WO2019056732A1 - 一种智能破碎机的驱动总成 - Google Patents

一种智能破碎机的驱动总成 Download PDF

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Publication number
WO2019056732A1
WO2019056732A1 PCT/CN2018/082136 CN2018082136W WO2019056732A1 WO 2019056732 A1 WO2019056732 A1 WO 2019056732A1 CN 2018082136 W CN2018082136 W CN 2018082136W WO 2019056732 A1 WO2019056732 A1 WO 2019056732A1
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Prior art keywords
assembly
moving body
actuator
degree
driving
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PCT/CN2018/082136
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English (en)
French (fr)
Inventor
石博强
李国广
王亚敏
刘瑞月
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北京科技大学
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Publication of WO2019056732A1 publication Critical patent/WO2019056732A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C1/00—Crushing or disintegrating by reciprocating members
    • B02C1/02—Jaw crushers or pulverisers
    • B02C1/06—Jaw crushers or pulverisers with double-acting jaws
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C2/00—Crushing or disintegrating by gyratory or cone crushers

Definitions

  • the invention relates to the technical field of mining equipment, in particular to a driving assembly of an intelligent crusher.
  • the crusher is a commonly used crushing equipment and has a large application scale in mining, metallurgy, cement, construction and other industries. According to relevant statistics, the amount of crushed materials in the world reaches more than 10 billion tons per year. The output of brittle materials that need to be broken every year in China is as much as 1.5 billion tons.
  • the existing types of crushers mainly include jaw crushers, impact crushers, cone crushers, gyratory crushers, and roller crushers.
  • the cone crusher is mainly composed of a frame, a fixed cone assembly, a moving cone assembly, a transmission, an eccentric bushing, a spherical bearing, and a safety device.
  • the horizontal axis of the crusher is driven by the motor through the V-belt and the pulley.
  • the horizontal shaft drives the eccentric sleeve to rotate through the large and small gears.
  • the crushing motor cone shaft generates the eccentricity under the action of the eccentric sleeve to make the swing motion. Therefore, the surface of the broken wall is sometimes close to the surface of the rolling wall, and sometimes away from the surface of the rolling wall, so that the stone is continuously crushed, broken and impacted in the crushing chamber.
  • the crushed material is discharged from the discharge port at the lower part of the crusher under the action of its own weight.
  • the existing crusher has the following defects: 1. The structure is complicated, the frame finishing is complicated, the process requirements are high, the assembly precision is high, the cost is high, and the maintenance is difficult. 2, the fuselage is higher, the machine is heavy, and the equipment infrastructure investment is high. 3. High-speed rotation makes the equipment generate large vibration. In addition, the crusher has complex structure and many components. The vibration is easy to damage the parts, and it is easy to damage the foundation foundation, affecting the crusher parts and the overall service life of the crusher. 4. When rotating, due to the large radial load and complex internal structure, a large amount of heat is generated inside the crusher, and the lubrication and cooling system is complicated.
  • WO2005051546 discloses a gyratory crusher which is hydraulically driven to apply a crushing force between a concave pad and a conical head by a brake
  • the present invention adopts a multi-degree of freedom parallel mechanism moving cone driving mode.
  • the action of the moving cone drive is achieved by a drive system such as hydraulically driven, pneumatically driven or electrically driven.
  • the technical problem to be solved by the present invention is to provide a driving assembly of an intelligent crusher, which removes the main shaft, eccentric sleeve, gear transmission mechanism, spherical tile and iron release cylinder of the existing crusher, and uses The multi-degree-of-freedom parallel mechanism enables the moving body to swing according to specific requirements.
  • the driving assembly comprises a dynamic body assembly and a control system
  • the dynamic body assembly comprises a multi-degree of freedom parallel mechanism and an actuator
  • the multi-degree of freedom parallel mechanism comprises a branch, a moving body and a base, and one end of the branch is connected with the moving body The other end of the branch is connected to the base, and the control system controls the moving body assembly to drive the actuator movement through the power source.
  • the multi-degree of freedom parallel mechanism includes three to six branches, one moving body and one base.
  • One or more of the chain ball pair, the rotating pair, the moving pair, and the Hook hinge is
  • the power source includes one of a power source, a hydraulic oil source, and a pneumatic air source.
  • the actuator may be a drive cylinder, and the actuator or drive cylinder includes one of an electric push rod, a hydraulic cylinder, and a pneumatic cylinder.
  • the actuator is equipped with a sensor that has a force pick-up function that monitors the actuator's drive pressure in real time.
  • the working principle of the driving assembly is: when the driving assembly is working, under the control of the control system, the actuator (or the driving cylinder) moves according to a certain rule, that is, the moving body performs the swinging motion according to the preset track.
  • the pressing force exerted by the driving mechanism can cause the large ore to be extruded into a small-sized ore in the crushing chamber, and the width of any position of the discharging port also changes, and the small-sized ore can be discharged from the crusher.
  • "over-iron” the force of the vertical downward direction of the moving body increases, the elongation resistance of the actuator (or drive cylinder) increases, and the actuator (or drive cylinder) is controlled under the control of the control system. Shrinkage, the discharge port increases; when the iron or the harder ore is discharged, the actuator (or drive cylinder) returns to its original position.
  • the drive assembly can be evolved into different types of crushers by implementing different motion modes, such as single-cylinder hydraulic cone crusher, multi-cylinder hydraulic cone crusher, spiral cone crusher, inertia cone crusher, and jaw crusher. Machines, etc., which enhance the crushing adaptability to the mine.
  • the structure is simple, the maintenance is convenient, the original high-speed rotating pair is eliminated, the vibration of the machine and the damage rate of the parts are reduced, and the reliability of the machine is improved.
  • the heat generated during the working process of the crusher is small. When hydraulic or pneumatic pressure is used, the heat generated by the drive system can be taken away by the working medium, which simplifies the lubrication and cooling system.
  • FIG. 1 is a schematic view showing the working principle of the driving assembly of the intelligent crusher of the present invention
  • FIG. 2 is a schematic structural view of a three-cylinder three-degree-of-freedom parallel mechanism according to the present invention
  • FIG. 3 is a schematic structural view of a three-cylinder three-rod three-degree-of-freedom parallel mechanism according to the present invention.
  • FIG. 4 is a schematic structural view of a four-cylinder four-degree-of-freedom parallel mechanism according to the present invention.
  • Figure 5 is a schematic structural view of a four-cylinder four-bar four-degree-of-freedom parallel mechanism according to the present invention.
  • FIG. 6 is a schematic structural view of a five-cylinder five-degree-of-freedom parallel mechanism according to the present invention.
  • Figure 7 is a schematic structural view of a five-cylinder one-pole five-degree-of-freedom parallel mechanism according to the present invention.
  • Figure 8 is a schematic structural view of a six-degree-of-freedom parallel mechanism of the present invention.
  • Fig. 9 is a schematic view showing the overall structure of a drive assembly of the present invention applied to a crusher.
  • 1-fixed matrix 2-fixed liner; 3-frame; 4-movable body; 5-acting lining; 6-actuator; 7-zinc or epoxy; 8-ball joint; Moving pair; 10-rotating pair; 11-base; 12-hooke hinge.
  • the invention provides a driving assembly of an intelligent crusher, comprising a dynamic body assembly and a control system, the dynamic body assembly comprises a multi-degree of freedom parallel mechanism and an actuator, and the multi-degree of freedom parallel mechanism comprises a branch, a moving body and a base One end of the branch is connected with the moving body, and the other end of the branch is connected with the base, and the control system controls the moving body assembly to drive the actuator to move through the power source.
  • the drive assembly adopts a multi-degree-of-freedom parallel mechanism, and under the control of the control system, the actuator (or the drive cylinder, including the electric motor) is driven by various power sources (including a power source, a hydraulic oil source, and a pneumatic air source). Push rods, hydraulic cylinders, pneumatic cylinders) to achieve specific movements of ore crushing.
  • the driving assembly can realize a plurality of compound movements, thereby changing the relative position between the moving body assembly and the fixed body assembly (ie, changing the crushing area), and pressing the ore to achieve the crushing effect.
  • a sensor is provided on the actuator (or the driving cylinder) to make it have a force picking function, and the driving pressure of the actuator (or the driving cylinder) can be monitored in real time; in the case of "over-ironing", the pressure rises when the setting is reached.
  • the actuator or drive cylinder
  • the discharge port is enlarged, thereby directly discharging the iron or the ore having a relatively high hardness, thereby protecting the crusher.
  • the moving body achieves a swing according to specific requirements, and the swing can be either fixed or non-periodic.
  • the change of the gap occurs between the swinging process and the fixed body, thereby achieving the pressing action on the ore.
  • the control system can calculate the telescopic length, the telescopic speed and the telescopic acceleration of the actuator (or drive cylinder) through the position and motion trajectory of the moving body, and control the actuator (or drive cylinder) to expand and contract according to the calculated value. Therefore, the moving body performs a swing motion according to a predetermined trajectory.
  • the fixed assembly of the crusher to which the drive assembly is applied is composed of a fixed base 1 and a fixed lining 2, and the fixed assembly is fixed on the frame 3;
  • the moving body assembly is driven by the drive mechanism (including The movable body 4, the actuator or the driving cylinder 6 and the like are composed of the movable lining body 5, between the fixed base body 1 and the fixed lining body 2, and between the driving mechanism and the movable lining body 5, zinc or epoxy resin 7 is passed through Zinc is cast or filled with epoxy to keep it in place.
  • the multi-degree-of-freedom parallel mechanism is composed of three to six branches, one moving body and one base, and each branch can be composed of a ball pair (represented by a symbol S), a rotating pair (represented by a symbol R), and a moving pair ( One or more of the Hooke hinges (represented by the symbol U), one end of each branch is connected to the moving body, and the other end is connected to the base.
  • the three-cylinder three-degree-of-freedom parallel mechanism includes a moving body 4, a ball jointing pair 8, a moving pair 9, a rotating pair 10, and a base 11 .
  • FIG. 3 it is a schematic diagram of a three-cylinder three-pole three-degree-of-freedom parallel mechanism of a driving assembly, which includes a moving body 4, a ball jointing pair 8, a moving pair 9 and a base 11.
  • the four-cylinder four-degree-of-freedom parallel mechanism includes a moving body 4, a ball jointing pair 8, a moving pair 9, a Hooke hinge 12, and a rotating pair. 10 and base 11.
  • the four-cylinder four-pole four-degree-of-freedom parallel mechanism includes a moving body 4, a ball jointing pair 8, a moving pair 9 and a base. 11.
  • the five-cylinder five-degree-of-freedom parallel mechanism includes a moving body 4, a ball jointing pair 8, a moving pair 9, a hook hinge 12, and a rotation. Sub 10 and base 11.
  • the five-cylinder one-pole five-degree-of-freedom parallel mechanism includes a moving body 4, a ball jointing pair 8, a moving pair 9 and a base. 11.
  • the six-degree-of-freedom parallel mechanism includes a moving body 4, a Hooke hinge 12, a moving pair 9, and a base 11.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Food Science & Technology (AREA)
  • Crushing And Grinding (AREA)

Abstract

一种智能破碎机的驱动总成，该驱动总成包括动体总成和控制系统，动体总成采用多自由度并联机构，多自由度并联机构由三条至六条支链，一个动体（4）以及一个基座（11）组成，每条支链由球铰副（8）、转动副（10）、移动副（9）、虎克铰（12）中的一种或几种组成，每条支链的一端与动体（4）连接，另一端与基座（11）连接。该动体总成在控制系统的控制下，通过多种动力源驱动执行器（6），实现对矿石破碎的特定运动。该驱动总成结构简单、维护方便、运行平稳、噪音低、抗冲击能力强、提高了破碎机的使用寿命。

Description

一种智能破碎机的驱动总成 技术领域
本发明涉及矿山设备技术领域，特别是指一种智能破碎机的驱动总成。
背景技术
破碎机是一种常用的破碎设备，在矿山、冶金、水泥、建筑等行业有很大的应用规模。据有关统计，全世界每年经过碎磨的物料达到100亿吨以上，我国每年需破碎的脆性物料产量有15亿吨之多。现有的破碎机种类主要有颚式破碎机、反击式破碎机、圆锥式破碎机、旋回破碎机、辊式破碎机等。以圆锥破碎机为例，圆锥破碎机主要由机架、定锥总成、动锥总成、传动、偏心轴套、球面轴承、保险装置等组成。圆锥破碎机工作时，破碎机的水平轴由电机通过三角皮带和皮带轮来驱动，水平轴通过大、小齿轮带动偏心套旋转，破碎机动锥轴在偏心套的作用下产生偏心距做旋摆运动，使得破碎壁表面时而靠近轧臼壁表面，时而远离轧臼壁表面，从而使石料在破碎腔内不断地受到挤压、折断和冲击而破碎。破碎后的物料在自重的作用下从破碎机下部的排料口排出。
现有的破碎机存在的缺陷是：1、结构复杂，机架精加工复杂，工艺要求高，装配精度要求高，造价较高，检修困难。2、机身较高，机器重量大，且设备基建投资高。3、高速旋转使设备产生较大振动，加之破碎机结构复杂，构件多，振动易对零件产生损害，也易对基础地基产生损害，影响破碎机零件以及破碎机整体使用寿命。4、旋转时，因径向载荷大和内部结构复杂，致使破碎机内部产生大量的热，润滑冷却系统复杂。
相似专利为WO2005051546，该专利公开了一种旋回破碎机，采用液压驱动，通过制动器施加凹形衬垫与锥形头之间的破碎力，而本 发明采用多自由度并联机构动锥驱动方式，通过驱动系统(如液压驱动式、气压驱动式或电力驱动式)实现对动锥驱动的作用。
发明内容
本发明要解决的技术问题是提供一种智能破碎机的驱动总成，该驱动总成去除了现有破碎机的主轴、偏心套、齿轮传动机构、球面瓦以及过铁释放缸等，改用多自由度并联机构，使动体按照特定要求实现摆动。
该驱动总成包括动体总成和控制系统，动体总成包括多自由度并联机构和执行器，多自由度并联机构包括支链、动体和基座，支链的一端与动体连接，支链的另一端与基座连接，控制系统控制动体总成，通过动力源驱动执行器运动。
其中，多自由度并联机构包括三至六条支链，一个动体和一个基座。
支链球副、转动副、移动副、虎克铰中的一种或几种。
动力源包括电源、液压油源、气压气源中的一种。
执行器可以为驱动缸，执行器或驱动缸包括电动推杆、液压缸、气动缸中的一种。
执行器上设置有传感器，具有力拾取功能，传感器实时监测执行器的驱动压力。
该驱动总成的工作原理为：驱动总成工作时，在控制系统的控制下，执行器(或驱动缸)按一定规则运动，即动体按预先设定好的轨迹做旋摆运动。驱动机构施加的挤压力，可以使大块矿石在破碎腔中被挤压为小粒度矿石，排矿口任一位置的宽度同样发生着变化，小粒度矿石便可排出破碎机。当“过铁”时，由于动体竖直向下方向的作用力增大，执行器(或驱动缸)伸长阻力增大，在控制系统的控制下，使执行器(或驱动缸)整体收缩，排矿口增大；当铁块或硬度较大的矿石被排出后，执行器(或驱动缸)恢复原位。
本发明的上述技术方案的有益效果如下：
1.该驱动总成通过实行不同的运动模式，可演变成不同类型破碎机，如单缸液压圆锥破碎机、多缸液压圆锥破碎机、旋回圆锥破碎机、惯性圆锥破碎机、以及鄂式破碎机等，这增强了对矿山的破碎适应性。
2.具备自学习、智能等特点，可自动实现破碎机的“过铁”保护，及调整定衬体内表面与动衬体外表面之间的破碎区域，始终保证破碎机处于最佳破碎状态。
3.结构简单，维护方便，取消了原有的高速旋转副，减小了机器振动以及零件损坏率，提高了机器可靠性。
4.破碎机工作过程中产生的热量少，采用液压或气压时，驱动系统产生的热量可由工作介质带走，简化了润滑冷却系统。
5.简化了原有的机械结构，维护操作简单，维护成本低。
6.运行平稳，噪音低，抗冲击能力强，提高了使用寿命。
附图说明
图1为本发明的智能破碎机的驱动总成工作原理示意图；
图2为本发明的三缸三自由度并联机构结构简图；
图3为本发明的三缸三杆三自由度并联机构结构简图；
图4为本发明的四缸四自由度并联机构结构简图；
图5为本发明的四缸四杆四自由度并联机构结构简图；
图6为本发明的五缸五自由度并联机构结构简图；
图7为本发明的五缸一杆五自由度并联机构结构简图；
图8为本发明的六自由度并联机构结构简图；
图9为本发明的驱动总成所应用于破碎机的整体结构示意图。
其中：1-定基体；2-定衬体；3-机架；4-动体；5-动衬体；6-执行器；7-锌或环氧树脂；8-球铰副；9-移动副；10-转动副；11-基座；12-虎克铰。
具体实施方式
为使本发明要解决的技术问题、技术方案和优点更加清楚，下面 将结合附图及具体实施例进行详细描述。
本发明提供一种智能破碎机的驱动总成，包括动体总成和控制系统，动体总成包括多自由度并联机构和执行器，多自由度并联机构包括支链、动体和基座，支链的一端与动体连接，支链的另一端与基座连接，控制系统控制动体总成，通过动力源驱动执行器运动。
如图1所示，驱动总成采用多自由度并联机构，在控制系统的控制下，通过多种动力源(包括电源、液压油源、气压气源)驱动执行器(或驱动缸，包括电动推杆、液压缸、气动缸)，实现对矿石破碎的特定运动。
驱动总成可以实现多种复合运动，从而改变动体总成与定体总成之间的相对位置(即改变破碎区域)，将矿石进行挤压，达到破碎效果。另外，在执行器(或驱动缸)上设置有传感器，使之具有力拾取功能，可以实时监测执行器(或驱动缸)的驱动压力；在“过铁”时，压力升高，当达到设定上限，通过控制系统，使执行器(或驱动缸)整体收缩，排矿口增大，从而将铁块或硬度较大的矿石直接排出，起到对破碎机的保护作用。
动体按照特定要求实现摆动，这种摆动可以是定周期的、也可以是非定周期的。摆动的过程中与定体之间发生间隙的改变，从而实现对矿石的挤压作用。
该驱动总成工作时，控制系统可通过动体的位置和运动轨迹来计算执行器(或驱动缸)的伸缩长度、伸缩速度以及伸缩加速度，同时控制执行器(或驱动缸)按照计算值伸缩，从而使动体按预定轨迹做旋摆运动。
如图9所示，应用该驱动总成的破碎机的定体总成由定基体1和定衬体2组成，定体总成固定在机架3上；动体总成由驱动机构(包括动体4、执行器或驱动缸6等)和动衬体5组成，定基体1与定衬体2之间，以及驱动机构与动衬体5之间设置锌或环氧树脂7，均通过铸锌或填充环氧树脂使之紧贴。
该多自由度并联机构由三条至六条支链，一个动体以及一个基座 所组成，每条支链可以由球副(用符号S表示)、转动副(用符号R表示)、移动副(用符号P表示)、虎克铰(用符号U表示)中的一种或几种组成，每条支链的一端与动体连接，另一端与基座连接。
如图2所示，为驱动总成三缸三自由度并联机构的结构示意图，该三缸三自由度并联机构包括动体4、球铰副8、移动副9、转动副10和基座11。
如图3所示，为驱动总成三缸三杆三自由度并联机构结构示意图，该三缸三杆三自由度并联机构包括动体4、球铰副8、移动副9和基座11。
如图4所示，为驱动总成四缸四自由度并联机构结构简图，该四缸四自由度并联机构包括动体4、球铰副8、移动副9、虎克铰12、转动副10和基座11。
如图5所示，为驱动总成的四缸四杆四自由度并联机构结构简图，该四缸四杆四自由度并联机构包括动体4、球铰副8、移动副9和基座11。
如图6所示，为驱动总成的五缸五自由度并联机构结构简图，该五缸五自由度并联机构包括动体4、球铰副8、移动副9、虎克铰12、转动副10和基座11。
如图7所示，为驱动总成的五缸一杆五自由度并联机构结构简图，该五缸一杆五自由度并联机构包括动体4、球铰副8、移动副9和基座11。
如图8所示，为驱动总成的六自由度并联机构结构简图，该六自由度并联机构包括动体4、虎克铰12、移动副9和基座11。
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明所述原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (6)

  1. 一种智能破碎机的驱动总成，其特征在于：包括动体总成和控制系统，动体总成包括多自由度并联机构和执行器，多自由度并联机构包括支链、动体和基座，支链的一端与动体连接，支链的另一端与基座连接，控制系统控制动体总成，通过动力源驱动执行器运动。
  2. 根据权利要求1所述的智能破碎机的驱动总成，其特征在于：所述多自由度并联机构包括三至六条支链，一个动体和一个基座。
  3. 根据权利要求1或2所述的智能破碎机的驱动总成，其特征在于：所述支链球副、转动副、移动副、虎克铰中的一种或几种。
  4. 根据权利要求1所述的智能破碎机的驱动总成，其特征在于：所述动力源包括电源、液压油源、气压气源中的一种。
  5. 根据权利要求1所述的智能破碎机的驱动总成，其特征在于：所述执行器为驱动缸，执行器或驱动缸包括电动推杆、液压缸、气动缸中的一种。
  6. 根据权利要求1所述的智能破碎机的驱动总成，其特征在于：所述执行器上设置有传感器，具有力拾取功能，传感器实时监测执行器的驱动压力。
PCT/CN2018/082136 2017-09-21 2018-04-08 一种智能破碎机的驱动总成 WO2019056732A1 (zh)

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CN109126955A (zh) * 2018-11-20 2019-01-04 洛阳理工学院 变运动轨迹圆锥破碎机
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