Multi-agent cooperative control integrated platform based on group cooperation
By using a split movable jaw and a crushing degree adjustment mechanism in ore crushing equipment, the problem of uneven force and difficulty in crushing ores of different sizes is solved, and the protection of the movable jaw and multi-size crushing are achieved. capacity, improve production efficiency.
Patent Information
- Application Number
- CN202411783625.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-06
- Publication Date
- 2025-01-07
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In existing ore crushing equipment, the moving jaw of the jaw crusher is unevenly subjected to damage, and it is difficult to crush ores of different sizes at the same time, so the equipment needs to be adjusted frequently.
Using a multi-agent collaborative control integrated platform based on group collaboration, the split movable jaw and ore crushing degree adjustment mechanism ensures that each movable jaw has support and the degree of crushing and size can be adjusted as needed.
It reduces damage to the moving jaw, and achieves the simultaneous breaking of ores of different sizes, improving production efficiency and equipment service life.
Smart Images
Figure CN119259152A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of ore crushing equipment, and in particular to a multi-agent collaborative control integrated platform based on group collaboration. Background Art
[0002] After the ore is mined, it needs to be crushed. Generally, jaw crushers are used for ore crushing. Due to the different sizes of ores, the position of the ore entering the jaw crusher cannot be determined. The ore can easily fall on the part where the movable jaw of the jaw crusher lacks support, resulting in uneven force on the movable jaw, which can easily cause damage to the movable jaw. When the jaw crusher is crushing the ore, it can only produce one size of ore each time. When ores of different sizes are needed, the staff needs to adjust the jaw crusher before it can produce output, which increases the working time. Summary of the invention
[0003] In order to overcome the shortcomings of the background technology, the present invention discloses an integrated platform for multi-agent collaborative control based on group collaboration. The present invention crushes the collected ore through an ore crushing mechanism, adopts a split movable jaw, reduces the empty part of the movable jaw, and makes each movable jaw supported, so as to avoid the ore falling on the empty part of the movable jaw and reduce the damage of the movable jaw. The ore crushing degree adjustment mechanism is used to adjust the overall or individual movable jaws, and the crushing degree of the ore can be adjusted according to the actual situation, and ores of different sizes can be crushed at the same time.
[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme: The invention discloses an integrated platform of multi-agent cooperative control based on group collaboration, comprising a frame, wherein an ore crushing mechanism is installed in the frame, and a driving mechanism is installed on the driving end of the ore crushing mechanism, and an ore crushing degree adjustment mechanism is installed on the frame, and the regulating end of the ore crushing degree adjustment mechanism is connected to the crushing end of the ore crushing mechanism. The size of the ore crushed by the ore crushing mechanism is adjusted one by one or uniformly through the ore crushing degree adjustment mechanism, so that ores of different sizes can be crushed according to production needs.
[0005] The ore crushing mechanism includes a fixed jaw part, a movable jaw part, a connecting rod, a driving shaft, a bottom connecting piece of the movable jaw part, a positioning frame and a sliding rod. There are two driving shafts, both of which are located in the frame body and arranged up and down, and both ends of the driving shafts are respectively connected to the frame wall of the frame body through the frame wall, and the driving mechanism is connected thereto. The driving shaft is rotatably connected with equidistantly arranged connecting rods, and one end of the connecting rod is connected to the movable jaw part. The bottom end of the movable jaw part is connected to the positioning frame through the bottom connecting piece of the movable jaw part, and two sliding rods are fixedly connected to the positioning frame, and the sliding rods are slidably connected to the frame wall of the frame body. The fixed jaw part is located on the frame wall inside the frame body and is fixedly connected, and the position of the fixed jaw part corresponds to the position of each movable jaw part.
[0006] The driving shaft is a crankshaft, and a connecting rod is rotatably connected to the crankshaft of the driving shaft.
[0007] The driving mechanism includes a servo motor, a first synchronous wheel, a first synchronous belt, a pulley, a motor pulley and a belt. The servo motor is located on the frame and fixedly connected, and the servo motor is connected to the motor pulley through a motor shaft. There are two pulleys, and the two pulleys are located at both ends of the upper driving shaft and fixedly connected. One of the pulleys is connected to the motor pulley through a belt. There are two groups of first synchronous wheels, and each group of first synchronous wheels has two first synchronous wheels. The two groups of first synchronous wheels are respectively located at both ends of the two driving shafts and fixedly connected, and the two first synchronous wheels on the same side are connected by a first synchronous belt.
[0008] The first synchronous wheel on the upper side is located between the belt pulley and the frame body and does not contact with each other.
[0009] The ore crushing degree adjustment mechanism includes a positioning frame, a second synchronous belt, a second synchronous wheel, a fixed block, a transmission rod, a screw and a bearing. There are two positioning frames, both of which are located on the outer wall of the frame and fixedly connected, and the positioning frames are fixedly connected with equidistantly arranged bearings, and the rotating end of the bearing is fixedly connected with a fixed block, and the fixed block is located on the transmission rod and fixedly connected, one end of the transmission rod is connected to the second synchronous wheel through a connecting piece, and the second synchronous wheels are connected by a second synchronous belt, one end of the transmission rod is located in the screw and slidably connected, and the screw is located on the frame wall of the frame and threadedly connected, and the screw is located at one end of the frame and rotatably connected to the positioning frame.
[0010] The connecting member includes a positioning block, a connecting bearing and an adjusting frame. The positioning block is located on one end of the transmission rod and is fixedly connected, and the positioning block is fixedly connected to a connecting bearing. A second synchronous wheel is fixedly connected to the rotating end of the connecting bearing. The second synchronous wheel is provided with insertion grooves arranged at equal intervals. The positioning block is also provided with an insertion groove. The adjusting frame is slidably connected in the insertion grooves on the second synchronous wheel and the positioning block.
[0011] The adjustment frame includes a square sliding rod, a toggle plate and an insertion plate. The middle position of the toggle plate is fixedly connected with the square sliding rod, and the square sliding rod is located in the insertion groove on the positioning block and is slidably connected. The insertion plates are equidistantly arranged on the toggle plate and fixedly connected, and the insertion plates are located in the insertion groove on the second synchronous wheel and are slidably connected.
[0012] The transmission rod is a cross-shaped sliding rod.
[0013] A cross-shaped sliding groove is arranged on one end of the screw rod close to the positioning frame, and the position of the cross-shaped sliding groove corresponds to the position of the transmission rod and is slidably connected thereto.
[0014] Due to the adoption of the above technical solution, the present invention has the following beneficial effects: The multi-agent collaborative control integrated platform based on group collaboration described in the present invention crushes the collected ore through an ore crushing mechanism, adopts a split movable jaw part, reduces the empty part of the movable jaw part, and makes each movable jaw part have support, thereby preventing the ore from falling on the empty part of the movable jaw part and reducing the damage of the movable jaw part. The ore crushing degree adjustment mechanism can be used to adjust the overall or individual adjustment of each movable jaw part, and the crushing degree of the ore can be adjusted according to the actual situation, and ores of different sizes can be crushed at the same time. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 is a first cross-sectional view of the present invention; Figure 3 is a second cross-sectional view of the present invention; Figure 4 for Figure 3 A schematic diagram of the enlarged structure of the present invention; 1. Frame; 2. Driving mechanism; 201. Servo motor; 202. First synchronous wheel; 203. First synchronous belt; 204. Pulley; 3. Ore crushing mechanism; 301. Fixed jaw; 302. Moving jaw; 303. Connecting rod; 304. Driving shaft; 305. Connecting piece at the bottom of the moving jaw; 306. Positioning frame; 307. Sliding rod; 4. Ore crushing degree adjustment mechanism; 401. Positioning frame; 402. Second synchronous belt; 403. Second synchronous wheel; 404. Fixed block; 405. Adjusting frame; 406. Transmission rod; 407. Screw; 408. Bearing. DETAILED DESCRIPTION
[0016] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.
[0017] Combined with Figures 1 to 4The multi-agent collaborative control integrated platform based on group collaboration includes a frame 1, in which an ore crushing mechanism 3 is installed, and a driving mechanism 2 is installed on the driving end of the ore crushing mechanism 3, and an ore crushing degree adjustment mechanism 4 is installed on the frame 1, and the regulating end of the ore crushing degree adjustment mechanism 4 is connected to the crushing end of the ore crushing mechanism 3. The size of the ore crushing by the ore crushing mechanism 3 is adjusted one by one or uniformly through the ore crushing degree adjustment mechanism 4, and ores of different sizes can be crushed according to production needs. All equipment in the driving mechanism 2 is connected to an external power supply, and all equipment in the driving mechanism 2 is controlled by the external power supply to work.
[0018] The ore crushing mechanism 3 includes a fixed jaw part 301, a movable jaw part 302, a connecting rod 303, a driving shaft 304, a bottom connecting piece 305 of the movable jaw part, a positioning frame 306 and a sliding rod 307. The number of the driving shafts 304 is two. The two driving shafts 304 are both located in the frame body 1 and arranged up and down, and the two ends of the driving shafts 304 pass through the frame wall of the frame body 1 and are connected to the driving mechanism 2. The driving shafts 304 are rotatably connected with equidistantly arranged connecting rods 303, and one end of the connecting rods 303 is connected to the movable jaw part. 302 is connected, the bottom end of the movable jaw 302 is connected to the positioning frame 306 through the bottom connecting piece 305 of the movable jaw, and two sliding rods 307 are fixedly connected to the positioning frame 306, and the sliding rods 307 are slidably connected to the frame wall of the frame body 1, the fixed jaw 301 is located on the frame wall inside the frame body 1 and is fixedly connected, and the position of the fixed jaw 301 corresponds to the position of each movable jaw 302, and the bottom connecting piece 305 of the movable jaw adopts the connecting piece of the existing movable jaw of the jaw crusher, which is an existing connecting device.
[0019] The driving shaft 304 is a crankshaft, and a connecting rod 303 is rotatably connected to the crank of the driving shaft 304 .
[0020] The driving mechanism 2 includes a servo motor 201, a first synchronous wheel 202, a first synchronous belt 203, a pulley 204, a motor pulley and a belt. The servo motor 201 is located on the frame 1 and is fixedly connected, and the servo motor 201 is connected to the motor pulley through the motor shaft. There are two pulleys 204, and the two pulleys 204 are located at both ends of the upper driving shaft 304 and are fixedly connected. One of the pulleys 204 is connected to the motor pulley through a belt. There are two groups of first synchronous wheels 202, and the number of each group of first synchronous wheels 202 is two. The two groups of first synchronous wheels 202 are respectively located at both ends of the two driving shafts 304 and are fixedly connected, and the two first synchronous wheels 202 on the same side are connected by the first synchronous belt 203.
[0021] The first synchronous wheel 202 on the upper side is located between the pulley 204 and the frame 1 and does not contact each other.
[0022] The ore crushing degree adjustment mechanism 4 includes a positioning frame 401, a second synchronous belt 402, a second synchronous wheel 403, a fixed block 404, a transmission rod 406, a screw 407 and a bearing 408. There are two positioning frames 401. The two positioning frames 401 are both located on the outer wall of the frame body 1 and fixedly connected, and the positioning frames 401 are fixedly connected with equidistantly arranged bearings 408. The rotating end of the bearing 408 is fixedly connected with a fixed block 404, and the fixed block 404 is located on the transmission rod 406 and fixedly connected. One end of the transmission rod 406 is connected to the second synchronous wheel 403 through a connecting piece, and the second synchronous wheels 403 are connected through the second synchronous belt 402. One end of the transmission rod 406 is located in the screw 407 and is slidably connected, and the screw 407 is located on the frame wall of the frame body 1 and is threadedly connected. The screw 407 is located at one end of the frame body 1 and is rotatably connected to the positioning frame 306.
[0023] The connecting member includes a positioning block, a connecting bearing and an adjusting frame 405. The positioning block is located on one end of the transmission rod 406 and is fixedly connected, and a connecting bearing is fixedly connected to the positioning block. A second synchronous wheel 403 is fixedly connected to the rotating end of the connecting bearing. The second synchronous wheel 403 is provided with insertion grooves arranged at equal intervals. The positioning block is also provided with an insertion groove. The adjusting frame 405 is slidably connected in the insertion grooves on the second synchronous wheel 403 and the positioning block.
[0024] The adjustment frame 405 includes a square sliding rod, a toggle plate and an insertion plate. The square sliding rod is fixedly connected to the middle position of the toggle plate, and the square sliding rod is located in the insertion groove on the positioning block and is slidably connected. The insertion plates are equidistantly arranged on the toggle plate and fixedly connected, and the insertion plates are located in the insertion groove on the second synchronous wheel 403 and are slidably connected.
[0025] The transmission rod 406 is a cross-shaped sliding rod.
[0026] A cross-shaped sliding groove is provided on one end of the screw rod 407 close to the positioning frame 401 , and the position of the cross-shaped sliding groove corresponds to the position of the transmission rod 406 and is slidably connected thereto.
[0027] The multi-agent collaborative control integrated platform based on group collaboration, when in use, the staff adjusts the movable jaw 302 according to work needs. When unified adjustment is required, the staff rotates one of the second synchronous wheels 403 through the adjustment frame 405, and the second synchronous wheel 403 drives the other second synchronous wheels 403 to rotate through the second synchronous belt 402, and the second synchronous wheel 403 drives the screw 407 to rotate through the transmission rod 406, and the positioning frame 306 is driven to move through the screw 407, and the range of movement of the movable jaw 302 is controlled by the movement of the positioning frame 306 to adjust the size of the ore crushing. When the movable jaw 302 needs to be adjusted one by one, the adjustment frame 405 is moved to disengage the insertion plate on the adjustment frame 405 from the second synchronous wheel 403, and the square sliding rod on the adjustment frame 405 drives the transmission rod 406 to rotate, so that the movable range of a single movable jaw 302 can be adjusted, and ores of different sizes can be crushed. The servo motor 201 drives the motor pulley 204 to rotate through the motor pulley and belt, and the motor pulley 204 drives the movable jaw 302 to move through the drive shaft 304, and the ore is squeezed onto the fixed jaw 301 through the movement of the movable jaw 302 to crush the ore.
[0028] The parts of the present invention that are not described in detail are prior art. Although the present invention is specifically demonstrated and introduced in conjunction with the preferred implementation scheme, there are many methods and approaches to specifically implement the technical solution. The above is only a preferred implementation scheme of the present invention, but technical personnel in the relevant field should understand that various changes can be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined in the attached claims, and all of them are within the scope of protection of the present invention.
Claims
1. A multi-agent collaborative control integrated platform based on group collaboration, comprising a frame (1), characterized by: An ore crushing mechanism (3) is installed in the frame (1), and a driving mechanism (2) is installed on the driving end of the ore crushing mechanism (3). An ore crushing degree adjustment mechanism (4) is installed on the frame (1), and the regulating end of the ore crushing degree adjustment mechanism (4) is connected to the crushing end of the ore crushing mechanism (3). The size of the ore crushed by the ore crushing mechanism (3) is adjusted one by one or uniformly through the ore crushing degree adjustment mechanism (4), so that ores of different sizes can be crushed according to production needs.
2. The multi-agent collaborative control integrated platform based on group collaboration according to claim 1 is characterized by: The ore crushing mechanism (3) comprises a fixed jaw (301), a movable jaw (302), a connecting rod (303), a driving shaft (304), a movable jaw bottom connecting piece (305), a positioning frame (306) and a sliding rod (307), wherein the number of the driving shafts (304) is two, the two driving shafts (304) are both located in the frame body (1) and arranged up and down, and the two ends of the driving shaft (304) respectively pass through the frame wall of the frame body (1) and are connected to the driving mechanism (2), and the driving shaft (304) is rotatably connected to the connecting rods (304) arranged equidistantly. A connecting rod (303) is provided, and one end of the connecting rod (303) is connected to the movable jaw (302); the bottom end of the movable jaw (302) is connected to a positioning frame (306) via a movable jaw bottom connecting piece (305); and the positioning frame (306) is fixedly connected to two sliding rods (307); the sliding rods (307) are slidably connected to a frame wall of the frame body (1); the fixed jaw (301) is located on the frame wall inside the frame body (1) and is fixedly connected; and the position of the fixed jaw (301) corresponds to the position of each movable jaw (302).
3. The multi-agent collaborative control integrated platform based on group collaboration according to claim 2 is characterized by: The driving shaft (304) is a crankshaft, and a connecting rod (303) is rotatably connected to a crankshaft of the driving shaft (304).
4. The multi-agent collaborative control integrated platform based on group collaboration according to claim 1 is characterized by: The driving mechanism (2) comprises a servo motor (201), a first synchronous wheel (202), a first synchronous belt (203), a pulley (204), a motor pulley and a belt. The servo motor (201) is located on the frame (1) and is fixedly connected, and the servo motor (201) is connected to the motor pulley via a motor shaft. There are two pulleys (204), and the two pulleys (204) are located at both ends of an upper drive shaft (304) and are fixedly connected. One of the pulleys (204) is connected to the motor pulley via a belt. There are two groups of first synchronous wheels (202), and each group of first synchronous wheels (202) has two first synchronous wheels. The two groups of first synchronous wheels (202) are respectively located at both ends of two drive shafts (304) and are fixedly connected, and the two first synchronous wheels (202) on the same side are connected via a first synchronous belt (203).
5. The multi-agent collaborative control integrated platform based on group collaboration according to claim 4 is characterized by: The first synchronous wheel (202) on the upper side is located between the belt pulley (204) and the frame (1) and does not contact the belt pulley (204) and the frame (1).
6. The multi-agent collaborative control integrated platform based on group collaboration according to claim 1 is characterized by: The ore crushing degree adjustment mechanism (4) comprises a positioning frame (401), a second synchronous belt (402), a second synchronous wheel (403), a fixed block (404), a transmission rod (406), a screw (407) and a bearing (408), wherein the number of the positioning frames (401) is two, the two positioning frames (401) are both located on the outer wall of the frame body (1) and are fixedly connected, and the positioning frames (401) are fixedly connected to bearings (408) arranged at equal distances, and the rotating end of the bearing (408) is fixedly connected to the fixed block (404). 04), and the fixed block (404) is located on the transmission rod (406) and is fixedly connected, one end of the transmission rod (406) is connected to the second synchronous wheel (403) through a connecting piece, and the second synchronous wheels (403) are connected to each other through a second synchronous belt (402), one end of the transmission rod (406) is located in the screw rod (407) and is slidably connected, and the screw rod (407) is located on the frame wall of the frame body (1) and is threadedly connected, and one end of the screw rod (407) is located on the frame body (1) and is rotatably connected to the positioning frame (306).
7. The multi-agent collaborative control integrated platform based on group collaboration according to claim 6 is characterized by: The connecting member comprises a positioning block, a connecting bearing and an adjusting frame (405); the positioning block is located on one end of a transmission rod (406) and is fixedly connected thereto; the connecting bearing is fixedly connected to the positioning block; a second synchronous wheel (403) is fixedly connected to the rotating end of the connecting bearing; the second synchronous wheel (403) is provided with insertion grooves arranged at equal intervals; the positioning block is also provided with an insertion groove; the adjusting frame (405) is slidably connected in the insertion grooves on the second synchronous wheel (403) and the positioning block.
8. The multi-agent collaborative control integrated platform based on group collaboration according to claim 7 is characterized by: The adjustment frame (405) comprises a square sliding rod, a toggle plate and an insertion plate, wherein the middle position of the toggle plate is fixedly connected to the square sliding rod, and the square sliding rod is located in an insertion groove on the positioning block and is slidably connected, and the insertion plates are equidistantly arranged on the toggle plate and are fixedly connected, and the insertion plates are located in an insertion groove on the second synchronous wheel (403) and are slidably connected.
9. The multi-agent collaborative control integrated platform based on group collaboration according to claim 6 is characterized by: The transmission rod (406) is a cross-shaped sliding rod.
10. The multi-agent collaborative control integrated platform based on group collaboration according to claim 6 is characterized by: A cross-shaped sliding groove is provided on one end of the screw rod (407) close to the positioning frame (401), and the position of the cross-shaped sliding groove corresponds to the position of the transmission rod (406) and is slidably connected thereto.