known hardware programmed or configured to perform the recited functions. A circuit, unit or means is a combination of hardware and software where the hardware is a processor which is considered a type of circuit, the software being used to configure the hardware or the processor.

The controller 9 includes control blocks of a particle size ratio calculation unit 91 , a target value generation unit 92 , a control command generation unit 93 and a data acquisition unit 94 . As noted above, each of these control blocks is considered a circuit. The controller 9 transmits a control command generated as a result of arithmetic processing of each control block to the feeder 4 or the hydraulic circuit 7 of the rotary crusher 1 . The controller 9 controls the supply amount of the material to be crushed to the orbital crusher 1 by transmitting a control command to the electric motor 41 of the feeder 4 . The controller 9 also controls the operation of the hydraulic cylinder 6 in the gyration crusher 1 by transmitting a control command to the hydraulic circuit 7 . The size of the set in the crushing chamber 16 is adjusted by controlling the operation of the hydraulic cylinder 6 . Note that the controller 9 may execute each process under centralized control by a single computer, or may execute each process under distributed control in which a plurality of computers cooperate.

A part or all of the functions of the controller 9 or the production volume calculator 170 (to be described later) may be provided in a server device such as a cloud server. Also, the storage device 90 may be provided in a server device such as a cloud server. In this case, the various detectors 130, 140, 150, 23, the feeder 4 or the hydraulic circuit 7 to be controlled, and the server device are connected for communication via a predetermined communication network.

[How to operate the gyration crusher]
Here, a method of operating the orbiting crusher 1 having the above configuration will be described. When starting the operation of the rotary crusher 1, the controller 9 operates the hydraulic circuit 7 so that the set, that is, the closed set, becomes the initial set value. The initial set value of the set is set in advance according to the particle size of the object to be crushed or the crushed object. The controller 9 controls the hydraulic circuit 7 based on the detection value of the set sensor 23 so that the set becomes the initial set value. The controller 9 opens the shut-off valve 78 and operates the pump motor 68 to supply oil to the hydraulic chamber 65 when the set value is greater than the initial set value. Further, the controller 9 opens the shut-off valves 78 and 79 to drain oil from the hydraulic chamber 65 when the set value is smaller than the initial set value.

Subsequently, the controller 9 activates the spindle motor 8 and the feeder 4 . The material to be crushed is fed into the crushing chamber 16 through the hopper 2 by the operation of the feeder 4, crushed between the cone 14 and the mantle 13 rotating eccentrically, and discharged from below the bottom frame 32 as crushed material. be. The discharged crushed material is sorted by the sorter 110 according to the particle size, and the sorted products G1 and G2 having a predetermined particle size range are recovered as final products.

During the operation of the orbital crusher 1 as described above, the crushing load fluctuates due to disturbances such as changes in the properties and moisture content of the crushed material and the level of the crushed material in the hopper 2 . Here, the "crushing load" means the load applied to the output shaft 81 of the main shaft motor 8 as the object to be crushed is crushed. When the output shaft 81 is overloaded to a predetermined value or more, the spindle motor 8 is locked from rotating, and an overload protection circuit is activated to bring the main shaft motor 8 to an emergency stop. Therefore, the crushing system 100 includes a load index detector 140 that measures a load index Lact that directly or indirectly represents the crushing load of the gyration-type crusher 1 . The controller 9 monitors the load index Lact detected during the crushing operation, and feeds the material to be crushed by the feeder 4 so that the load index Lact is maintained within a predetermined reference range based on the load index target value Lr. At least one of the quantity or set in the gyre crusher 1 is controlled.

The crushing load is represented by the product of the rotation speed of the output shaft 81 of the spindle motor and the output torque. Therefore, the crushing load can be measured as the product of the rotation speed detected by the rotation speed sensor 25 and the output torque detected by the torque sensor 26 . Since the rotation speed of the output shaft 81 corresponds to the rotation speed of the horizontal shaft 83 and the rotation speed of the eccentric sleeve 52, instead of the rotation speed detected by the rotation speed sensor 25, the rotation speed of the horizontal shaft 83 or the eccentric sleeve The rotation speed detected by the rotation speed sensor provided at 52 may be used.

Moreover, the crushing load has a correlation with the drive current of the spindle motor 8 . Therefore, changes in the crushing load can be estimated based on changes in the drive current of the spindle motor 8 . The driving current of the spindle motor 8 can be measured as a detection value of a current sensor 88a included in the motor driver 88. FIG.

Moreover, the crushing load is correlated with the power consumption of the spindle motor 8 . Therefore, changes in the crushing load can be estimated based on changes in the power consumption of the spindle motor 8 . The power consumption of the spindle motor 8 can be measured as the product of the detected value of the current sensor 88a included in the motor driver 88 and the detected value of the voltage sensor 88b.

Moreover, the crushing load has a correlation with the crushing pressure. Thus, changes in crushing load can be estimated based on changes in crushing pressure. The crushing pressure can be measured as the pressure in the hydraulic chamber 65 detected by the pressure sensor 24 .

From the above, as the load index Lact, at least one of the value of the product of the rotation speed and the output torque, the value of the driving current of the spindle motor 8, the value of the power consumption of the spindle motor 8, or the value of the crushing pressure can be adopted. Then, according to the adopted load index Lact, a corresponding sensor is selected as the load index detector 140 for detecting the load index Lact.

[Control mode]
The data acquisition unit 94 includes a load index acquisition unit 95 , a granularity index acquisition unit 96 and a supply amount acquisition unit 97 . The load index acquisition unit 95 acquires the load index Lact that directly or indirectly represents the crushing load applied to the gyration type crusher 1 from the load index detector 140 . The particle size index acquisition unit 96 acquires the particle size index Pact that directly or indirectly represents the production volume of the product within a predetermined particle size range sorted by the sorter 110 from the particle size index detector 130 . The supply amount acquisition unit 97 acquires the amount of material to be crushed supplied from the supply amount detector 150 to the orbital crusher 1 per unit time. The data acquisition unit 94 stores various acquired data in the storage unit 90 and transfers the data to the functional blocks 91 , 92 and 93 .

FIG. 4 is a block diagram showing the configuration of the control block of the controller in this embodiment. The particle size ratio calculation unit 91 acquires the particle size index Pact obtained from the crushing system 100, and calculates the production amount of the product Gj in a predetermined particle size range obtained from the material to be crushed by the orbital crusher 1 according to a predetermined standard. A particle size ratio Ract expressed as a ratio to the production amount is calculated. The target value generator 92 generates the load index target value Lr based on the particle size ratio deviation ΔR obtained by subtracting the calculated particle size ratio Ract from the particle size ratio target value Rr. The control command generator 93 generates a control command value MV from the load index Lact detected by the load index detector 140 and the load index target value Lr calculated by the target value generator 92 . The crushing system 100 is controlled based on the control command value MV so that the load index Lact is maintained within a predetermined reference range based on the load index target value Lr. Each control block is described in detail below.

[Target value generator]
FIG. 5 is a block diagram showing a configuration example of a target value generator shown in FIG. Target value generator 92 includes subtractor 162 , control gain multiplier 163 , limiter 164 , adder 165 and holding circuit 166 .

The subtractor 162 calculates the particle size ratio deviation ΔR by subtracting the current particle size ratio Ract in the crushing system 100 calculated by the particle size ratio calculator 91 described later from the particle size ratio target value Rr.

The control gain multiplier 163 multiplies the particle size ratio deviation ΔR by the control gain Kr to calculate the load deviation ΔLr. When the particle size ratio deviation ΔR is small, for example, within a predetermined range including 0, the particle size ratio deviation ΔR input to the control gain multiplier 163 may be set to 0, or the control gain multiplier 163 may be set to zero. The target value generator 92 sets the control gain Kr from the detected load index Lact and the correlation between the load index Lact and the granularity ratio Ract. For this purpose, data indicating the correlation between the load index Lact and the particle size ratio Ract according to the orbital crusher 1 is stored in advance in the storage device 90 .

FIG. 6 is a graph showing the correlation between the load index and granularity ratio in this embodiment. In the graph shown in FIG. 6, the horizontal axis is the load pressure [MPa] corresponding to the load index, and the vertical axis is the particle size ratio [%]. is shown. That is, the load pressure in the orbital crusher 1 can be regarded as crushing energy. There is a relationship that the material becomes easier to crush and the particle size of the product becomes smaller.

Disclosers of the present disclosure found that there is such a correlation between changes in particle size ratio and changes in load pressure, as shown in the graph in FIG. 6, after intensive research. By using the correlation, the present disclosure converts the particle size ratio target value Rr that can be intuitively set by the operator into the load index target value Lr used for load stabilization control for stabilizing the crushing load. It is based on the knowledge that it is possible. That is, the target value generator 92 generates the load index target value Lr based on the detected load index and the correlation between the load index and the granularity ratio.

The correlation data stored in advance in the storage unit 90 may be the non-linear correlation data itself as shown by the curve A1 in FIG. It may be data of linear correlation as shown in .

The correlation data is data in which the load index Lact, which indicates the load pressure when the crushing system 100 is actually operated, and the actual value of the predetermined particle size ratio are associated with each other. The actual value of the predetermined particle size ratio corresponds to the target particle size ratio of the target particle size ratio Rr. For example, when focusing on the ratio of the production amount of the first product G1 to the total production amount and setting the particle size ratio target value Rr, as the actual value of the particle size ratio in the correlation data created in advance, The actual value of the production volume ratio of one product G1 is associated with the load index Lact.

The target value generator 92 calculates a control gain Kr for converting the particle size ratio target value Rr into the load index target value Lr from the correlation data previously stored in the storage unit 90 . When non-linear correlation data is used, the slope of the tangent line of the curve A1 at the position of the particle size ratio target value Rr is calculated as the control gain Kr. Also, when linear correlation data is used, the slope of the straight line A2 is calculated as the control gain Kr. The calculated control gain Kr is set as the control gain Kr to be multiplied by the particle size ratio deviation correction value ΔRc in the control gain multiplier 163 . According to this configuration, the correlation stored in advance in the storage unit 90 is used to convert the value of the particle size ratio into the value of the load index, so that the load index target value Lr can be generated by a simple calculation. can.

The limiter 164 limits the load deviation ΔLr output from the control gain multiplier 163 within a predetermined limit range E. For example, when the load deviation ΔLr exceeds the upper limit value greater than 0 of the limit range E, the limiter 164 outputs the upper limit value as the load deviation correction value ΔLrc. Further, when the load deviation ΔLr falls below the lower limit value of the limit range E which is less than 0, the limiter 164 outputs the lower limit value as the load deviation correction value ΔLrc. When the load deviation ΔLr is within the limit range E, the limiter 164 outputs the load deviation ΔLr as it is as the load deviation correction value ΔLrc. Such limiter 164 suppresses rapid changes in load index target value Lr.

Here, the limit range E may be changeable according to the detected load index Lact. As shown in FIG. 5, in the correlation represented by curve A1, when the load pressure is small, the fluctuation range of the particle size ratio with respect to the change in load pressure is large. On the other hand, when the load pressure is high, the fluctuation width of the particle size ratio is small with respect to the load pressure. Therefore, when the load index target value Lr is calculated using non-linear correlation data, if the current load index Lact is small, the limit range E is set small, and if the current load index Lact is large, the limit range E is set small. , the limit range E may be set large. Thereby, the limit range E can be appropriately set according to the variation rate of the particle size ratio.

The manner in which the limit range E is changed is not particularly limited. is set to a second range which is included in the first range and narrower than the first range. By providing two or more reference values, the limit range E can be set to three or more ranges. Further, for example, the upper limit value or lower limit value of the limit range E according to the load index Lact may be calculated using a predetermined function. In this case, the size of the limit range E changes continuously with changes in the load index Lact.

Note that when the load index target value Lr is calculated using a linear correlation as indicated by the straight line A2, the size of the limit range E of the limiter 164 may be fixed.

The holding circuit 166 holds the load index target value Lr output from the target value generator 92 for a predetermined time. Adder 165 adds load deviation correction value ΔLrc output from limiter 164 to past load index target value Lrp held in holding circuit 166 . That is, the target value generation unit 92 calculates the load deviation correction value ΔLrc as the change amount of the target value with respect to the past load index target value Lrp, and adds the load deviation correction value ΔLrc to the past load index target value Lrp. , a new load index target value Lr is generated.

[Control command generator]
The control command generator 93 generates a control command value MV for the crushing system 100 based on the load index target value Lr generated by the target value generator 92 and the load index Lact detected by the load index detector 140 .

7 is a block diagram showing a configuration example of a control command generation unit shown in FIG. 4. FIG. Control command generator 93 includes subtractor 168 and control calculator 169 . A subtractor 168 calculates a load deviation actual value ΔL by subtracting the current load index Lact from the load index target value Lr. The load index Lact input to the subtractor 168 may be the load index Lact after noise has been removed by a predetermined filter.

The control calculator 169 applies a predetermined control algorithm to the load deviation actual value ΔL to generate a control command value MV. For example, control calculator 169 includes a PID controller having proportional, integral and derivative elements. Alternatively, the control calculator 169 may include a P controller with a proportional element, a PI controller with a proportional element and an integral element, a PD controller with a proportional element and a differential element, or the like.

The control command generator 93 outputs a control command value MV generated according to the control algorithm. When the load deviation actual value ΔL is small, for example, when it is within a predetermined range including 0, the load deviation actual value ΔL input to the control calculator 169 may be set to 0, or the control calculator 169 may output the same control command value MV as the previous control command value MV. Further, the control command generator 93 may include a limiter that limits the control command value MV generated by the control calculator 169 within a predetermined limit range.

The controller 9 causes the controlled object to operate according to the control command value MV generated by the control command generator 93 . When the controlled object is the hydraulic circuit 7, the amount of hydraulic oil supplied to the hydraulic cylinder 6 is controlled according to the control command value MV, and the size of the set in the crushing chamber 16 is adjusted. Further, when the object to be controlled is the feeder 4, the amount of material to be crushed fed to the orbital crusher 1 by the conveyor 40 is controlled according to the control command value MV.

[Particle size ratio calculator]
The granularity ratio calculator 91 calculates the granularity ratio Ract based on the granularity index Pact detected by the granularity index detector 130 . The particle size ratio Ract is defined as a value representing the production amount of the product Gj in a predetermined particle size range obtained from the crushed material crushed by the gyration crusher 1 as a ratio to a predetermined reference production amount.

First, as an example, the control mode of the crushing system 100 in which the total production amount of the product Gj, that is, the supply amount is set as the reference production amount, and the ratio of the production amount of the first product G1 to the reference production amount is the particle size ratio Ract to be controlled. is exemplified.

In this example, the first power meter 131 is the granularity index detector 130 . The first power meter 131 measures the power P1 supplied to the electric motor 118 that drives the first transport conveyor 115 that transports the first product G1 sorted by the sorter 110, as described above.

FIG. 8 is a graph showing the relationship between the electric power supplied to the electric motor of the transport conveyor and the transport amount per unit time of the product transported by the transport conveyor. A graph shown in FIG. Data of combinations of transport amounts are plotted on a graph. Furthermore, the graph shown in FIG. 8 shows straight lines approximated at a plurality of plot positions when the transport amount is changed.

The first transport conveyor 115 transports the first product G1 at a constant speed. When the first product G1 is conveyed on the first conveyer 115, the load on the electric motor 118 driving the first conveyer 115 increases. In order to operate the first transport conveyor 115 at a constant speed, it is necessary to increase the first electric power P1 supplied to the electric motor 118 . In the example of FIG. 8, the change in the conveyed amount per unit time with respect to the change in the first electric power P1 that can be supplied to the electric motor 118 has linear characteristics, as indicated by the approximate straight line in FIG.

Utilizing such a characteristic, the conveying amount per unit time of the first product G1 conveyed by the first conveyer 115 from the first electric power P1 supplied to the electric motor 120 that drives the first conveyer 115, that is, , the production amount per unit time of the first product G1 having the first particle size range can be obtained. Therefore, in this example, the granularity ratio calculator 91 acquires the first power P1 as the granularity index Pact.

FIG. 9 is a block diagram showing a configuration example of a particle size ratio calculator shown in FIG. As shown in FIG. 9 , the particle size ratio calculator 91 includes a production volume calculator 170 , a filter 171 , an average value calculator 172 and a calculation execution unit 173 . The storage device 90 stores in advance the correlation between the electric power supplied to the electric motor 120 and the transport amount transported by the first transport conveyor 115 per unit time. The crushing system 100 according to the present embodiment includes a gyration crusher 1, a first conveyor 115, a first power meter 131, and a controller 9 functioning as a production amount detection device. It includes a production amount detection system for detecting the production amount of the first product G1 to be produced. The controller 9 functioning as a production volume detection device includes a storage device 90 and a production volume calculator 170 .

The production amount calculator 170 reads out the corresponding correlation from the storage device 90, and converts the transport amount corresponding to the first power P1 acquired as the granularity index Pact to the production amount of the first product G1, that is, the target product production amount Sact Calculate as According to such a configuration, by measuring the first electric power P1 supplied to the electric motor 118 that drives the first conveyer 115, the first electric power P1 stored in the storage device 90 and the first conveyer 115 are calculated. Using the correlation with the transport amount of , the transport amount of the first transport conveyor 115 can be calculated as the production amount of the products transported by the first transport conveyor 115 . Therefore, the production amount of the product conveyed by the first conveyer 115 can be reduced at a low cost without providing a belt scale capable of measuring the conveyed amount or providing means for detecting the conveyed amount separately. and can be easily calculated.

Also, the particle size ratio calculator 91 acquires the value Pall detected by the supply amount detector 150 . As described above, the supply amount detector 150 detects, for example, the fourth power P4 supplied to the electric motor 41 that drives the conveyor 40 of the supplier 4 . The production volume calculator 170 reads out the corresponding correlation from the storage device 90 and supplies the transport volume corresponding to the fourth power P4 to the rotary crusher 1 in the same manner as when calculating the target product production volume Sact. Calculate as a quantity. In this example, the particle size ratio calculator 91 sets the reference production amount Sall to be the total production amount of the first product G1, the second product G2, and the third product G3. Further, in the present embodiment, the total production amount can be considered to be equal to the supply amount to the orbital crusher 1 . Therefore, in this example, the particle size ratio calculator 91 treats the calculated supply amount as the standard production amount Sall.

The correlation used when determining the supply amount may be the same as or different from the correlation used when determining the production amount of the first product G1. That is, when the first transport conveyor 115 and the conveyor 40 of the feeder 4 have the same characteristics such as the same transport capacity and the same size, the conveyors 40 and 115 have the same characteristics. One correlation may be stored in storage 90 . Alternatively, a plurality of correlations may be stored in storage 90, including a correlation corresponding to conveyor 40 of feeder 4 and a correlation corresponding to first transfer conveyor 115. FIG.

The particle size index detector 130 detects the particle size index Pact continuously or at predetermined timings, so that the production amount Sact of the target product obtained by the production amount calculator 170 becomes data that can change over time. Similarly, when the supply amount detector 150 detects the value Pall indicating the supply amount continuously or at predetermined timings, the supply amount obtained by the production amount calculator 170, that is, the reference production amount Sall, changes over time. data that can change with respect to

A filter 171 smoothes the target product production Sact and the reference production Sall. For example, filter 171 includes a moving average filter. Filter 171 removes disturbances due to product Gj variations such as size or compression hardness.

The average value calculation unit 172 calculates an average value for each predetermined unit period of the target product production amount Sfact and the standard production amount Sfall after filtering. For example, the average value calculation unit 172 extracts a predetermined unit period from among the periods in which the temporal change in the filtered target product production amount Sfact is within the reference range, and extracts the target product production amount in the extracted unit period. Calculate the average value of That is, the average value calculation unit 172 calculates the average value of the post-filtering production amount Sfact of the target product for each unit period, excluding a period in which the post-filtering production amount Sfact of the target product changes sharply with time. The average value calculation unit 172 similarly calculates the average value of the standard production amount Sfall after filtering.

Calculation execution unit 173 calculates particle size ratio Ract, which is the ratio of the production amount of third product G3 to the reference production amount, based on average target product production amount Svact and average reference production amount Svall calculated by average value calculation unit 172. calculate.

The calculation executing unit 173 calculates the ratio of the average target product production amount Svact to the average supply amount as the particle size ratio Ract. That is, the particle size ratio Ract is calculated using the following formula (1).

The calculated granularity ratio Ract is input to the target value generator 92 . Note that the above formula (1) can be generalized as in the following formula (2).

Ｓ１：第１産物Ｇ１の生産量
Ｓ２：第２産物Ｇ２の生産量
Ｓ３：第３産物Ｇ３の生産量
Ｓ４：供給量
Ｓ５：中間コンベヤの搬送量
ｋ_ｉ＝０または１（ｉ＝１，２，…，８）

S1: Production volume of first product G1 S2: Production volume of second product G2 S3: Production volume of third product G3 S4: Supply volume S5: Transport volume of intermediate conveyor k _i = 0 or 1 (i = 1, 2 , …, 8)

The value of k _i is switched to 0 or 1 depending on the granularity ratio Ract of interest. Also in equation (2), the production amounts S1, S2, S3 and the supply amounts S4, S5 are the values output from the average value calculator 172. FIG. The above example, that is, the particle size ratio Ract, which represents the production amount of the first product G1 as a ratio to the supply amount, is obtained when k ₁ and k ₇ in equation (2) are set to 1 and the other coefficients k _i are set to 0. Equivalent to.

In the above example, the supply amount of the material to be crushed is the reference production amount, and the ratio of the production amount of the first product G1 to the reference production amount is the reference production amount for the particle size ratio Ract to be controlled. Instead of setting the fourth electric power P4 supplied to the electric motor 41 that drives the conveyor 40 to the value Pall detected by the supply amount detector 150, the fifth electric power P5 that is supplied to the electric motor 114 that drives the intermediate conveyor 113 is supplied. It may be the value Pall detected by the amount detector 150 . That is, in the above example, _k8 may be set to 1 instead of setting _k7 shown in equation (2) to 1.

Alternatively, the production volume calculator 170 calculates the production volume of the first product G1, the second product G2, and the third product G3, and the value obtained by adding these production volumes is the standard production. It is good also as quantity Sall. That is, in the above example, k ₄ , k ₅ , and k ₆ may be set to 1 instead of setting k ₇ shown in equation (2) to 1.

Further, in the above example, the supply amount of the material to be crushed is set as the reference production amount, and the ratio of the production amount of the first product G1 to the reference production amount is set as the particle size ratio Ract of the controlled object. Various particle size ratios can be employed depending on the particle size ratio target value set by the operator, that is, the particle size ratio to be monitored.

For example, the target product production amount Sact may be the production amount of the second product G2, or may be the total value of the production amounts of the first product G1 and the second product G2. For example, in equation (2), k ₂ and k ₄ may be set to 1, or k ₁ , k ₂ , k ₄ may be set to 1 and the other k _i may be set to 0. Alternatively, the target product production amount Sact may be the production amount of the third product G3. For example, in equation (2), k ₃ and k ₄ may be 1, and the other k _i may be 0. When the target product production amount Sact is the production amount of the third product G3, the particle size ratio Ract is the rate at which the crushed material to be crushed is resupplied to the rotary crusher 1 with respect to the supply amount. Represents the return ratio of shredded material. Also in these modified examples, instead of setting _k4 to ₁ , _k5 or k1, _k2 , _k3 may be set to 1.

Further, the particle size ratio Ract may be the ratio of the production amount in a part of the selection ranges to the production amount included in the plurality of selection ranges. For example, it may be the ratio of the production amount of the first product G1 or the second product G2 to the total value of the production amounts of the first product G1 and the second product G2. For example, in equation (2), k ₁ or k ₂ , k ₄ and k ₅ may be set to 1, and the other k _i may be set to 0.

Thus, by selecting a suitable combination of the coefficient to be 1 and the coefficient to be 0 among the coefficients k _i in Equation (2), the particle size ratio calculation unit 91 calculates A desired particle size ratio Ract can be calculated. Note that the particle size ratio target value Rr may be preset according to the selection of the coefficient _ki . That is, the storage unit 90 stores a preset value of the particle size ratio target value Rr corresponding to an assumed combination of coefficients _ki , and the preset value corresponding to the selection of the coefficient _ki by the operator is read out. The operator may be allowed to adjust the preset value to a desired particle size ratio target value Rr.

The production amount calculator 170 calculates the production amount of the second product G2, the production amount of the third product G3, the transport amount of the intermediate conveyor 113, and the corresponding conveyors 116, 117, 113 as well as the production amount of the first product G1. can be calculated based on the power supplied to the electric motors 119, 120, 114 that drive the . At this time, when the plurality of conveyors 115, 116, 117 and the electric motors 118, 119, 120 have the same conveying capacity and the same size, the plurality of conveyors 115, 116, 117 have 1 in common. One correlation may be stored in storage 90 . Alternatively, a plurality of correlations corresponding to transport conveyors 115, 116, 117 may be stored in storage 90. FIG.

The production amount of the product Gj is similarly calculated by the production amount calculator 170 regardless of which particle size range the product Gj is focused on. In addition, since the production amounts of the multiple types of products Gj obtained from the tumbling crusher 1 can be easily calculated, the production balance of the multiple types of products Gj can be easily confirmed.

[Effects of this embodiment]
According to the above configuration, at least one of the rotary crusher 1 and the feeder 4 is controlled so that the load index Lact is within the reference range based on the load index target value Lr. As a result, it is possible to stably operate the crushing system 100 by suppressing load fluctuations in a short period of time. Further, according to the above configuration, the particle size ratio Ract, which expresses the production amount Sact of the product Gj in the particle size range of interest as a ratio to the predetermined reference production amount Sall, and the correlation between the load index Lact and the particle size ratio Ract , the load index target value Lr is calculated.

Therefore, the operator can intuitively set the control target value of the crushing system 100 based on the production amount Sact of the product in the particle size range of interest. In addition, the production amount Sact of the product is obtained by averaging over a relatively long period of time. Therefore, by generating the load index target value Lr such that the particle size ratio Ract obtained based on the production amount Sact of the product of interest becomes the particle size ratio target value Rr, the stability of the crushing system 100 and the optimum production balance can be achieved. It is possible to drive with both

As described above, it is possible to intuitively set a target value for obtaining a desired production amount for the product Gj within a predetermined particle size range, and to stably control the orbital crusher 1 so as to achieve the desired production amount. can.

Further, according to the above embodiment, the particle size index Pact that directly or indirectly represents the production amount of the product Gj having a predetermined particle size range is detected, and the particle size ratio Ract is calculated using the particle size index Pact. Instead of measuring the particle size of the product Gj itself, by measuring or estimating the production amount of the product Gj after sorting, it is possible to easily evaluate the production balance of the product Gj in a plurality of particle size ranges. In addition, it is possible to easily calculate the particle size ratio Ract of the product Gj in the particle size range of interest. Further, the amount of product Gj conveyed per unit time on conveyors 115, 116, and 117 that convey products Gj having a predetermined particle size range is used as the production amount of product Gj for calculating the particle size ratio Ract. Therefore, the target product Gj can be detected without providing a separate weighing scale.

[simulation result]
FIG. 10 is a graph showing simulation results of control modes based on the present embodiment. The lower graph of FIG. 10 is a graph showing the time change of the load pressure, and the upper graph is a graph showing the time change of the particle size ratio. In the simulation of this example, the particle size ratio target value Rr is changed from the first target value Rr1 to the second target value Rr2 lower than the first target value Rr1 at time T1.

As shown in FIG. 10, the load index target value Lr after time T1 changes to be higher than before time T1 in accordance with the change in the granularity ratio target value Rr. The reason why the load index target value Lr changes in stages is that the limiter 164 limits a sudden change in the load index target value Lr. By controlling the crushing system 100 with the load index target value Lr, the load index Lact detected from the gyration crusher 1 changes so as to follow the load index target value Lr. As a result, the particle size ratio Ract of the product Gj obtained by crushing the material to be crushed by the orbiting crusher 1 also changes so as to follow the target particle size ratio Rr. As described above, this simulation also shows that a desired particle size ratio can be obtained by controlling the load pressure using the particle size ratio target value Rr in the present embodiment.

[Modification]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments, and various improvements, changes, and modifications are possible without departing from the scope of the present disclosure.

For example, in the above-described embodiment, the particle size index detector 130 is configured to be able to detect the particle size index of any of the first product G1, the second product G2, and the third product G3. A particle size indicator of any one type of product may be detectable. That is, the crushing system 100 does not have to include means for detecting particle size indexes that are not used to calculate the particle size ratio Ract of interest. For example, when the particle size ratio Ract of interest is the return ratio, the particle size index detector 130 should be able to detect the particle size index of the third product G3. In this case, in the above embodiment, the crushing system 100 only needs to include the third power meter 133 as the particle size index detector 130, and does not include the first power meter 131 and the second power meter 132. may Similarly, when the particle size ratio Ract of interest is either the particle size ratio Ract of the first product G1 or the second product G2, the crushing system 100 uses the first power meter 131 or the second power meter 131 as the particle size index detector 130 Any one of the power meters 132 may be provided.

In the above embodiment, the particle size index detector 130 detects the power supplied to the electric motors 118, 119, 120 that drive the conveyors 115, 116, 117 that transport the product Gj as the particle size index Pact. , the production amount of the product Gj is exemplified, but the detection mode of the particle size index is not limited to this.

For example, the transport conveyors 115, 116, and 117 may be belt scales capable of detecting the transport amount per unit time. In this case, the measured value of the belt scale is detected as the particle size index. That is, the particle size index is the transport amount of the product Gj per unit time, in other words, the production amount of the product Gj. In addition, cameras are installed on the conveying surfaces of the conveyers 115, 116, and 117, and by performing image processing on the images captured by the cameras, the conveying amount per unit time, that is, the production amount of the product Gj can be calculated. It may be detected as a granularity index. For example, the cross-sectional area of the product to be conveyed is obtained from the image of the product photographed by the camera, and the amount of product conveyed can be estimated from the cross-sectional area and the conveying speed. Also, the value detected by the supply amount detector 150 can adopt a modified example similar to the granularity index. That is, in the conveyor 40 and the intermediate conveyor 113 of the feeder 4, the feed amount may be calculated from the measured value of the belt scale or the detected value by image processing.

Alternatively, granularity indicator detector 130 may be absent. For example, an object to be crushed by the rotary crusher 1 and before being sorted by the sorter 110, that is, a product in a mixed state of the first product G1, the second product G2, and the third product G3 is captured by a camera. By photographing and image-processing the photographed image, the ratio of the product Gj having a predetermined particle size range to the entire product Gj may be estimated from the photographed image after the image processing. That is, the particle size ratio calculator 91 may directly acquire the desired particle size ratio Ract from the captured image. A camera for this may be installed, for example, on the conveying surface of the intermediate conveyor 113 .

In order to calculate the granularity ratio Ract without using the granularity index, the granularity ratio calculator 91 calculates the correlation between the load index Lact and the granularity ratio Ract, and the load index Lact detected by the load index detector 140. A granularity ratio Ract in the load index Lact may be calculated. For example, the granularity ratio calculator 91 may read the linear correlation indicated by the straight line A2 in FIG. 6 and output the granularity ratio Ract corresponding to the detected load index Lact in the correlation. According to this configuration, the particle size ratio Ract can be calculated without providing the particle size index detector 130 separately.

Further, in the above embodiment, the control gain Kr used in the target value generator 92 is calculated from the correlation stored in advance in the storage unit 90 and the load index Lact detected by the load index detector 140. Although the aspect was illustrated, it is not restricted to this. For example, the storage unit 90 stores the history of the load index Lact and the granularity ratio Ract, and the target value generation unit 92 detects changes in the granularity ratio Ract with respect to the load index Lact from combinations of two or more past load indexes and granularity ratios Ract. The correlation may be calculated by calculating the ratio, and the control gain Kr may be calculated using the calculated correlation.

For example, as in the graph of FIG. 6, if the horizontal axis is the load index indicating the load pressure and the vertical axis is the particle size ratio, the first coordinate indicating the combination of the load index La1 and the particle size ratio Ra1 at the first time point in the past. A straight line connecting Q1 (La1, Ra1) and a second coordinate Q2 (La2, Ra2) representing a combination of the load index La2 and the particle size ratio Ra2 at the second time in the past indicates the correlation of the particle size ratio to the load index. becomes a straight line. Also, the correlation may be obtained by approximating three or more coordinates at three or more times in the past with straight lines or curves.

The target value generator 92 may calculate the control gain Kr using the correlation thus obtained. That is, the target value generator 92 may calculate the slope of the correlation or the slope of the tangential line in the detected load index Lact as the control gain Kr. According to this configuration, by calculating the control gain Kr from the load index and the measured value of the particle size ratio, it is possible to extract the characteristics of the orbital crusher 1 during actual operation, and the load index can be obtained with higher accuracy. A target value Lr can be generated.

Further, in the above embodiment, the crushing system 100 including the hydraulic gyration crusher 1 was exemplified, but the gyration crusher 1 is not limited to this. Machines are also applicable.

FIG. 11 is a diagram showing a schematic configuration of another example of the gyration crusher applied to the crushing system shown in FIG. Components similar to those of the hydraulic gyration crusher 1 shown in FIG.

As shown in FIG. 11, the gyroscopic crusher 1A also has a hopper 2 for putting crushed objects into the crushing chamber 16 and supplying the hopper 2 with the objects to be crushed, like the hydraulic gyroscopic crusher 1. a feeder 4, a mantle 13 and a cone cable 14 for biting and crushing the crushed objects dropped from the hopper 2, a main shaft motor 8 as turning drive means for the main shaft 5 to which the mantle 13 is fixed, and a main shaft motor. A power transmission mechanism 80 for transmitting rotational power from 8 to the mantle 13 and a controller 9 are provided.

Unlike the hydraulic rotary crusher 1, the mechanical rotary crusher 1A shown in FIG. not prepared. That is, the set of the orbital crusher 1A is mechanically held.

However, the orbital crusher 1A is capable of mechanical set adjustment. For this reason, the rotary crusher 1A has an inner thread 31a formed on the inner peripheral surface of the top frame 31, an outer thread 35a formed on the outer peripheral surface of the cone support 35, and the inner thread 31a and the outer thread 35a. are in agreement. Further, the cone support 35 is formed with external teeth 35b which mesh with the driving gear 45. As shown in FIG. The driving gear 45 rotates by receiving the rotational power of the electric motor 46 . The electric motor 46 is supported by the top frame 31 . Operation of the electric motor 46 is controlled by a motor driver 47 connected to the controller 9 .

As the drive gear 45 rotates, the cone support 35 rotates relative to the top frame 31 . When the cone support 35 rotates, the inner thread 31a of the top frame 31 and the outer thread 35a of the cone support 35 are screwed together to raise and lower the cone support 35 with respect to the top frame 31, thereby changing the set. However, in the mechanical orbital crusher 1A, the set is not changed during crushing operation.

The top frame 31 or the cone support 35 is provided with a contact or non-contact set sensor 23A for detecting displacement of the cone support 35 with respect to the top frame 31 . The controller 9 can obtain the set from the detection value of the set sensor 23A. The controller 9 operates the electric motor 46 based on the set value detected by the set sensor 23A.

A mantle 13 is attached to a mantle core 12 fixed to the top of the main shaft 5 . The main shaft 5 is arranged in the frame 3 with its axis tilted from the vertical direction. A lower portion of the main shaft 5 is fitted into an inner bush 51 . The inner bushing 51 is fixed to the eccentric sleeve 52 . The eccentric sleeve 52 is fitted in an outer bush 53 provided on the bottom frame 32 . A lower portion of the eccentric sleeve 52 is supported by a sliding bearing 66 . The mantle core 12 is supported by a thrust bearing (hydrostatic bearing) 55 provided on the bottom frame 32 . An oil film of lubricating oil is formed between the mantle core 12 and the thrust bearing 55 . A lubricating circuit 7A for the thrust bearing 55 is provided with a pressure sensor 24A for detecting the supply pressure of lubricating oil. When crushing pressure is applied to the mantle 13, a higher pressure is required to feed the lubricating oil between the mantle core 12 and the thrust bearing 55, and the oil pressure of the lubricating oil supplied to the thrust bearing 55 increases. Therefore, the oil supply pressure of the thrust bearing 55 detected by the pressure sensor 24A is a measured value that indirectly indicates the crushing load, and can be used as the load index Lact.

The gyration-type crusher 1A configured as described above includes a load index detector 140 that detects a load index Lact that directly or indirectly indicates the crushing load, as in the gyration-type crusher 1 described above. The controller 9 monitors the load index Lact detected during the crushing operation, and feeds the material to be crushed by the feeder 4 so that the load index Lact is maintained within a predetermined reference range based on the load index target value Lr. control the amount.

Further, in the above embodiment, the crushing system 100 was exemplified as a production apparatus that produces products, but the production amount detection system and production amount detection method can also be applied to production apparatuses other than the crushing system 100. The production apparatus may be any production apparatus that produces a product that can be transported by a transport conveyor. For example, the production equipment includes a cement manufacturing plant or the like that produces clinker as a product by firing cement raw materials. Moreover, the product to be detected may be discarded afterward. For example, production equipment may include an ash treatment equipment for ash discharged at a landfill or the like. Also, the number of products produced by the production device may be only one.

[Summary of this disclosure]
A controller of a crushing system according to an aspect of the present disclosure is a controller of a crushing system including a gyration crusher and a feeder that supplies crushed objects to the gyration crusher, wherein the gyration a load index acquisition unit that acquires a load index that directly or indirectly represents the crushing load applied to the crusher; a particle size ratio calculation unit that calculates a particle size ratio in which the amount is expressed as a ratio to a predetermined reference production amount; and the load index target value based on the acquired load index and the correlation between the load index and the particle size ratio. and a control command generator for generating a control command value from the load index and the load index target value, wherein the load index is within a reference range based on the load index target value. and controlling at least one of said orbital crusher or said feeder.

According to the above configuration, at least one of the gyration crusher and the feeder is controlled so that the load index is within the reference range based on the load index target value. As a result, it is possible to stably operate the crushing system by suppressing load fluctuations in a short period of time. Further, according to the above configuration, the load index target value is calculated by using the particle size ratio, which represents the production amount of the product in the particle size range of interest as a ratio to the predetermined reference production amount, and the correlation between the load index and the particle size ratio. Calculated.

Therefore, the operator can intuitively set the control target value of the crushing system based on the production volume of the product in the particle size range of interest. Also, product yields are obtained averaged over a relatively long period of time. Therefore, by generating a load index target value such that the particle size ratio obtained based on the production volume of the product of interest becomes the particle size ratio target value, the operation that achieves both the stability of the crushing system and the optimum production balance can be achieved. It can be carried out.

As described above, it is possible to intuitively set a target value for obtaining a desired production amount for a product within a predetermined particle size range, and to stably control the gyration crusher so as to achieve the desired production amount.

The crushing system includes a sorter for sorting the crushed materials crushed by the gyration crusher according to particle size, and the controller controls the products of the predetermined particle size range sorted by the sorter. and a particle size index acquisition unit that acquires a particle size index that directly or indirectly represents the production amount of the particle size ratio, and the particle size ratio calculation unit may calculate the particle size ratio using the particle size index.

According to the above configuration, a particle size index that directly or indirectly represents the production amount of a product within a predetermined particle size range is detected, and the particle size ratio is calculated using the particle size index. This makes it possible to easily calculate the particle size ratio of the product in the particle size range of interest.

Furthermore, the crushing system includes a conveyer that conveys the sorted product of the predetermined particle size range downstream of the sorter, and the particle size ratio calculation unit calculates the amount of the product per unit time on the conveyer. may be used as the production amount of the product in the predetermined particle size range to calculate the particle size ratio.

According to the above configuration, the amount of product conveyed per unit time on a conveyer that conveys products of a predetermined particle size range is used as the production amount of the product for calculating the particle size ratio. Therefore, the production amount of the product of interest can be detected without providing a separate weighing device.

The particle size index acquisition unit may acquire, as the particle size index, electric power supplied to an electric motor that drives the transport conveyor. According to this, it is possible to calculate the transport amount of the transport conveyor by obtaining the electric power supplied to the electric motor that drives the transport conveyor. Therefore, according to the above configuration, the conveying amount per unit time of the conveying conveyor can be measured inexpensively and easily without using a belt scale capable of measuring the conveying amount or providing a separate means for detecting the conveying amount. can be calculated to

The controller includes a supply amount acquisition unit that acquires a supply amount per unit time of the material to be crushed that is supplied to the gyration crusher, and the particle size ratio calculation unit calculates the supply amount of the conveying conveyor may be calculated as the particle size ratio.

The granularity ratio calculator may calculate the granularity ratio in the load index from the correlation and the acquired load index. According to this configuration, the particle size ratio can be calculated without providing a separate particle size index detector.

The target value generation unit sets a control gain from the obtained load index and the correlation, and sets the load index based on the control gain and a particle size ratio deviation obtained by subtracting the particle size ratio from a predetermined particle size ratio target value. A target value may be generated. According to this, since the load index target value is generated from the particle size ratio deviation using the control gain, the conversion from the particle size ratio target value to the load index target value can be easily realized with a simple configuration.

The crushing system may include a storage that stores the correlation, and the target value generation unit may calculate the control gain from the obtained load index and the correlation pre-stored in the storage. . According to this configuration, the value of the granularity ratio is converted into the value of the load index using the correlation stored in advance in the storage unit, so the load index target value can be generated by a simple calculation.

The crushing system includes a storage device that stores a history of the acquired load index and the calculated particle size ratio, and the target value generation unit selects from two or more past combinations of the load index and the particle size ratio, The correlation may be calculated by calculating a change rate of the granularity index with respect to the load index, and the control gain may be calculated from the obtained load index and the calculated correlation. According to this configuration, by calculating the control gain from the load index and the measured value of the particle size ratio, it is possible to extract the characteristics of the orbital crusher during actual operation, and the target value of the load index can be obtained with higher accuracy. can be generated.

The target value generating unit includes a control gain multiplier that multiplies the control gain by the particle size ratio deviation, and a limiter that limits the output of the control gain multiplier to a predetermined limit range, and the limit range is acquired It may be set according to the load index obtained. As a result, the limit range can be appropriately set according to the variation rate of the particle size ratio.

A crushing system according to another aspect of the present disclosure includes a gyration-type crusher, a feeder that supplies crushed objects to the gyration-type crusher, and a controller configured as described above.

The orbital crusher includes a mantle fixed to a main shaft that performs an eccentric orbital motion, and a cone cavity having a crushing chamber that bites and crushes an object to be crushed between the mantle and the mantle. and the set between the cone cave may be mechanically retained, and the controller may control the feed rate of the material to be crushed to the orbital crusher.

The orbital crusher includes a mantle fixed to a main shaft that performs an eccentric orbital motion, a cone cavity having a crushing chamber in which an object to be crushed is caught and crushed between the mantle and the mantle, and the mantle and the cone cave. a hydraulic cylinder that applies hydraulic pressure to the mantle or cone to oppose crushing forces to hold the set between At least one of the amount or size of said set may be controlled.

A control method according to another aspect of the present disclosure is a control method of a crushing system including a gyration crusher and a feeder that supplies crushed objects to the gyration crusher, wherein the gyration crusher A load indicator that directly or indirectly represents the crushing load applied to the machine is detected, and the production amount of products in a predetermined particle size range obtained from the material to be crushed by the gyration crusher is calculated as a predetermined reference production amount. and generating the load index target value based on the detected load index and a correlation between the load index and the granularity ratio, wherein the load index is equal to the load index target A control command value for controlling at least one of the orbital crusher or the feeder is generated from the load index and the load index target value so as to be within a reference range based on the value.

A production amount detection apparatus according to another aspect of the present disclosure is a production amount detection apparatus in a production apparatus that produces a predetermined product by performing a predetermined process on input raw materials, wherein the production apparatus A transport conveyor for transporting products is provided, and the production amount detection device stores in advance a correlation between power supplied to an electric motor for driving the transport conveyor and a transport amount transported by the transport conveyor per unit time. and a storage unit that acquires the power supplied to the electric motor, and stores the transport amount corresponding to the acquired power from the acquired power and the correlation between the power and the transport amount of the production apparatus. and a production volume calculator for calculating the production volume.

According to the above configuration, by obtaining the power supplied to the electric motor that drives the transport conveyor, the transport amount of the transport conveyor can be calculated using the correlation between the power stored in the storage unit and the transport amount. It can be calculated as the production volume of products conveyed by Therefore, the production amount of the product can be calculated easily and inexpensively without providing the conveyer with a belt scale capable of measuring the conveyed amount or separately providing means for detecting the conveyed amount.

The production apparatus includes a sorter that sorts the produced products into at least a first type of product and a second type of product according to predetermined criteria, and the transport conveyor sorts the first type of product. a first conveyor for conveying and a second conveyor for conveying said second type of product, wherein said production calculator calculates a first electric power supplied to an electric motor driving said first conveyor and said second conveyor; may obtain a second power supplied to the electric motor that drives the .

According to the above configuration, it is possible to easily calculate the production amounts of the multiple types of products obtained from the production apparatus, so that it is possible to easily check the production balance of the multiple types of products.

The production apparatus may include a gyration crusher for crushing the crushed material, and the sorter may sort the crushed material according to a predetermined particle size range.

A production amount detection system according to another aspect of the present disclosure is a production amount detection system in a production apparatus that produces a predetermined product by performing a predetermined process on input raw materials, wherein the production apparatus includes the produced A transport conveyor for transporting products is provided, and the production volume detection system includes a power measuring instrument for measuring power supplied to an electric motor that drives the transport conveyor, and the production volume detection device configured as described above. .

A production amount detection method according to another aspect of the present disclosure is a production amount detection method in a production apparatus that performs a predetermined treatment on input raw materials to generate a predetermined product, and includes a transport conveyor capable of transporting the generated product. wherein the production amount detection method detects power supplied to an electric motor that drives the transfer conveyor, and obtains a correlation between the power and a transfer amount transferred by the transfer conveyor per unit time. and from the detected electric power and the correlation between the electric power and the conveyed amount, the conveyed amount corresponding to the detected electric power is calculated as the production amount.

1, 1A Spinning crusher 4 Feeder 6 Hydraulic cylinder 9 Controller 13 Mantle 14 Cone cave 16 Crushing chamber 90 Memory 91 Particle size ratio calculator 92 Target value generator 93 Control command generator 95 Load index acquisition unit 96 Particle size index Acquisition unit 97 Supply amount acquisition unit 100 Crushing system 110 Sorters 115, 116, 117 Conveyors 118, 119, 120 Electric motor 130 Particle size index detectors 131, 132, 133 Power meter 140 Load index detector 150 Supply amount detector 163 control gain multiplier 164 limiter 170 production volume calculator

Claims (14)

A controller for a crushing system comprising a gyratory crusher and a feeder for supplying crushed material to the gyratory crusher,
a load index acquisition unit that acquires a load index that directly or indirectly represents the crushing load applied to the orbital crusher;
a particle size ratio calculation unit for calculating a particle size ratio, in which a production amount of a product within a predetermined particle size range obtained from the material to be crushed by the orbital crusher is expressed as a ratio to a predetermined reference production amount;
a target value generation unit that generates the load index target value based on the obtained load index and the correlation between the load index and the granularity ratio;
a control command generator that generates a control command value from the load index and the load index target value,
A controller for controlling at least one of the orbital crusher or the feeder such that the load index is within a reference range based on a load index target value. The crushing system includes a sorter that sorts the crushed materials crushed by the gyration crusher according to particle size,
The controller comprises a particle size index acquisition unit that acquires a particle size index that directly or indirectly represents the production volume of the product within the predetermined particle size range sorted by the sorter,
2. The controller according to claim 1, wherein said particle size ratio calculator calculates said particle size ratio using said particle size index. The crushing system comprises, downstream of the sorter, a transport conveyor that transports the sorted products of the predetermined particle size range,
3. The controller according to claim 2, wherein said particle size ratio calculation unit calculates said particle size ratio using the transport amount of said product per unit time on said transport conveyor as the production amount of said product within said predetermined particle size range. 4. The controller according to claim 3, wherein said granularity index obtaining unit obtains, as said granularity index, electric power supplied to an electric motor that drives said transport conveyor. A supply amount acquisition unit that acquires a supply amount per unit time of the material to be crushed supplied to the orbital crusher,
5. The controller according to claim 3, wherein said particle size ratio calculator calculates a ratio of said transport amount on said transport conveyor to said supply amount as said particle size ratio. The controller according to claim 1, wherein said granularity ratio calculator calculates said granularity ratio in said load index from said correlation and said acquired load index. The target value generation unit sets a control gain from the obtained load index and the correlation, and sets the load index based on the control gain and a particle size ratio deviation obtained by subtracting the particle size ratio from a predetermined particle size ratio target value. 7. A controller as claimed in any preceding claim which generates a target value. A storage device that stores the correlation,
8. The controller according to claim 7, wherein said target value generator calculates said control gain from said obtained load index and said correlation stored in advance in said storage device. A storage device for storing a history of the obtained load index and the calculated granularity ratio,
The target value generating unit calculates the correlation by calculating a change rate of the granularity ratio with respect to the load index from two or more past combinations of the load index and the granularity ratio, and calculates the obtained load index and the granularity ratio. 8. The controller according to claim 7, wherein said control gain is calculated from said calculated correlation. The target value generator includes a control gain multiplier that multiplies the grain size ratio deviation by the control gain, and a limiter that limits the output of the control gain multiplier to a predetermined limit range,
10. The controller according to any one of claims 7 to 9, wherein said limit range is set according to said obtained load index. a gyration crusher;
a feeder that feeds the object to be crushed to the orbital crusher;
A crushing system comprising a controller according to any one of claims 1 to 10. The orbital crusher is
a mantle fixed to a main shaft that performs an eccentric orbital motion;
a cone cavity having a crushing chamber inside which crushes the object to be crushed by biting it between the mantle and the mantle;
a set between the mantle and the cone cave is mechanically retained;
12. The crushing system according to claim 11, wherein the controller controls the supply of the material to be crushed to the orbital crusher. The orbital crusher is
a mantle fixed to a main shaft that performs an eccentric orbital motion;
a cone cable having a crushing chamber in which crushing objects are bitten and crushed between the mantle and the mantle;
a hydraulic cylinder for applying hydraulic force against crushing forces to the mantle or the cone to hold the set between the mantle and the cone;
12. The shredding system of claim 11, wherein the controller controls at least one of the feed rate of the material to be shredded to the orbital shredder or the size of the set. A control method for a crushing system comprising a gyration crusher and a feeder for supplying crushed material to the gyration crusher, comprising:
detecting a load index that directly or indirectly represents the crushing load applied to the gyration crusher;
Calculating a particle size ratio, which is expressed as a ratio of the production amount of products in a predetermined particle size range obtained from the material to be crushed by the gyration crusher to a predetermined standard production amount,
generating the load index target value based on the detected load index and a correlation between the load index and the granularity ratio;
Control for controlling at least one of the tumbling crusher and the feeder from the load index and the load index target value so that the load index is within a reference range based on the load index target value A control method that generates command values.

Images