A crusher with dual motor output equalized torque and a control method

Abstract

The application relates to the technical field of crushers, in particular to a crusher with balanced torque output of double motors and a control method, which comprises a machine box, a machine frame, a single-shaft cutter roll assembly, a first motor adopting speed control and a second motor adopting torque control, the machine box and the single-shaft cutter roll assembly are both installed on the machine frame, the machine box and the cutter roll assembly are both installed on the machine frame, the first motor and the second motor are respectively used for driving two sides of the single-shaft cutter roll assembly; the first motor and the second motor are connected; the first motor comprises a first motor frequency converter and a first motor body; the second motor comprises a second motor frequency converter and a second motor body. According to the application, the first motor adopting speed control is started first, and the torque output of the first motor is used as the input torque of the second motor adopting torque control. In this way, the two motors on the two sides of the single-shaft cutter roll assembly of the crusher can keep the same output torque.

Description

Technical Field

[0001] This application relates to the field of crusher technology, specifically to a crusher with dual motors outputting balanced torque and a control method thereof. Background Technology

[0002] Crushing is the process of applying external force to the material being crushed, overcoming the cohesive forces between the material molecules, and breaking large pieces of material into smaller pieces. Crushing operations are classified according to the form of energy consumed, into mechanical energy crushing and non-mechanical energy crushing, such as electrical energy and thermal energy crushing. In industry, mechanical force is mainly used for crushing, and methods include: compression crushing, splitting, breaking, grinding, and impact crushing. Mechanical crushing is more suitable for crushing brittle and hard materials and is currently widely used in material handling processes in the mining and metallurgical industries. However, for materials with high toughness, such as rubber, the above-mentioned mechanical crushing methods are not effective in completing the crushing task.

[0003] Traditional crushers mostly use hydraulic pumps to control dual cutter shafts, crushing waste through tearing and shearing between the two shafts and the shearing action between the two shafts and the side vertical plates. However, crushers with hydraulically controlled cutter shafts are limited by the pressure capacity of the hydraulic pipes. Typically, most hydraulic pipes are limited to a working pressure of 350 bar, which restricts the output torque of the cutter shafts, thus affecting the crushing effect. Alternatively, crushers may use dual-motor driven dual cutter shafts. This can alleviate the problem of insufficient torque output caused by the pressure limitations of the hydraulic pipes to some extent. Motor-driven crushers use two motors to drive one cutter shaft, achieving greater torque output from the same motor power, thus resulting in better crushing performance.

[0004] In the prior art, Chinese invention patent application No. 201510545028.8 discloses an adjustable dual-shaft fixed-blade crusher, including a support, a motor, a reducer, a gear transmission mechanism, a crushing box, and a working shaft. The working shaft includes a first working shaft and a second working shaft, and a rotor rotating around the working shaft is mounted on the working shaft. Multiple rotating blades are mounted on the rotor, and a partition is provided between adjacent rotors. One end of the partition is fitted onto a sleeve fixed to the working shaft, and the other end is attached to the crushing box. Fixed blades are mounted on the partition and are detachably mounted on the partition. Adjustable bolts for fine-tuning the partition are provided at both ends of the crushing box. Due to uneven material distribution and material adhesion to the blades, uneven torque output from the two motors can occur, even resulting in one motor outputting positive torque while the other outputs negative torque. This can also lead to the problem of insufficient motor torque output.

[0005] Therefore, there is currently a lack of a method to avoid uneven output torque in crushers with dual motors. Summary of the Invention

[0006] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0007] The following description and accompanying drawings fully illustrate specific embodiments of the invention to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of embodiments of the invention includes the entire scope of the claims and all available equivalents thereof. In this document, each embodiment may be referred to individually or collectively with the term "invention," which is merely for convenience and is not intended to automatically limit the scope of application to any single invention or inventive concept if more than one invention is disclosed. Relational terms such as "first" and "second" are used herein only to distinguish one entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. The various embodiments described herein are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the methods, products, etc., disclosed in the embodiments, since they correspond to the method section disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the method section description.

[0008] This disclosure provides a crusher and control method with balanced torque output from two motors, which can keep the output torque of the two motors in the crusher uniform.

[0009] This disclosure provides a crusher with balanced torque output from dual motors, including a casing, a frame, and a single-shaft cutter roller assembly. Both the casing and the single-shaft cutter roller assembly are mounted on the frame. The crusher further includes a first motor with speed control and a second motor with torque control, the first and second motors respectively driving both sides of the single-shaft cutter roller assembly. The first and second motors are connected. The first motor includes a first motor frequency converter and a first motor body; the second motor includes a second motor frequency converter and a second motor body.

[0010] Preferably, the first motor and the second motor are driven by connecting to both sides of the single-shaft cutter roller assembly via a transmission belt and a reducer, respectively.

[0011] Preferably, the first motor inverter and the second motor inverter are wirelessly connected.

[0012] Preferably, the crusher further includes a dust removal device.

[0013] Secondly, the present disclosure provides a control method for a crusher, applied to the first motor of the aforementioned dual-motor crusher with balanced torque output, the method comprising:

[0014] S110, start and adjust the motor speed;

[0015] S120, obtain the output torque of the first motor;

[0016] S130 sends the output torque of the first motor to the frequency converter of the second motor.

[0017] Preferably, before the first motor inverter obtains the output torque of the first motor, the method further includes:

[0018] S111, divide the output torque into M levels, with the initial output torque as level 1 and the target output torque as level M;

[0019] After S130 sends the output torque of the first motor to the frequency converter of the second motor, it also includes:

[0020] S140, increases the output torque of the first motor by one level;

[0021] S150, cycle through S120 to S140 until the input torque is M level.

[0022] Preferably, starting and adjusting the motor speed includes:

[0023] The target speed S T As a set speed S S Configure it, start it;

[0024] After the first motor reaches a constant speed, the set speed S will be... S Adjust according to formula (1),

[0025] △S=S T -S F S S =S T +△S / n; (1)

[0026] Among them, S S To set the speed, S F For feedback speed, S F Let n be the target speed and n be the feedback adjustment coefficient.

[0027] Preferably, the range of n is 10 ≥ n ≥ 2.

[0028] Thirdly, the present disclosure provides a control method for a crusher, applied to the second motor of the aforementioned dual-motor crusher with balanced torque output, the method comprising:

[0029] S210, obtain the output torque of the first motor;

[0030] S220 uses the output torque of the first motor as the input torque of the second motor to start operation.

[0031] Preferably, the method further includes:

[0032] S230, cycle through S210 to S220 until the input torque is M level.

[0033] This disclosure provides a crusher and control method for achieving balanced torque output from dual motors. The crusher includes a first motor controlled by speed and a second motor controlled by torque. The first and second motors drive both sides of a single-shaft cutter roller assembly, respectively. This disclosure first activates the speed-controlled first motor, using its output torque as the input torque for the torque-controlled second motor. This ensures that the two motors on both sides of the single-shaft cutter roller assembly maintain the same output torque. Attached Figure Description

[0034] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0035] Figure 1 This is a schematic diagram of a crusher with balanced torque output from dual motors, provided in an embodiment of this disclosure.

[0036] Figure 2This is an interactive flowchart of a control method for a crusher provided in an embodiment of this disclosure;

[0037] Figure 3 This is an interactive flowchart of another control method for a crusher provided in an embodiment of this disclosure;

[0038] Figure label:

[0039] 1; First motor; 2; Second motor. Detailed Implementation

[0040] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0041] The following description and accompanying drawings fully illustrate specific embodiments of this application to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of embodiments of this application includes the entire scope of the claims and all available equivalents of the claims. In this document, each embodiment may be referred to individually or collectively by the term "application," which is merely for convenience and is not intended to automatically limit the scope of the application to any single application or application concept if more than one application is disclosed in fact. In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. The various embodiments described herein are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the methods, products, etc., disclosed in the embodiments, since they correspond to the method section disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the method section description.

[0042] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0043] In existing dual-shaft motor driven crushers, uneven material distribution and material adhesion to the blades can lead to uneven torque output from the two motors, or even one motor outputting positive torque while the other outputs negative torque. This can result in the motors not being able to output their full torque.

[0044] Therefore, there is currently a lack of a method to avoid the problem of uneven output torque in crushers with dual motors.

[0045] See Figure 1 This disclosure provides a crusher with balanced torque output from dual motors. The crusher includes a casing, a frame, and a single-shaft cutter roller assembly, wherein the casing and the single-shaft cutter roller assembly are both mounted on the frame. The crusher further includes:

[0046] A first motor 1 with speed control and a second motor 2 with torque control are respectively used to drive the two sides of the single-axis cutter roller assembly; the first motor 1 and the second motor 2 are connected to each other; the first motor 1 includes a first motor inverter and a first motor body; the second motor 2 includes a second motor inverter and a second motor body.

[0047] Combination Figure 2 As shown, this disclosure provides a control method for a crusher, applied to the first motor 1 of the crusher with dual motors outputting balanced torque, comprising:

[0048] S110, start and adjust the motor speed;

[0049] S120, obtain the output torque of the first motor;

[0050] S130 sends the output torque of the first motor to the frequency converter of the second motor.

[0051] Correspondingly, this disclosure provides a control method for a crusher, applied to the second motor 2 of the crusher with dual motors outputting balanced torque, comprising:

[0052] S210, obtain the output torque of the first motor;

[0053] S220 uses the output torque of the first motor as the input torque of the second motor to start operation.

[0054] It should be understood that the crusher in this embodiment is a single-shaft dual-motor mode. The two motors are positioned on either side of the single-shaft cutter roller assembly, and both motors need to output torque simultaneously to start the single-shaft cutter roller assembly rotating. In this embodiment, the two motors use different control modes, including a first motor 1 using speed control and a second motor 2 using torque control. In this embodiment, the first motor 1 will be started first. After the output torque of the first motor stabilizes, the first motor inverter sends the first motor output torque to the second motor inverter as the second motor input torque. In this way, the output torque of the first motor and the input torque of the second motor achieve a balance between the output torques of the two motors.

[0055] Typically, the first motor inverter and the second motor inverter are connected by wires. In a preferred embodiment, both the first and second motor inverters have wireless connection modules. The first and second motor inverters transmit signals through these wireless connection modules.

[0056] Furthermore, starting and adjusting the motor speed includes:

[0057] The target speed S T As a set speed S S Configure it, start it;

[0058] After the first motor reaches a constant speed, the set speed S will be... S Adjust according to formula (1),

[0059] △S=S T -S F S S =S T +△S / n; (1)

[0060] Among them, S S To set the speed, S F For feedback speed, S F Let n be the target speed and n be the feedback adjustment coefficient.

[0061] It should be understood that the set speed SS is the input speed of the first motor 1, and the feedback speed SF is the actual speed of the first motor 1. First, the target speed ST is configured as the set speed SS, while the actual feedback speed SF has an error value ΔS compared to the set speed SS. This error value ΔS is used as a compensation speed and added to the target speed ST to form the new set speed SS. The new set speed SS produces a smaller error. n is the feedback adjustment coefficient, which can be set according to the actual situation. Generally, the range of n is 10 ≥ n ≥ 2.

[0062] For example, let n be 2. Assuming the target speed ST is 1000, the initial set speed SS is also 1000. After a period of time, the speed of the first motor 1 stabilizes, and the actual feedback speed SF is 900. Then, using formula (1), the new set speed SS is calculated to be 1050. In this way, the error of the new actual feedback speed SF will be smaller.

[0063] In a preferred embodiment, see Figure 3 This disclosure provides a control method for a crusher, applied to the first motor 1 of the crusher with dual motors outputting balanced torque, comprising:

[0064] S110, start and adjust the motor speed;

[0065] S120, obtain the output torque of the first motor;

[0066] S130 sends the output torque of the first motor to the frequency converter of the second motor;

[0067] S140, increases the output torque of the first motor by one level;

[0068] S150, cycle through S120 to S140 until the input torque is M level.

[0069] Correspondingly, this disclosure provides a control method for a crusher, applied to the second motor 2 of the crusher with dual motors outputting balanced torque, comprising:

[0070] S210, obtain the output torque of the first motor;

[0071] S220, the output torque of the first motor is used as the input torque of the second motor to start operation;

[0072] S230, cycle through S210 to S220 until the input torque is M level.

[0073] It should be understood that in this embodiment, the output torque of the first motor and the input torque of the second motor increase by one level per cycle. This allows for a gradual increase. Each cycle uses the output torque of the first motor as the input torque of the second motor. Because the change in the input torque of the second motor is small, the error is also relatively small.

[0074] For example, the target output torque of the first motor and the input torque of the second motor is 500. The target output torque is divided into five levels: level one is 100, level two is 200, level three is 300, level four is 400, and level five is 500. The output torque of the first motor and the input torque of the second motor will progressively increase from level one to level five.

[0075] In another embodiment, in a crusher with dual motors outputting balanced torque, the first motor 1 and the second motor 2 are driven by connecting to both sides of the single-shaft cutter roller assembly via a transmission belt and a reducer, respectively.

[0076] Correspondingly, the control method for the crusher also includes:

[0077] Adjust the tension of the pulleys connected to the first motor 1 and the second motor 2 until the tension of the two transmission belts tends to be the same.

[0078] It should be understood that although the torque of the first motor 1 and the second motor 2 is the same, the different tensions of the pulleys in each motor's drive can produce different transmission effects on the single-blade shaft. To ensure that the same torque is transmitted to the single-blade shaft, the tension of the pulleys connected to the first motor 1 and the second motor 2 needs to be adjusted in real time.

[0079] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0080] Those skilled in the art will recognize that the system and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the apparatuses, devices, and systems described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0081] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description; sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based device that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A control method for a crusher with balanced torque output from dual motors, characterized in that: The crusher includes a casing, a frame, and a single-shaft cutter roller assembly, wherein the casing and the single-shaft cutter roller assembly are both mounted on the frame. A first motor with speed control and a second motor with torque control are used, respectively to drive both sides of the single-shaft cutter roller assembly. The first motor and the second motor are connected. The first motor includes a first motor frequency converter and a first motor body; the second motor includes a second motor frequency converter and a second motor body. The method includes: S110, start and adjust the motor speed; S120, obtain the output torque of the first motor; S130 sends the output torque of the first motor to the frequency converter of the second motor, and uses the output torque of the first motor as the input torque of the second motor to start operation.

2. The control method for a crusher with balanced torque output from dual motors according to claim 1, characterized in that: Before the first motor inverter obtains the output torque of the first motor, it also includes: S111, divide the output torque into M levels, with the initial output torque as level 1 and the target output torque as level M; After S130 sends the output torque of the first motor to the frequency converter of the second motor, it also includes: S140, increases the output torque of the first motor by one level; S150, cycle through S120 to S140 until the input torque is M level.

3. The control method for a crusher with balanced torque output from dual motors according to claim 1, characterized in that: Start and adjust the motor speed, including: The target speed S T As a set speed S S Configure it, start it; After the first motor reaches a constant speed, the set speed S will be... S Adjust according to formula (1), △S=S T -S F ,S S =S T +△S / n;(1) Among them, S S To set the speed, S F For feedback speed, S T Let n be the target speed and n be the feedback adjustment coefficient.

4. The control method for a crusher with balanced torque output from dual motors according to claim 3, characterized in that: The range of n is 10 ≥ n ≥ 2.

5. The control method for a crusher with balanced torque output from dual motors according to claim 1, characterized in that: The first motor and the second motor are driven by connecting to both sides of the single-shaft cutter roller assembly via a transmission belt and a reducer, respectively.

6. The control method for a crusher with balanced torque output from dual motors according to claim 1, characterized in that: The first motor inverter and the second motor inverter are wirelessly connected.

7. The control method for a crusher with balanced torque output from dual motors according to claim 1, characterized in that: The crusher also includes a dust removal device.

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