Solid-liquid two-phase helical flow spinning device for deep-sea mining hoisting system

Abstract

The application discloses a solid-liquid two-phase spiral flow rotating device for a deep-sea mining lifting system, which comprises a conical upper cylinder serving as a solid-liquid two-phase spiral flow main rotating cabin, a cylindrical lower cylinder located at the bottom of the conical upper cylinder, a solid-liquid two-phase outlet sealing joint arranged at the top of the conical upper cylinder, and a solid-liquid two-phase inlet sealing joint arranged on the side wall of the cylindrical lower cylinder; a vane type rotating device is arranged in the cylindrical lower cylinder, and the vane type rotating device is connected with a variable frequency motor through a rotating shaft system; the vane type rotating device comprises a spiral flow linkage rod and spiral flow vanes driven to rotate at high speed by the variable frequency motor. When the spiral flow linkage rod is driven to rotate at high speed, the spiral flow vanes are driven to rotate at high speed, so that a stable high-speed spiral flow is generated in the cylindrical lower cylinder.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of helical flow rotating device, in particular to a solid-liquid two-phase helical flow rotating device for deep-sea mining lifting system. BACKGROUND

[0002] In the field of deep-sea natural gas hydrate fluidized mining pipeline transportation, a helical flow rotating device is often used to generate a solid-liquid two-phase helical flow, so as to stabilize the flow state of the pipeline fluid, reduce the energy loss caused by collision, avoid the deposition and adhesion of solid particles on the pipeline, and improve the transportation efficiency of the pipeline. In the oil and gas industry, in order to reduce the liquid accumulation in the pipeline and improve the liquid carrying capacity, a helical flow rotating device is introduced to generate a gas-liquid two-phase helical flow, and is applied in a gas collection pipeline to reduce icing and eliminate paraffin.

[0003] In recent years, ocean exploration has found that there are rich mineral resources in the ocean bottom thousands of meters deep, which are of various types, have huge reserves, and are of extremely high grade, and have great development and utilization prospects. The deep-sea mineral resources with commercial development prospects mainly include polymetallic manganese nodules, cobalt-rich crusts, and hydrothermal sulfide, etc. However, at present, how to efficiently and stably transport solid mineral particles to the sea surface is still a difficult problem to be solved.

[0004] In the deep-sea mining hydraulic lifting system, there are many difficulties in solid-liquid two-phase flow transportation. The sedimentation of solid particles is obvious, and the particles collide due to the turbulent action of the water flow, resulting in large transportation energy consumption. The wear of the solid particles on the inner wall of the pipeline is also one of the important failure reasons of the transportation pipeline.

[0005] In recent years, some scholars have proposed to use high-speed helical flow to improve the transportation efficiency of solid-liquid two-phase flow. The high-speed helical flow has the advantages of energy concentration, strong particle carrying capacity, and high transportation concentration, etc. It can drag the deposited ore particles and make them float in the main flow, so as to realize the goal of high-concentration and low-energy-consumption transportation of the hydraulic lifting system. Moreover, due to the strong entrainment effect of the negative pressure of the helical flow, the ore particles are gathered towards the axis of the pipeline, thereby reducing the wear of the ore particles on the pipeline wall during the transportation process.

[0006] Since the deep-sea mining operation needs to reach thousands of meters of water depth, when the helical flow is used for transportation, the problem of helical flow attenuation is inevitably encountered. Increasing multiple rotating devices in the pipeline will also cause the weight of the pipeline, increase the installation cost, etc. Therefore, the high-strength and high-flow-speed rotating device is very important. SUMMARY

[0007] The present application aims at the problems in the prior art, and provides a solid-liquid two-phase helical flow rotating device for deep-sea mining lifting system, which can generate high-strength and high-flow-speed helical flow, and can slow down the attenuation of the helical flow, thereby facilitating the efficient and stable transportation of solid mineral particles to the sea surface in the deep-sea mining lifting system.

[0008] The application is achieved by a solid-liquid two-phase spiral flow rotating device for a deep-sea mining hoisting system, comprising a conical upper cylinder as a solid-liquid two-phase spiral flow rotating cabin, a cylindrical lower cylinder at the bottom of the conical upper cylinder, a solid-liquid two-phase outlet sealing joint arranged at the top of the conical upper cylinder, and a solid-liquid two-phase inlet sealing joint arranged on the sidewall of the cylindrical lower cylinder; a vane-type rotating device is arranged inside the cylindrical lower cylinder, and the vane-type rotating device is connected with a variable frequency motor through a rotating shaft system; the vane-type rotating device comprises a spiral flow linkage rod and spiral flow vanes driven to rotate at high speed by the variable frequency motor; when the spiral flow linkage rod is driven to rotate at high speed, the spiral flow vanes are driven to rotate at high speed to generate a stable high-speed spiral flow inside the cylindrical lower cylinder.

[0009] When the solid-liquid two-phase spiral flow rotating device works, the slurry of the mined ore particles mixed with seawater is pumped into the inside of the cylindrical lower cylinder from the solid-liquid two-phase inlet sealing joint through the seabed ore collecting device, the slurry forms a solid-liquid two-phase spiral flow under the driving of the high-speed spiral flow of the single-phase seawater in the cylindrical lower cylinder, the circumferential rotating flow rate and the axial conveying flow rate of the solid-liquid two-phase spiral flow are controlled by the variable frequency motor, the rotating shaft system and the spiral flow vanes are driven by the variable frequency motor to generate sufficient conveying energy, then the high-strength solid-liquid two-phase spiral flow enters the conical upper cylinder for secondary acceleration, and finally the solid-liquid two-phase spiral flow is sent into the pipeline of the deep-sea mining hydraulic hoisting system from the solid-liquid two-phase outlet sealing joint.

[0010] The spiral flow vanes are arranged in three, and the climbing angle of the spiral flow linkage rod is 24°, so that a high-speed spiral flow is generated inside the space of the cylindrical lower cylinder.

[0011] The opening position of the solid-liquid two-phase inlet sealing joint is located at the upper part of the cylindrical lower cylinder, so that the impact of the particles entering the inside of the cylindrical lower cylinder on the spiral flow vanes is reduced, and the solid-liquid two-phase slurry can quickly flow into the high-speed spiral flow of the cylindrical lower cylinder.

[0012] The conical upper cylinder, the solid-liquid two-phase outlet sealing joint, the cylindrical lower cylinder and the solid-liquid two-phase inlet sealing joint are formed by an integral molding technology, so that the influence of the external pressure on the welded seams under the deep-sea condition is avoided.

[0013] The inner wall lower end of the solid-liquid two-phase inlet sealing joint is provided with a pressure-resistant pipe opening reinforcing rib, and the junction inside of the conical upper cylinder and the cylindrical lower cylinder is provided with a pressure-resistant cylinder reinforcing rib, so that the cylinder structure crushing failure caused by the super-deep water external pressure is avoided.

[0014] The bottom of the cylindrical lower cylinder is connected with a cylinder base, the cylinder base is composed of a top connecting flange, a plurality of support trusses symmetrically arranged around, and a bottom connecting flange, the support truss has a structure of being wide at the top and narrow at the bottom, and the top end and the bottom end of the support truss are fixed with the top connecting flange and the bottom connecting flange respectively, and the bottom of the cylindrical lower cylinder is provided with a cylinder connecting flange which is connected with the top connecting flange by a first bolt.

[0015] The bottom connecting flange of the cylinder base is connected with the connecting flange at the upper end of the variable frequency motor by a second bolt, the inner side of the support truss is provided with a rotating shaft system coaxially connected with the variable frequency motor, the variable frequency motor is arranged on a device base, the device base is used to be fixedly arranged in the seabed or the underwater relay station, to stably support the spiral flow rotating device and protect the variable frequency motor.

[0016] The variable frequency motor is a three-phase asynchronous waterproof variable frequency motor, and a waterproof motor cover plate is arranged to ensure the safety of deep sea application.

[0017] The rotating shaft system is composed of a deep groove ball bearing and a spiral flow linkage shaft, the spiral flow linkage shaft is made of high wear-resistant steel, so that the shaft does not break down during high-speed rotation, and the device can operate stably for a long time, and the spiral flow linkage rod and the spiral flow blade are made of high wear-resistant steel, so that wear and damage caused by solid particle impact can be avoided.

[0018] The variable frequency motor is provided with a variable frequency controller inside, the variable frequency controller is used to adjust the rotating speed of the variable frequency motor, drive the blade type rotating device to generate different spiral flow circumferential rotating flow speed and axial conveying flow speed, so that the spiral flow speed can be adjusted in real time according to engineering requirements, and the conveying situation can be coped with.

[0019] The solid-liquid two-phase spiral flow rotating device for the deep sea mining lifting system can provide solid-liquid two-phase high-speed spiral flow with stronger energy, longer rotating flow length and slower attenuation, by using the principle of the blade type rotating device.

[0020] The upper and lower variable-diameter cylindrical structure can accelerate the flow speed at the outlet, and generate water flow with stronger carrying force in the cabin, so that particles are rotated upward along the cylinder wall and flow into the pipeline from the outlet, and the collision between particles and blade bearings is reduced.

[0021] The blade and the shaft of the blade type rotating device are made of high wear-resistant steel (such as SKD11), so that wear and damage caused by solid particle impact can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a sectional view of the main view of the spiral flow rotating device of the embodiment of the application.

[0023] Figure 2 Figure 1 is a left view of a helical flow rotating device according to an embodiment of the present application;

[0024] Figure 3 Figure 2 is a sectional view of a helical flow rotating device according to an embodiment of the present application;

[0025] Figure 4 Figure 3 is a sectional view of a helical flow rotating device according to an embodiment of the present application;

[0026] Figure 5 Figure 4 is another sectional view of a helical flow rotating device according to an embodiment of the present application;

[0027] Figure 6 Figure 5 is a top view of a helical flow rotating device according to an embodiment of the present application.

[0028] wherein:

[0029] 1, solid-liquid two-phase outlet sealing joint; 2, pressure tube port reinforcing rib; 3, conical upper cylinder; 4, pressure cylinder reinforcing rib; 5, helical flow linkage rod; 6, solid-liquid two-phase inlet sealing joint; 7, cylindrical lower cylinder; 8, helical flow blade; 9, cylinder connecting flange; 10, cylinder base; 11, rotating shaft system; 12, variable frequency motor; 13, device base; 14, motor cover plate. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments.

[0031] The present application provides a solid-liquid two-phase helical flow rotating device for a deep-sea mining lifting system, comprising an integrally formed conical upper cylinder 3, a cylindrical lower cylinder 7, a solid-liquid two-phase inlet sealing joint 6, and a solid-liquid two-phase outlet sealing joint 1. The side wall of the cylindrical lower cylinder 7 is provided with the solid-liquid two-phase inlet sealing joint 6, and the top of the integrally formed conical upper cylinder 3 is provided with the solid-liquid two-phase outlet sealing joint 1. The inside of the cylindrical lower cylinder 7 is a blade-type rotating device composed of a helical flow linkage rod 5 and a helical flow blade 8. The helical flow linkage rod 5 and the helical flow blade 8 rotate in the cylindrical lower cylinder 7 under the high-speed drive of a rotating shaft system 11 and a variable frequency motor 12, so that a stable high-speed helical flow can be generated inside the cylindrical lower cylinder. That is, the rotating shaft system is driven to rotate at high speed by the lower variable frequency motor, the helical flow linkage rod and the helical flow blade are installed at the top of the rotating shaft system, and the helical flow blade is driven to rotate at high speed, so that a stable high-speed helical flow is generated inside the cylindrical lower cylinder.

[0032] In the embodiment of the present application, the conical upper cylinder is the main body of the solid-liquid two-phase spiral flow. The slurry of the mined ore particles mixed with seawater is pumped into the inside of the cylindrical lower cylinder through the solid-liquid two-phase inlet sealing joint of the seabed mining device. The slurry forms a solid-liquid two-phase spiral flow under the driving of the single-phase seawater high-speed spiral flow in the cylindrical lower cylinder. The circumferential rotation flow rate and the axial conveying flow rate of the solid-liquid two-phase spiral flow are controlled by the variable frequency motor. The variable frequency motor drives the rotating shaft system and the spiral flow blade to generate sufficient conveying energy. Then, the high-strength solid-liquid two-phase spiral flow enters the conical upper cylinder for secondary acceleration, and finally is sent into the deep-sea mining hydraulic lifting system pipeline through the solid-liquid two-phase outlet sealing joint.

[0033] In some embodiments, the solid-liquid two-phase inlet sealing joint 6 and the solid-liquid two-phase outlet sealing joint 1 are arranged perpendicular to each other along the axis, so as to realize the feeding of the slurry of the mined ore particles mixed with seawater in the horizontal direction, and then lifting in the vertical direction under the action of the high-speed spiral flow, and then entering the deep-sea mining hydraulic lifting system pipeline through the solid-liquid two-phase outlet sealing joint. Preferably, the diameters of the inlet and outlet are 400 mm, the upper cross-sectional diameter of the conical upper cylinder is 593 mm, and the lower cross-sectional diameter of the conical upper cylinder is 2047 mm.

[0034] In some embodiments, the opening position of the solid-liquid two-phase inlet sealing joint is located on the upper part of the cylindrical lower cylinder, corresponding to the upper part of the internal blade type rotation device, which can effectively reduce the impact of the particles entering the inside of the cylinder on the blade, and can make the solid-liquid two-phase slurry quickly flow into the high-speed spiral flow of the cylindrical lower cylinder. Preferably, the diameter of the cylindrical lower cylinder is 2047 mm, and the height is 820 mm. The solid-liquid two-phase inlet sealing joint and the cylindrical lower cylinder are integrally formed to avoid the influence of the external pressure on the welded weld under deep-sea conditions.

[0035] In some embodiments, a ring-shaped pressure-resistant pipe opening reinforcing rib 2 is installed at the lower end of the solid-liquid two-phase outlet sealing joint 1, and a ring-shaped pressure-resistant cylinder reinforcing rib 4 is installed at the junction between the conical upper cylinder 3 and the cylindrical lower cylinder 7. The pressure-resistant pipe opening reinforcing rib and the pressure-resistant cylinder reinforcing rib are used to avoid the crushing failure of the cylinder structure caused by the super-deep water external pressure.

[0036] In some embodiments, the helical flow linkage rod 5 and the helical flow blade 8 are made of high-strength and high-wear-resistant steel (such as SKD11), which can avoid wear and tear caused by solid particle impact. The helical flow blade 8 can be provided in three, preferably, the helical flow blade thickness is 30mm, the helical flow blade arc length is 1086mm, the helical flow blade climbing angle around the helical flow linkage rod is 24°, the helical flow blade height is 690mm, the helical flow linkage rod hub diameter is 660mm, the helical flow linkage rod top tip diameter is 420mm, and the overall helical flow linkage rod inside the cylindrical lower cylinder 7 is 1165mm, which can meet the high-speed helical flow generated inside the cylinder space.

[0037] In some embodiments, the cylindrical lower cylinder 7 is connected to the lower cylinder base 10 through the cylinder connecting flange 9, the cylinder base 10 supports the upper cylinder structure, and is connected to the rotating shaft system 11 and the variable frequency motor 12. The variable frequency motor 12 can produce different rotating speeds according to the adjustment of the variable frequency controller at the bottom, drive the blade type rotation device to generate helical flow with different flow rates, so as to realize real-time adjustment of the helical flow rate according to the engineering requirements, and ensure that the changing conveying conditions are met. The cylinder connecting flange 9 has high strength and high sealing performance, which guarantees the requirements of the upper cylinder such as not easy to leak, pressure resistance, etc., and is easy to disassemble, which is convenient for maintenance of the high-speed helical flow rotation device. The cylinder connecting flange is connected to the lower cylinder base, which together constitutes the support system of the helical flow rotation device.

[0038] In some embodiments, the cylinder base is composed of a top connecting flange, a plurality of (such as 4) support trusses symmetrically arranged around, and a bottom connecting flange. The support truss has a structure of wide at the top and narrow at the bottom, and the top end and the bottom end of the support truss are fixed with the top connecting flange and the bottom connecting flange respectively. The cylinder connecting flange arranged at the bottom of the cylindrical lower cylinder is connected to the top connecting flange by first bolts.

[0039] In some embodiments, the bottom connecting flange of the cylinder base is connected to the connecting flange at the upper end of the variable frequency motor by second bolts.

[0040] Wherein, the variable frequency motor 12 is configured with a special motor cover plate 14 at the position where water may enter through the gap, which is protected by the configured motor cover plate 14. The special waterproof motor cover plate 14 is provided to ensure the safety of deep sea application. The whole device is located on the device base 11, which is used to be fixedly placed in the seabed or underwater relay station, to stably support the helical flow rotation device and protect the variable frequency motor.

[0041] Preferably, the variable frequency motor 12 adopts a three-phase asynchronous waterproof variable frequency motor (such as Honewell), which can meet the long-term stable high-speed operation.

[0042] In some embodiments, the rotating shaft system 11 is made of deep groove ball bearing (such as NSK6206) and high-strength and high-wear-resistant steel (such as SKD11), which ensures that the shaft does not break down during high-speed rotation, and ensures long-term stable operation of the device.

[0043] Under working conditions, first, seawater is pumped in through the solid-liquid two-phase inlet sealing joint 6, the variable frequency motor 12 is started, and the rotating shaft system 11 drives the helical flow linkage rod 5 and the helical flow blade 8 to generate stable single-phase seawater high-speed helical flow in the cylindrical lower cylinder 7. Then, the ore particles mixed with seawater from the seabed mining device are pumped into the cylindrical lower cylinder 7 through the solid-liquid two-phase inlet sealing joint 6, and the mud is driven by the single-phase seawater high-speed helical flow in the cylindrical lower cylinder 7 to form a solid-liquid two-phase helical flow. The circumferential rotational flow speed and the axial conveying flow speed of the solid-liquid two-phase helical flow are controlled by the variable frequency motor 12, the rotating shaft system 11 and the helical flow blade 8 generate enough conveying energy, and then the high-strength solid-liquid two-phase helical flow enters the conical upper cylinder 3 for secondary acceleration, and then is sent into the deep-sea mining hydraulic lifting system pipeline through the solid-liquid two-phase outlet sealing joint 1.

[0044] The solid-liquid two-phase helical flow rotating device of the embodiment of the present application can provide an efficient conveying scheme for the deep-sea mining hydraulic lifting system, improve the conveying safety and reliability under the premise of reducing energy loss, and improve the production efficiency.

[0045] The above description is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A solid-liquid two-phase helical flow cyclone device for a deep sea mining hoisting system, characterized in that, The application relates to a solid-liquid two-phase spiral flow rotating device, which comprises a conical upper cylinder serving as a solid-liquid two-phase spiral flow rotating cabin, a cylindrical lower cylinder arranged at the bottom of the conical upper cylinder, a solid-liquid two-phase outlet sealing joint arranged at the top of the conical upper cylinder, and a solid-liquid two-phase inlet sealing joint arranged on the side wall of the cylindrical lower cylinder; a blade type rotating device is arranged in the cylindrical lower cylinder and connected with a variable frequency motor through a rotating shaft system; the blade type rotating device comprises a high-speed rotating spiral flow linkage rod and spiral flow blades driven by the variable frequency motor; when the high-speed rotating spiral flow linkage rod is driven to rotate, the spiral flow blades are driven to rotate at high speed, and stable high-speed spiral flow is generated in the cylindrical lower cylinder; the axis of the solid-liquid two-phase inlet sealing joint and the solid-liquid two-phase outlet sealing joint is arranged perpendicularly to each other, so that the slurry of ore particles mixed with seawater mined from the seabed is fed in the horizontal direction, then lifted in the vertical direction under the action of high-speed spiral flow, and then enters the pipeline of a deep-sea mining hydraulic lifting system through the solid-liquid two-phase outlet sealing joint. When the solid-liquid two-phase spiral flow rotating device works, the slurry of ore particles mixed with seawater mined from the seabed is pumped into the cylindrical lower cylinder through the solid-liquid two-phase inlet sealing joint of a seabed ore collecting device; under the action of high-speed single-phase seawater spiral flow in the cylindrical lower cylinder, the slurry forms solid-liquid two-phase spiral flow, the circumferential rotating flow speed and the axial conveying flow speed of the solid-liquid two-phase spiral flow are controlled by the variable frequency motor, the variable frequency motor drives the rotating shaft system and the spiral flow blades to generate sufficient conveying energy, then the high-strength solid-liquid two-phase spiral flow enters the conical upper cylinder for secondary acceleration, and then enters the pipeline of the deep-sea mining hydraulic lifting system through the solid-liquid two-phase outlet sealing joint. The spiral flow blades are arranged in three, and the climbing angle of the spiral flow blades around the spiral flow linkage rod is 24 DEG, so that high-speed spiral flow is generated in the space of the cylindrical lower cylinder. The opening position of the solid-liquid two-phase inlet sealing joint is located at the upper portion of the cylindrical lower cylinder, so that the impact of the particles entering the cylindrical lower cylinder on the spiral flow blades is reduced, and the solid-liquid two-phase slurry can quickly flow into the high-speed spiral flow of the cylindrical lower cylinder.

2. The solid-liquid two-phase screw flow starting device for the deep-sea mining hoisting system according to claim 1, characterized in that, The conical upper cylinder, the solid-liquid two-phase outlet sealing joint, the cylindrical lower cylinder and the solid-liquid two-phase inlet sealing joint are formed by integral molding, so that the influence of external pressure on the welded welds under deep-sea conditions is avoided.

3. The solid-liquid two-phase screw flow starting device for the deep-sea mining hoisting system according to claim 1, characterized in that, A pressure-resistant pipe opening reinforcing rib is arranged at the lower end of the inner wall of the solid-liquid two-phase inlet sealing joint, a pressure-resistant cylinder reinforcing rib is arranged at the junction of the conical upper cylinder and the cylindrical lower cylinder, and the pressure-resistant pipe opening reinforcing rib and the pressure-resistant cylinder reinforcing rib are used for avoiding the crushing failure of the cylinder structure caused by the external pressure of super-deep water.

4. The solid-liquid two-phase screw flow starting device for the deep-sea mining hoisting system according to claim 1, characterized in that, A cylinder base is connected to the bottom of the cylindrical lower cylinder, the cylinder base is composed of a top connecting flange, a plurality of support trusses symmetrically arranged around the cylinder base and a bottom connecting flange, the support trusses have a structure with a wide top and a narrow bottom, the top end and the bottom end of the support trusses are fixed with the top connecting flange and the bottom connecting flange, and the bottom of the cylindrical lower cylinder is provided with a cylinder connecting flange which is connected with the top connecting flange through first bolts.

5. The solid-liquid two-phase screw flow starting device for the deep-sea mining hoisting system according to claim 4, characterized in that, The bottom of the barrel base is connected with the connecting flange on the upper end of the variable frequency motor by a second bolt; the inner side of the support truss is provided with a rotating shaft system coaxially connected with the variable frequency motor; the variable frequency motor is arranged on a device base, the device base is used to be fixedly arranged in the seabed or the underwater relay station, to stably support the spiral flow rotating device, and to protect the variable frequency motor.

6. The solid-liquid two-phase screw flow starting device for the deep-sea mining hoisting system according to claim 1, characterized in that, The variable frequency motor is a three-phase asynchronous waterproof variable frequency motor, and a waterproof motor cover plate is arranged to ensure the safety of deep sea application.

7. The solid-liquid two-phase screw flow starting device for the deep-sea mining hoisting system according to claim 1, characterized in that, The rotating shaft system is composed of a deep groove ball bearing and a spiral flow linkage shaft, the spiral flow linkage shaft is made of high wear-resistant steel, so that shaft fracture failure does not occur in high-speed rotation, and long-term stable operation of the device is ensured; the spiral flow linkage rod and the spiral flow blade are made of high wear-resistant steel, so that wear and damage caused by solid particle impact can be avoided.

8. The solid-liquid two-phase screw flow starting device for the deep-sea mining hoisting system according to claim 1, characterized in that, A variable frequency controller is arranged in the variable frequency motor, the variable frequency controller is used to adjust the rotating speed of the variable frequency motor, the blade type rotating device is driven to generate different spiral flow circumferential rotating flow speed and axial conveying flow speed, so that the spiral flow flow speed can be adjusted in real time according to engineering requirements, and changing conveying conditions can be ensured.

Images