Crusher adaptive control method, crusher adaptive control device and storage medium

Abstract

The application discloses a crusher adaptive control method, a crusher adaptive control device and a storage medium, and the crusher adaptive control method comprises the following steps: determining whether the current motor current of the crusher is greater than the maximum motor current limit of the crusher host; if yes, stopping feeding; if no, determining whether the current main shaft rotating speed is less than the minimum main shaft rotating speed limit, whether the current main shaft temperature is greater than the temperature warning threshold, and whether the current motor power is less than the motor saturation power; if all the conditions are no, the crusher host works normally; when the current main shaft rotating speed is less than the minimum main shaft rotating speed limit, determining whether the belt pulley driven by the motor of the crusher slips; if yes, stopping the machine for maintenance or stopping feeding; when the current main shaft temperature is greater than the temperature warning threshold, slowing down the feeding; and when the current motor power is less than the motor saturation power, speeding up the feeding. In the application, the overloading and the material blocking can be avoided, and the working efficiency of the crusher can be improved as much as possible, so that the optimal matching condition is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of crushing equipment, in particular to a crusher adaptive control method, a crusher adaptive control device and a storage medium. BACKGROUND

[0002] In the process of mining and production infrastructure construction and urban construction, the crushing machine is needed. In the working process of the crushing machine, such as the mobile impact crusher, due to the production process requirements, the constraints of design and installation position, and the uncertainty of use condition, the equipment will often be shut down due to various faults, among which, the most frequent faults are blocking and overload. Once blocking and overload need to be repaired and maintained, a lot of time is spent on cleaning, normal production organization is impossible, the workload of on-site maintenance personnel and the use and maintenance cost of the equipment are increased, and the safety risk of personnel operation is also increased. Generally speaking, too fast feeding speed will cause the main machine to be overloaded or even blocked, and too slow feeding speed will cause the main machine to be insufficiently fed, resulting in low equipment output.

[0003] At present, the feeding speed is usually adjusted according to the current value of the main machine, but this method has the following disadvantages: the current of the main machine changes rapidly, the current rises sharply under normal load, and the control system will misjudge the current overload; the main machine is in long-time full load or small amount of overload operation, which will also cause overload damage to the equipment, and this condition cannot be judged according to the current; simply slowing down or stopping feeding to protect the equipment cannot guarantee the optimal matching of the main machine power and efficiency. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a crusher adaptive control method, a crusher adaptive control device and a storage medium, which can optimally match the feeding amount of the vibrating feeding system and the output of the crushing main machine, make the crushing main machine run at the design working condition to the greatest extent, improve the throughput of the crushing main machine, and effectively reduce the occurrence of blocking faults.

[0005] To achieve the above purpose, the present application provides a crusher adaptive control method, comprising: acquiring the current current of the motor of the crushing machine main machine, the current speed of the main shaft, the current temperature of the main shaft and the current power of the motor;

[0006] determining whether the current motor current is greater than the maximum motor current limit of the crusher main machine, if the current motor current is greater than the maximum motor current limit, stopping feeding, entering the step of stopping feeding for a third time and then resuming feeding, if the current motor current is less than or equal to the maximum motor current limit, determining whether the current main shaft speed is less than the minimum main shaft speed limit, whether the current main shaft temperature is greater than the temperature warning threshold, and whether the current motor power is less than the motor saturation power, if the current main shaft speed is greater than or equal to the minimum main shaft speed limit, and the current main shaft temperature is less than or equal to the temperature warning threshold, and the current motor power is greater than or equal to the motor saturation power, the crusher main machine keeps normal working until the main machine stops, and when the current main shaft speed is less than the minimum main shaft speed limit, the crusher machine stops for maintenance or enters the step of stopping feeding for a third time and then resuming feeding, when the current main shaft temperature is greater than the temperature warning threshold, the feeding is slowed down, and when the current motor power is less than the motor saturation power, the feeding is accelerated.

[0007] Optionally, the step of determining whether the current main shaft speed is less than the minimum main shaft speed limit, whether the current main shaft temperature is greater than the temperature warning threshold, and whether the current motor power is less than the motor saturation power specifically comprises:

[0008] determining whether the current main shaft speed is less than the minimum main shaft speed limit, if yes, determining whether the belt pulley driven by the motor of the crusher slips, and if no, determining whether the current main shaft temperature is greater than the temperature warning threshold;

[0009] if the belt pulley driven by the motor of the crusher slips, stopping for maintenance, and if the belt pulley driven by the motor of the crusher does not slip, entering the step of stopping feeding for a third time and then resuming feeding;

[0010] if the current main shaft temperature is greater than the temperature warning threshold, determining whether the current main shaft temperature is greater than the temperature shutdown threshold, if the current main shaft temperature is less than or equal to the temperature warning threshold, determining whether the current motor power is less than the motor saturation power;

[0011] if the current main shaft temperature is greater than the temperature shutdown threshold, stopping for maintenance, and if the current main shaft temperature is less than or equal to the temperature shutdown threshold, slowing down the feeding for a fifth time;

[0012] if the current motor power is less than the motor saturation power, accelerating the feeding for a sixth time.

[0013] Optionally, the method further comprises: after starting the crusher main machine, delaying for a first time, and then feeding the crusher main machine.

[0014] Optionally, when the current motor current is greater than the maximum motor current limit, the feeding is stopped after a second time has elapsed.

[0015] Optionally, the crusher adaptive control method further comprises:

[0016] Optionally, when the cylinder pressure is greater than the preset pressure threshold, the cover plate is controlled to flip in the first direction after the cylinder pressure has been greater than the preset pressure threshold for an eighth time.

[0017] Optionally, when the cylinder pressure is greater than the preset pressure threshold, the cover plate is controlled to flip in the first direction after the cylinder pressure has been greater than the preset pressure threshold for an eighth time.

[0018] The application also provides a crusher adaptive control device, comprising a main shaft speed detection element, a main shaft temperature detection element, a control module, a crusher main machine motor frequency converter, and a feeder frequency converter. The main shaft speed detection element, the main shaft temperature detection element, the crusher main machine motor frequency converter, and the feeder frequency converter are respectively connected to the control module. The main shaft speed detection element is used to detect the current speed of the main shaft of the crusher main machine and transmit it to the control module. The main shaft temperature detection element is used to detect the current temperature of the main shaft and transmit it to the control module. The crusher main machine motor frequency converter is used to transmit the current motor current and the current motor power to the control module. The control module is used to control the feeder frequency converter to feed after a first time has elapsed after the crusher main machine is started. The control module is also used to determine whether the current motor current is greater than the maximum motor current limit of the crusher main machine. If so, the feeding is stopped, and the feeding is resumed after a third time has elapsed. If not, it is determined whether the current speed of the main shaft is less than the minimum limit of the main shaft speed, whether the current temperature of the main shaft is greater than the temperature warning threshold, and whether the current motor power is less than the motor saturation power. If the current speed of the main shaft is greater than or equal to the minimum limit of the main shaft speed, and the current temperature of the main shaft is less than or equal to the temperature warning threshold, and the current motor power is greater than or equal to the motor saturation power, the crusher main machine remains normal until the main machine stops. When the current speed of the main shaft is less than the minimum limit of the main shaft speed, the crusher is stopped for maintenance or the feeding is stopped, and the feeding is resumed after a third time has elapsed after the feeding is stopped. When the current temperature of the main shaft is greater than the temperature warning threshold, the feeding is slowed down. When the current motor power is less than the motor saturation power, the feeding is accelerated.

[0019] Optionally, the control module determines whether the current speed of the main shaft is less than the minimum limit of the main shaft speed, whether the current temperature of the main shaft is greater than the temperature warning threshold, and whether the current power of the motor is less than the motor saturation power, and the determination specifically comprises:

[0020] The control module determines whether the current speed of the main shaft is less than the minimum limit of the main shaft speed, and if so, determines whether the belt pulley driven by the motor of the crusher slips, and if not, determines whether the current temperature of the main shaft is greater than the temperature warning threshold; if the belt pulley driven by the motor of the crusher slips, the control module controls shutdown for maintenance, and if the belt pulley driven by the motor of the crusher does not slip, the control module controls stopping feeding, and after a third time delay, resumes feeding; if the current temperature of the main shaft is greater than the temperature warning threshold, the control module determines whether the current temperature of the main shaft is greater than the temperature shutdown threshold, and if the current temperature of the main shaft is less than or equal to the temperature warning threshold, the control module determines whether the current power of the motor is less than the motor saturation power; if the current temperature of the main shaft is greater than the temperature shutdown threshold, the control module controls shutdown for maintenance, and if the current temperature of the main shaft is less than or equal to the temperature shutdown threshold, the control module controls slowing down feeding for a fifth time; and if the current power of the motor is less than the motor saturation power, the control module controls speeding up feeding for a sixth time.

[0021] Optionally, the control module further determines whether the cylinder pressure at the cover plate of the feeding port of the crusher is greater than a preset pressure threshold, and if so, controls the cover plate to flip in a first direction to increase the feeding port, and if not, determines whether the cover plate is in place; the control module further controls the cover plate to flip in a second direction opposite to the first direction to reduce the feeding port when it is determined that the cover plate is not in place.

[0022] The application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method described above.

[0023] In the crusher adaptive control method, the crusher adaptive control device and the storage medium, the adaptive control technology is used to adjust the motor speed of the main machine of the crusher to automatically adjust the feeding speed of the feeder, so that the feeding amount of the feeding system matches the working state of the main machine of the crusher, which can avoid overload and blockage, and can also maximize the working efficiency of the crusher, so as to achieve the optimal matching condition. BRIEF DESCRIPTION OF DRAWINGS

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating an embodiment of the adaptive control method for a crusher provided in this application.

[0026] Figure 2 for Figure 1 The diagram shows a detailed flow chart of step S21 in the adaptive control method for the crusher.

[0027] Figure 3 for Figure 1 The flowchart illustrates the other steps of the adaptive control method for the crusher shown.

[0028] Figure 4 This is a schematic diagram of the structure of a crusher adaptive control device provided in an embodiment of this application. Detailed Implementation

[0029] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of this application. Based on the description of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0030] In the description of this application, unless otherwise expressly specified and limited, the terms "set," "install," "connect," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms based on the specific circumstances.

[0031] The terms “first,” “second,” “third,” etc., are used merely to distinguish numerical values ​​or elements with similar properties, rather than to indicate or imply relative importance or a specific order.

[0032] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0033] Figure 1 This is a schematic flowchart illustrating an embodiment of the adaptive control method for a crusher provided in this application. Figure 1As shown, the crusher adaptive control method of the present application comprises the following steps:

[0034] S11, starting the crusher host.

[0035] S13, after delaying the first time t1, feeding the crusher host. Specifically, the first time t1 can be 70 seconds, of course, the first time t1 can also be other suitable time values, after the crusher host works stably, the first time t1 can be obtained according to experiment or experience. It can be understood that step S13 can also be omitted according to actual situation.

[0036] S15, obtaining the current motor current I0 of the crusher host, the current main shaft speed V0, the current main shaft temperature T0, the current motor pulley speed V1 and the current motor power P0.

[0037] S17, judging whether the current motor current I0 is greater than the maximum motor current limit I max of the crusher host. If yes, enter step S19, if no, enter step S21. Specifically, in this embodiment, when I0>I max , and continuously reaches the second time t2, enter step S19. Specifically, the second time t2 can be 3 seconds. Delaying for a certain time before entering step 19 can avoid misjudgment caused by sharp rise of current under normal load. The maximum motor current limit I max refers to the maximum current allowed by the motor of the crusher host, which can be set according to the performance of the motor.

[0038] S19, stopping feeding, and resuming feeding after delaying the third time t3. Specifically, after resuming feeding, it can be delayed for the fourth time t4 before re-entering step S15. Specifically, the third time t3 can be 5 seconds, and the fourth time t4 can be 5 seconds. It can be understood that the third time t3 and the fourth time t4 can be set to other appropriate time according to need.

[0039] S21, judging whether the current main shaft speed V0 is less than the minimum main shaft speed limit V min , whether the current main shaft temperature T0 is greater than the temperature warning threshold T a , and whether the current motor power P0 is less than the motor saturation power P a . If the current speed V0 is greater than or equal to the minimum main shaft speed limit V min , and the current main shaft temperature T0 is less than or equal to the temperature warning threshold T a , and the current motor power P0 is greater than or equal to the motor saturation power P a , the crusher host keeps normal work until the host stops and ends, and when the current main shaft speed V0 is less than the minimum main shaft speed limit V minWhen the current temperature T0 of the main shaft is greater than the temperature warning threshold T a , the feeding is slowed down, and when the current power P0 of the motor is less than the motor saturation power P a , the feeding is accelerated. The main shaft rotation speed minimum limit V min , the temperature warning threshold T a , and the motor saturation power P a are preset values, the main shaft rotation speed minimum limit V min is the rotation speed at which the crusher maintains a certain working efficiency, the temperature warning threshold T a is an excessively high temperature indicating an abnormality, and the motor saturation power P a is the minimum power at which the crusher normally works. If the motor saturation power P a is lower than the motor saturation power P a , it indicates that the working efficiency of the crusher is too low, and the working capacity of the crusher cannot be exerted.

[0040] During the working process of the crusher main machine, as long as the main machine does not stop, the control steps S15-S21 are continuously performed, that is, the judgment of various parameters and the corresponding control are continuously performed during the working process of the crusher.

[0041] In the crusher adaptive control method of the present application, the adaptive control technology is used to adjust the motor rotation speed of the crusher main machine to automatically adjust the feeding speed of the feeder, so that the feeding amount of the feeding system matches the working state of the crusher main machine output, which can not only avoid overload and blockage, but also maximize the working efficiency of the crusher, so as to achieve the optimal matching condition.

[0042] In this embodiment, please refer to Figure 2 , the step S21 specifically includes:

[0043] S211, judging whether the current rotation speed V0 of the main shaft is less than the main shaft rotation speed minimum limit V min . If yes, go to step S213, and if no, go to step S214.

[0044] S213, judging whether the belt pulley driven by the motor of the crusher slips. If yes, go to step S215, and if no, go to step S19.

[0045] S214, judging whether the current temperature T0 of the main shaft is greater than the temperature warning threshold T a . If yes, go to step S216, and if no, go to step S217.

[0046] S215, stopping for maintenance.

[0047] S216, judging whether the current temperature T0 of the main shaft is greater than the temperature stop threshold T sIf yes, go to step S215, if no, go to step S218.

[0048] S217, judge whether the current power P0 of the motor is less than the saturation power P a If yes, go to step S219, if no, go to step S220.

[0049] S218, slow down the feeding and continue for a fifth time t5. Specifically, the fifth time t5 can be 40 seconds. It can be understood that the fifth time t5 can be set to other time values as needed.

[0050] S219, speed up the feeding and continue for a sixth time t6. Specifically, the sixth time t6 can be 20 seconds. It can be understood that the sixth time t6 can be set to other time values as needed.

[0051] S220, judge whether the host is stopped, if yes, go to step S221, if no, go to step S15.

[0052] S221, end.

[0053] It can be understood that the order of steps S211, S214 and S217 can be adjusted at will.

[0054] In this embodiment, step S213 specifically includes:

[0055] Judge whether the following condition is met The condition is met It means that the pulley driven by the motor of the crusher slips, otherwise it means that the pulley driven by the motor of the crusher does not slip. Wherein, V1 is the current speed of the motor pulley, i0 is the ideal transmission ratio of the belt, c is the belt slip warning value, c is usually a preset value according to experience or experiment, c is greater than or equal to 0, and considering that a certain error is allowed, c is usually set to be greater than 0.

[0056] In this embodiment, please refer to Figure 3 The crusher adaptive control method of the application further includes the following steps:

[0057] S41, judge whether the oil cylinder pressure A1 at the cover plate of the feeding port of the crusher is greater than the preset pressure threshold A0, if yes, go to step S43, if no, go to step S45.

[0058] S43, control the cover plate to flip in a first direction to increase the feeding port.

[0059] S45, judge whether the cover plate is in place, if yes, go to step S47, if no, go to step S49.

[0060] S47, control the cover plate to flip in a second direction opposite to the first direction to reduce the feeding port.

[0061] S49, determine whether the main machine of the crusher is closed, if yes, enter step S51, if no, re-enter step S41.

[0062] S51, end.

[0063] It can be understood that step S49 and the next step of step S43, S47 all point to step S41, which means that as long as the main machine of the crusher is not closed, step S41 is continuously executed, that is, the size of the feeding port of the crusher is continuously controlled during the working process of the crusher to achieve adaptive adjustment and prevent blockage.

[0064] A rotatable cover plate is arranged at the feeding port of the crusher, one side of the cover plate is connected to one end of the piston rod of the oil cylinder, the other end of the piston rod of the oil cylinder is connected to the shell at the feeding port, and the oil cylinder can drive the cover plate to overturn by extension and retraction, thereby changing the size of the feeding port. The action of the bathtub can be controlled by the controller through the electromagnetic reversing valve, for example, the controller controls the first electromagnet of the electromagnetic reversing valve to be electrified, the rodless cavity of the oil cylinder is filled with oil, the oil cylinder is extended, and the controller controls the second electromagnet of the electromagnetic reversing valve to be electrified, the rod cavity of the oil cylinder is filled with oil, and the oil cylinder is retracted.

[0065] In this embodiment, when the oil cylinder pressure A1 is greater than the preset pressure threshold A0 for the eighth time t8 in step S41, step S43 is entered to reduce misjudgment. Specifically, a pressure sensor can be arranged on the oil cylinder, and the pressure sensor can be used to detect a pressure signal to obtain the oil cylinder pressure A1. When large stones block the feeding port, the cover plate is subjected to pressure, and the oil cylinder pressure A1 increases. The limit switch is used to determine the position of the cover plate. When the feeding port is normally sized, the cover plate is in the original position, and the limit switch is in a closed state.

[0066] In this embodiment, in step S43, specifically, the following steps can be included:

[0067] The first electromagnet is controlled to be electrified, the oil cylinder is extended, and the cover plate is turned upward, so that the feeding port is increased. Specifically, after the feeding port is increased, step S41 is re-entered.

[0068] In this embodiment, in step S45, specifically, the following steps can be included: detecting whether the limit switch is open, when the limit switch is open, it indicates that the cover plate is not in the original position, and when the limit switch is closed, it indicates that the cover plate is in the original position. Specifically, the limit switch can be arranged on the cover plate, and the limit switch is used to determine the position of the cover plate. When the feeding port is normally sized, the cover plate is in the original position, and the limit switch is in a closed state.

[0069] In this embodiment, in step S47, specifically, the following steps can be included:

[0070] The second electromagnet is powered to retract the oil cylinder, thereby turning the cover plate downward and reducing the feeding port. Specifically, after the feeding port is reduced, the process returns to step S41, that is, after each operation is completed, the process returns to step S41 unless the process ends, and the determination of whether A1 is greater than the preset pressure threshold A0 is continuously performed, that is, whether the opening size of the feeding port needs to be adjusted is continuously determined. When the cover plate is not in place, it is generally that the feeding port is too large, and if A1 is less than or equal to the preset pressure threshold A0 at this time, the feeding port needs to be reduced, and the cover plate needs to be returned to the original position.

[0071] In the present application, adaptive adjustment of the feeding port of the main crusher can be realized, the feeding port is increased when the ore is stuck due to large volume or irregularity, the blocking of the feeding port is prevented, the intelligent level of the equipment is improved, the failure rate is reduced, and the workload of the on-site maintenance personnel is reduced.

[0072] The present application also provides a crusher adaptive control device, please refer to Figure 4 The crusher adaptive control device of one embodiment comprises a main shaft speed detection element 61, a main shaft temperature detection element 63, a control module 65, a crusher main machine motor frequency converter 67, and a feeder frequency converter 69, and the main shaft speed detection element 61, the main shaft temperature detection element 63, the crusher main machine motor frequency converter 67, and the feeder frequency converter 69 are connected to the control module 65. The main shaft speed detection element 61 is used to detect the current speed V0 of the main shaft of the main crusher and transmit it to the control module 65. The main shaft temperature detection element 63 is used to detect the current temperature T0 of the main shaft and transmit it to the control module 65. The crusher main machine motor frequency converter 67 is used to transmit the current motor current I0 and the current motor power P0 to the control module 65. The control module 65 is used to control the feeder frequency converter 69 to feed after a first time t1 after the main crusher is started. The control module 65 is also used to determine whether the current motor current I0 is greater than the maximum current limit I max of the motor of the main crusher, if yes, stop feeding, and resume feeding after a third time t3, if no, determine whether the current speed V0 of the main shaft is less than the minimum speed limit V min of the main shaft, whether the current temperature T0 of the main shaft is greater than the temperature warning threshold T a , and whether the current motor power P0 is less than the motor saturation power P a . If the current speed V0 is greater than or equal to the minimum speed limit V min of the main shaft, and the current temperature T0 of the main shaft is less than or equal to the temperature warning threshold T a , and the current motor power P0 is greater than or equal to the motor saturation power P a , the main crusher remains normal operation until the main machine stops and ends, and the current speed V0 of the main shaft is less than the minimum speed limit V minThe machine should be stopped for maintenance or feeding if the pulley driven by the motor of the crusher slips. Feeding should be resumed after a three-hour delay after stopping feeding. The current temperature T0 of the main shaft should be greater than the temperature warning threshold T. a Slow down the feeding when the current power P0 of the motor is less than the saturation power P of the motor. a Accelerate feeding.

[0073] In this embodiment, the control module 65 is specifically used to ensure that I0>I max The feeding process continues until the second time t2 is reached, at which point feeding stops. Specifically, the second time t2 can be 3 seconds. Delaying the process before proceeding to step 19 avoids misjudgments caused by a sudden increase in current under normal load.

[0074] In this embodiment, the control module 65 is also used to re-determine whether the current motor current I0 is greater than the maximum current limit I of the crusher host motor after a fourth time t4 after the feeding is resumed. max Specifically, the third time t3 can be 5 seconds, and the fourth time t4 can be 5 seconds. It can be understood that the third time t3 and the fourth time t4 can be set to other suitable times as needed.

[0075] In this embodiment, the control module 65 determines whether the current spindle speed V0 is less than the minimum spindle speed limit V. min Is the current spindle temperature T0 greater than the temperature warning threshold T? a Is the current power P0 of the motor less than the saturation power P of the motor? a Specifically, it includes:

[0076] Control module 65 is used to determine whether the current spindle speed V0 is less than the minimum spindle speed limit V. min If yes, check if the pulley driven by the crusher's motor is slipping; if no, check if the current temperature T0 of the main shaft is greater than the temperature warning threshold T. a If the pulley driven by the crusher's motor slips, control module 65 will stop the machine for maintenance. If the pulley driven by the crusher's motor does not slip, control module 65 will stop feeding and resume feeding after a delay of three time intervals (t3). If the current temperature T0 of the main shaft is greater than the temperature warning threshold T... a The control module 65 is used to determine whether the current spindle temperature T0 is greater than the temperature shutdown threshold T. s If the current spindle temperature T0 is less than or equal to the temperature warning threshold T a The control module 65 determines whether the current power P0 of the motor is less than the saturation power P of the motor. a If the current spindle temperature T0 is greater than the temperature shutdown threshold T s The control module 65 controls the shutdown for maintenance. If the current spindle temperature T0 is less than or equal to the temperature shutdown threshold T, the shutdown will be initiated. s, the control module 65 controls to slow down the feeding and lasts for a fifth time t5; if the current power P0 of the motor is less than the motor saturation power P a , the control module 65 controls to speed up the feeding and lasts for a sixth time t6.

[0077] Specifically, the control module 65 judging whether the motor driven pulley of the crusher slips specifically includes: judging whether the following condition is met If the following condition is met , it is judged that the motor driven pulley of the crusher slips, otherwise, it is judged that the motor driven pulley of the crusher does not slip. Wherein, V1 is the current speed of the motor belt pulley, the crusher main motor frequency converter 67 is further used to transmit V1 to the control module 65, i0 is the ideal transmission ratio of the belt, c is the belt slip early warning value, c is usually a preset value according to experience or experiment, c is greater than or equal to 0, and considering allowing certain error, c is usually set to be greater than 0.

[0078] In the embodiment, the control module 65 is further used to judge whether the oil cylinder pressure A1 at the cover plate of the feeding port of the crusher is greater than a preset pressure threshold A0, if yes, the cover plate is turned to a first direction to increase the feeding port, if not, it is judged whether the cover plate is in the original position. The control module 65 is further used to control the cover plate to turn to a second direction opposite to the first direction to reduce the feeding port when it is judged that the cover plate is not in the original position.

[0079] Specifically, the crusher adaptive control device further comprises a limit switch 71, which is used to detect whether the cover plate of the feeding port of the crusher is in the original position.

[0080] In the embodiment, the crusher adaptive control device further comprises a display device 73, the motor maximum current limit I max , the main shaft speed minimum limit V min , the temperature warning threshold T a , the temperature shutdown threshold T s , the motor saturation power P a , the belt slip early warning value c and the like can be set through the display device 73.

[0081] The application also provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the method described above.

[0082] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method of adaptive control of a crusher, characterized in that, The method comprises: acquiring a current motor current of the crusher mainframe , a current rotation speed of the main shaft , a current temperature of the main shaft , and a current motor power ; judging whether the current motor current of the motor is greater than the maximum motor current limit of the crusher host , if the current motor current of the motor is greater than the maximum motor current limit of the motor , stopping feeding and resuming feeding after a third time t3 of the delay after stopping feeding, if the current motor current of the motor is less than or equal to the maximum motor current limit of the motor , judging whether the current main shaft speed of the main shaft is less than the minimum main shaft speed limit , whether the current main shaft temperature of the main shaft is greater than the temperature warning threshold , whether the current motor power of the motor is less than the motor saturation power , if the current main shaft speed of the main shaft is greater than or equal to the minimum main shaft speed limit of the main shaft , and the current main shaft temperature of the main shaft is less than or equal to the temperature warning threshold , and the current motor power of the motor is greater than or equal to the motor saturation power , the crusher host keeps normal work until the crusher host stops ending, and when the current main shaft speed of the main shaft is less than the minimum main shaft speed limit of the main shaft , the machine is stopped for maintenance or enters the step of stopping feeding and resuming feeding after a third time t3 of the delay after stopping feeding according to whether the belt pulley driven by the motor of the crusher slips, when the current main shaft temperature of the main shaft is greater than the temperature warning threshold , the feeding is slowed down, and when the current motor power of the motor is less than the motor saturation power , the feeding is accelerated.

2. The method of claim 1, wherein, Determine the current spindle speed Is it less than the minimum spindle speed limit? The current temperature of the spindle Is the temperature greater than the warning threshold? The current power of the motor Is it less than the motor's saturation power? The specific steps include: determining if the current speed of the main shaft is less than the minimum limit of the main shaft speed if yes, determining if the motor driven pulley of the crusher is slipping, and if no, determining if the current temperature of the main shaft is greater than the temperature warning threshold ;​​ If the motor-driven pulley of the crusher slips, stop for maintenance, if the motor-driven pulley of the crusher does not slip, enter the step of stopping feeding and resuming feeding after a third time t3 after stopping feeding; if the spindle current temperature is greater than the temperature warning threshold , determining whether the spindle current temperature is greater than a temperature shutdown threshold if the spindle current temperature is less than or equal to the temperature warning threshold , determining whether the motor current power is less than the motor saturation power ; if the spindle current temperature is greater than the temperature shutdown threshold , shut down for maintenance, if the spindle current temperature is less than or equal to the temperature shutdown threshold , slow down the feed and continue for a fifth time t5; If the motor current power is less than the motor saturation power , increase the feed rate and continue for a sixth time t6.

3. The method of claim 1, wherein, The method further comprises: after starting the main engine of the crusher, delaying for a first time t1, and then feeding the main engine of the crusher.

4. The method of claim 1, wherein, the current motor current greater than the maximum motor current limit and then stops feeding after a second time t2.

5. The method of claim 1, wherein, The adaptive control method of the crusher further comprises: Determining cylinder pressure at feed inlet cover of crusher whether greater than a predetermined pressure threshold if so, controlling the cover to flip in a first direction to increase the feed inlet, and if not, determining whether the cover is in place; and if it is determined that the cover is not in place, controlling the cover to flip in a second direction opposite to the first direction to decrease the feed inlet.

6. The method of claim 5, wherein, The oil cylinder pressure greater than the preset pressure threshold The oil cylinder pressure greater than the preset pressure threshold After the eighth time t8, the cover plate is controlled to flip in the first direction.

7. A crusher adaptive control device, characterized in that, The system includes a spindle speed detection element (61), a spindle temperature detection element (63), a control module (65), a crusher main motor frequency converter (67), and a feeder frequency converter (69). The spindle speed detection element (61), the spindle temperature detection element (63), the crusher main motor frequency converter (67), and the feeder frequency converter (69) are respectively connected to the control module (65). The spindle speed detection element (61) is used to detect the current spindle speed of the crusher main machine. The temperature is transmitted to the control module (65), and the spindle temperature detection element (63) is used to detect the current spindle temperature. The current is transmitted to the control module (65); the frequency converter (67) of the main motor of the crusher is used to transmit the current of the motor. and the current power of the motor The data is transmitted to the control module (65); the control module (65) is used to control the feeder frequency converter (69) to feed material after a delay of time t1 after the crusher host is started; the control module (65) is also used to determine the current of the motor. Is it greater than the maximum current limit of the crusher's main motor? If yes, stop feeding and resume feeding after a third time t3 after stopping feeding; if no, determine the current spindle speed. Is it less than the minimum spindle speed limit? The current temperature of the spindle Is the temperature greater than the warning threshold? The current power of the motor Is it less than the motor's saturation power? If the current spindle speed is Greater than or equal to the minimum spindle speed limit And the current temperature of the spindle Less than or equal to the temperature warning threshold And the current power of the motor Greater than or equal to the motor saturation power The crusher host will continue to operate normally until the crusher host stops, and the operation will continue at the current rotation speed of the main shaft. Less than the minimum spindle speed limit The machine is stopped for maintenance or feeding is halted based on whether the pulley driven by the motor of the crusher slips. Feeding resumes after a third time t3 following the stoppage, at the current temperature of the main shaft. Temperature greater than the warning threshold Slow down the feeding when the motor is at its current power. Less than the motor saturation power Accelerate feeding.

8. The crusher adaptive control device of claim 7, wherein, The control module (65) determines whether the current speed of the spindle is less than the minimum limit of the spindle speed , whether the current temperature of the spindle is greater than the temperature warning threshold , whether the current power of the motor is less than the saturation power of the motor Specifically comprises: The control module (65) is used to determine the current speed of the spindle. Is it less than the minimum spindle speed limit? If so, determine if the pulley driven by the crusher's motor is slipping; if not, determine the current temperature of the main shaft. Is it greater than the temperature warning threshold? If the pulley driven by the crusher's motor slips, the control module (65) controls the machine to stop for maintenance; if the pulley driven by the crusher's motor does not slip, the control module (65) controls the feeding to stop and resumes feeding after a third time t3 after the feeding stops; if the current temperature of the main shaft is... Temperature greater than the warning threshold The control module (65) is used to determine the current temperature of the spindle. Is the temperature above the shutdown threshold? If the current temperature of the spindle Less than or equal to the temperature warning threshold The control module (65) determines the current power of the motor. Is it less than the motor's saturation power? If the current temperature of the spindle is... Temperature greater than the shutdown threshold The control module (65) controls the shutdown for maintenance. If the current temperature of the spindle is... Less than or equal to the temperature shutdown threshold The control module (65) controls to slow down the feeding and continues for a fifth time t5; if the current power of the motor is... Less than the motor saturation power The control module (65) controls the feeding to be accelerated and continue for a sixth time t6.

9. A crusher adaptive control arrangement according to claim 7 or 8, characterised in that, The control module (65) is further configured to determine whether the cylinder pressure at the feed inlet cover plate of the crusher is greater than a preset pressure threshold If yes, control the cover plate to flip in a first direction to increase the feed inlet, and if no, determine whether the cover plate is in the original position The control module (65) is further configured to, when it is determined that the cover plate is not in the original position, control the cover plate to flip in a second direction opposite to the first direction to decrease the feed inlet.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the steps of the method in any one of claims 1 to 6.

Images