Lifting rake control method

Abstract

The invention provides a lifting rake control method which comprises the following steps: in response to starting of a production system of a coal preparation plant and starting of a driving motor in a concentration tank of the coal preparation plant, controlling a thickener to execute at least one round of rake lifting action on a rake frame in the concentration tank; for any round of rake lifting action, under the condition that it is determined that a filter at the downstream of the concentration tank is started, the current round thickness of coal slime in the concentration tank, the current round height of a rake frame and the current round of a driving motor are obtained; based on the thickness of the current wheel, the height of the current wheel and the current of the current wheel, the first target height of the current wheel to which the rake frame descends under the rake descending action is determined; the thickener is controlled to execute a rake descending action on the rake frame, so that the rake frame descends to the first target height of the wheel; and when the rake frame descends to the first target height of the current wheel and the target current of the current wheel of the driving motor is not greater than the first set threshold value, the thickener is controlled to execute the next wheel of rake lifting action on the rake frame, the thickener is accurately controlled to execute the rake lifting action on the rake frame, and automatic adjustment of the height of the rake frame is realized.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent mining, and in particular to a lifting rake control method. Background Art

[0002] The thickening tank is an important equipment in a coal preparation plant (also known as a washing plant or coal washing plant), which is mainly used to dehydrate concentrate or tailings. In the thickening tank, the solid particles suspended in the coal slime water settle under the action of gravity, and the upper part is called clarified water, thus achieving solid-liquid separation. The lifting rake plays a key role in this process, mainly reflected in: 1. The lifting rake operation can continuously scrape and discharge the settled solid particles at the bottom of the thickening tank to ensure the solid-liquid separation effect.

[0003] 2. The rake raising and lowering operation can adjust the capacity of the thickening tank. When the capacity of the thickening tank needs to be increased, the height of the rake frame can be lowered to allow more coal slurry to enter the thickening tank for sedimentation; conversely, when the capacity of the thickening tank needs to be reduced, the height of the rake frame can be raised to discharge part of the sediment.

[0004] 3. The lifting rake operation can avoid excessive accumulation of coal slime at the bottom and effectively prevent the occurrence of rake pressure failure, thereby reducing equipment failure rate, reducing the risk of production interruption and maintenance costs.

[0005] 4. Timely operation of the lifting rake can ensure that the appropriate sediment concentration is always maintained in the concentration tank, thereby improving production efficiency. If the lifting rake is not operated in time, it may cause the sediment concentration to be too high or too low, affecting the solid-liquid separation effect and subsequent treatment process. Therefore, timely lifting and lowering the rake is essential to maintain a smooth production process and improve overall production efficiency.

[0006] 5. The operation of the lifting rake can also ensure the safety of the concentration tank and related equipment. When abnormal conditions occur in the concentration tank, such as overload, blockage, etc., the timely lifting of the rake can quickly respond and deal with it to avoid equipment damage or safety accidents.

[0007] It can be seen that precise control of the lifting and lowering of the rake frame in the thickening tank of the coal preparation plant is very important for maintaining the production safety and sustainability of the coal preparation plant. Summary of the invention

[0008] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0009] To this end, the first object of the present application is to provide a lifting rake control method.

[0010] The second object of the present application is to provide a lifting rake control device.

[0011] The third objective of the present application is to provide an electronic device.

[0012] A fourth objective of the present application is to provide a computer-readable storage medium.

[0013] A fifth object of the present application is to provide a computer program product.

[0014] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a method for controlling a lifting rake, comprising: in response to the start of a coal preparation plant production system and the start of a drive motor in a thickening tank of the coal preparation plant, controlling a thickener in the thickening tank to perform at least one round of lifting rake action on a rake frame in the thickening tank; wherein the lifting rake action includes a lowering rake action; for any round of the lifting rake action, when determining that a filter downstream of the thickening tank is started, obtaining the current round thickness of the coal slime in the thickening tank, the current round height of the rake frame, and the current round current of the drive motor; based on the current round thickness, the current round height, and the current round current, determining the current round first target height to which the rake frame descends under the rake lowering action; controlling the thickener to perform a rake lowering action on the rake frame so that the rake frame descends to the current round first target height; in response to the rake frame descending to the current round first target height, obtaining the current round target current of the drive motor; in response to the current round target current being not greater than a first set threshold, controlling the thickener to perform the next round of the lifting rake action on the rake frame.

[0015] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a lifting rake control device, the device comprising: A first control module is used for controlling the thickener in the thickening tank to perform at least one round of lifting and lowering action on the rake frame in the thickening tank in response to the start of the production system of the coal preparation plant and the start of the driving motor in the thickening tank of the coal preparation plant; wherein the lifting and lowering action includes a lowering action; The first acquisition module is used for acquiring the current round thickness of the coal slime in the thickening tank, the current round height of the rake frame, and the current round current of the driving motor for any round of the lifting rake action, when it is determined that the filter downstream of the thickening tank is started; A first determination module is used to determine a first target height of the current round to which the rake frame descends in a rake lowering action based on the current round thickness, the current round height and the current of the current round; A second control module is used to control the concentrator to perform a rake lowering action on the rake frame, so that the rake frame is lowered to the first target height of the current round; A second acquisition module, configured to acquire a current round target current of the drive motor in response to the rake frame descending to the current round first target height; The third control module is used for controlling the concentrator to perform the next round of the rake lifting action on the rake frame in response to the target current of the current round being not greater than the first set threshold value.

[0016] To achieve the above-mentioned purpose, the third aspect embodiment of the present application proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method described in the first aspect embodiment above.

[0017] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present application proposes a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the method described in the first aspect embodiment above.

[0018] To achieve the above-mentioned purpose, the fifth aspect of the present application proposes a computer program product, including a computer program, which, when executed by a processor, implements the method described in the first aspect of the present application.

[0019] The present application provides a method for controlling a rake lift, which controls a concentrator in a concentrating tank to perform at least one round of rake lift action on a rake frame in the concentrating tank in response to the start of a production system of a coal preparation plant and the start of a drive motor in a concentrating tank of the coal preparation plant; wherein the rake lift action includes a rake lowering action; for any round of rake lift action, upon determining that a filter downstream of the concentrating tank is started, obtain the current round thickness of the coal slime in the concentrating tank, the current round height of the rake frame, and the current round current of the drive motor; determine the first target height of the current round to which the rake frame descends under the rake lowering action based on the current round thickness, the current round height, and the current round current; control the concentrator to perform a rake lowering action on the rake frame so that the rake frame descends to the first target height of the current round; obtain the current round target current of the drive motor in response to the rake frame descending to the first target height of the current round; and control the concentrator to perform the next round of rake lift action on the rake frame in response to the target current of the current round being not greater than a first set threshold. Therefore, based on the startup status of the coal preparation plant equipment, the thickness of the coal slime, the height of the rake frame and the current of the driving motor, the concentrator in the concentrating tank is accurately controlled to perform the lifting and lowering action of the rake frame, thereby realizing automatic adjustment of the rake frame height, optimizing the sedimentation and concentration process of the coal slime, improving the coal preparation efficiency, reducing equipment, and at the same time, reducing human resource consumption and the risk of failure caused by manual operation errors, thereby improving the stability and production efficiency of the coal preparation plant production system.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic flow chart of a lifting rake control method provided in one embodiment of the present application; Figure 2 Schematic diagram of the concentration tank and its equipment provided for this application; Figure 3 A schematic flow chart of a lifting rake control method provided by another embodiment of the present application; Figure 4 A schematic flow chart of a lifting rake control method provided by another embodiment of the present application; Figure 5 A schematic flow chart of a lifting rake control method provided by another embodiment of the present application; Figure 6 A schematic flow chart of a lifting rake control method provided in this application; Figure 7 A flow chart of another lifting rake control method provided in this application; Figure 8 A flow chart of another lifting rake control method provided in this application; Fig. 9 This is a schematic structural diagram of a lifting rake control device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0023] The following describes the lifting rake control method according to the embodiment of the present application with reference to the accompanying drawings.

[0024] Figure 1 A schematic flow chart of a lifting rake control method provided in an embodiment of the present application.

[0025] The embodiment of the present application takes the lifting rake control method configured in a lifting rake control device as an example. The lifting rake control device can be applied to any electronic device so that the electronic device can perform the lifting rake control function.

[0026] Among them, the electronic device can be any device with computing capabilities, such as a personal computer (PC), an industrial computer, a host computer, a mobile terminal, a server, etc. The mobile terminal can be, for example, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, and other hardware devices with various operating systems, touch screens and / or display screens.

[0027] like Figure 1 As shown, the method comprises the following steps: Step S101, in response to the start of the coal preparation plant production system and the start of the driving motor in the thickening tank of the coal preparation plant, the thickener in the thickening tank is controlled to perform at least one round of lifting and lowering action on the rake frame in the thickening tank.

[0028] In the embodiment of the present application, the rake lifting action may include a rake lowering action, wherein when the rake lowering action is performed on the rake frame, the rake frame may be driven to move downward from a higher position. It should be noted that when the rake lowering action is performed on the rake frame, the rake frame may be driven to rotate, or the rake frame may not be driven to rotate.

[0029] Optionally, the lifting and lowering raking action may also include a lifting raking action, a rotating action only, and the like.

[0030] Among them, when the rake frame is raised, the rake frame moves upward from a lower position. It should be noted that when the rake frame is raised, similar to the rake lowering action, the rake frame can be driven to rotate, or it may not be driven to rotate, and the present application does not impose any restrictions on this.

[0031] When the rake frame is subjected to only the rotation action, the rake frame only rotates at a certain position.

[0032] In the embodiment of the present application, a coal preparation plant (also known as a coal washing plant) may be provided with a corresponding thickening tank, and the thickening tank may be provided with a corresponding thickener, a driving motor, and a rake.

[0033] In the embodiment of the present application, when the production system of the coal preparation plant is started and the driving motor in the thickening tank of the coal preparation plant is started, the thickener in the thickening tank can be controlled to perform at least one round of lifting and lowering action on the rake frame in the thickening tank.

[0034] Taking the production scenario of a coal preparation plant as an example, when the start signal of the production system of the coal preparation plant indicates to start the machine, the drive motor of the concentrator is started first to control the concentrator to drive the rake frame to rotate (it should be noted that at this time, it is prohibited to drive the rake frame to rise or fall), and then the concentrator can be controlled to perform lifting and lowering actions on the rake frame, for example, until the start signal of the production system indicates to stop.

[0035] Step S102, for any round of lifting and lowering rake action, when it is determined that the filter downstream of the thickening tank is started, the current round thickness of the coal slime in the thickening tank, the current round height of the rake frame, and the current round current of the driving motor are obtained.

[0036] In the embodiment of the present application, a filter (also called a pressure filter) may be provided downstream of the concentration tank.

[0037] As an example, the thickening tank and equipment layout of the coal preparation plant is shown in Figure 2, where the thickening tank is equipped with main equipment such as a rake, a thickener, a hydraulic station (also known as a lifting hydraulic station), a hydraulic cylinder, a coal slime interface meter (also known as a sludge interface meter), and a displacement sensor. Among them, the thickening tank is a core facility specially used to contain and treat coal slime water, and also bears the important responsibility of supporting the stable operation of the thickener; the rake is the equipment of the drive device under the thickener, which mainly pushes the coal slime in the thickening tank to the middle, and also accelerates the rapid mixing of coal slime water and reagents to settle the coal slime; the thickener is the power output device that drives the rake; the lifting hydraulic station is the power output device that realizes the lifting and lowering of the thickener; the hydraulic cylinder is the connection between the thickener and the thickening tank bracket, which is mainly used to lift and lower the thickener; the displacement sensor is mainly used to monitor the lifting and lowering position of the thickener; the coal slime interface meter is used to monitor the coal slime content in the thickening tank.

[0038] In an embodiment of the present application, in the process of controlling the thickener to perform any round of lifting and lowering action of the rake frame, in order to ensure safe production, it is first necessary to determine whether the filter downstream of the thickening tank is started. When it is determined that the filter downstream of the thickening tank is started, the coal slime, the rake frame and the drive motor in the thickening tank can be monitored to obtain the current round thickness of the coal slime, the current round height of the rake frame and the current round current of the drive motor. For example, the coal slime in the thickening tank can be monitored by a coal slime interface meter, the rake frame can be monitored by a displacement sensor, and the drive motor can be monitored by a current sensor, so as to obtain the current round thickness of the coal slime, the current round height of the rake frame and the current round current of the drive motor.

[0039] Step S103, based on the current round thickness, the current round height and the current round, determining the first target height of the current round to which the rake frame descends in the rake lowering action.

[0040] In the embodiment of the present application, when controlling the concentrator to perform any round of rake raising and lowering action on the rake frame, the first target height of the current round to which the rake frame descends in the rake lowering action can be determined based on the current round height and current.

[0041] In order to clearly explain how to determine the first target height of this round to which the rake frame descends in the rake lowering action based on the thickness of this round, the height of this round and the current of this round, in a possible implementation method of an embodiment of the present application, it is determined whether the concentrator performs the rake lowering action based on the height of this round and the current of this round; when it is determined that the concentrator performs the rake lowering action, the first target height of this round to which the rake frame descends in the rake lowering action is determined based on the thickness of this round.

[0042] In the embodiment of the present application, whether the concentrator performs the rake lowering action can be determined based on the current round height and current of the current round.

[0043] As a possible implementation, when the height of the current wheel is greater than the third set height threshold and the current of the current wheel is not greater than the fourth set threshold, it is determined that the concentrator performs the rake lowering action. The third set height threshold can be pre-set, such as 0, 5 cm, 10 cm, etc., and the present application does not limit this; the fourth set threshold can be pre-set, such as the set minimum value I of the driving motor current value. 下限 ,etc.

[0044] As an example, when the current wheel height L>0 and the current wheel current I≤I 下限 When the thickener is in the rake lowering action, it is determined.

[0045] It should be noted that the current of the driving motor can directly reflect the load condition of the equipment. When the current is small, it indicates that the resistance to the rake frame is small. At this time, performing the rake lowering action can effectively avoid mechanical damage or motor overload risks caused by forced operation under high load, which helps to extend the life of the equipment. The "rake pressure" phenomenon of the concentrator is often caused by excessive accumulation of sludge at the bottom of the thickening tank, which causes the rake frame to get stuck. By monitoring the current changes and lowering the rake in time when the current is small, the sludge discharge speed can be adjusted, which can effectively avoid failures caused by excessive sludge deposition, and can also effectively reduce the energy consumption of the rake lowering process. ‌‌

[0046] Optionally, when the height of this round is not greater than the third set height threshold, it indicates that the height of the rake frame is low, and the concentrator can be controlled to perform only a rotation action on the rake frame to scrape and discharge the coal slime; when the current of this round is greater than the fourth set threshold, it indicates that the resistance encountered by the rake frame is not a small state, and the current of the drive motor can continue to be monitored, and the concentrator can be controlled to perform only a rotation action on the rake frame to scrape and discharge the coal slime.

[0047] In the embodiment of the present application, when it is determined that the concentrator performs a rake lowering action, the first target height of the current round to which the rake frame descends in the rake lowering action can be determined based on the thickness of the current round.

[0048] As a possible implementation, when the thickness of the current round is greater than a set thickness threshold, the first target height of the current round to which the rake frame descends in the rake lowering action is determined according to the height of the current round.

[0049] The thickness threshold may be preset, such as 500 mm, 600 mm, etc., and this application does not impose any restrictions on this.

[0050] As an example, assuming that the thickness of the current wheel is h and the height of the current wheel is L, when the thickness of the current wheel h is greater than the set thickness threshold (for example, 500 mm) and the height of the current wheel L is greater than the set height increment ΔL, the first target height L'1 of the current wheel to which the rake frame descends in the rake lowering action can be determined according to the following formula: L'1=L-ΔL; (1) Among them, the height increment is set in advance, and this application does not limit its value.

[0051] When the thickness h of the current round is not greater than the set thickness threshold, and the height L of the current round is greater than the set height increment ΔL, the first target height L'2 of the current round to which the rake frame descends in the rake lowering action can be determined according to the following formula: L'2 = L - ΔL + ΔL'; (2) The value of ΔL' is preset, for example, it can be 2 cm, 1 cm, etc., and this application does not impose any limitation on this.

[0052] It should be noted that the above method for determining the first target height of the current round to which the rake frame descends during the rake lowering action is merely exemplary. In practical applications, other methods may be used, and the present application does not impose any limitation thereto.

[0053] Step S104, controlling the concentrator to perform a rake lowering action on the rake frame, so that the rake frame is lowered to the first target height of this round.

[0054] In the embodiment of the present application, the concentrator can be controlled to perform a rake lowering action on the rake frame, so that the rake frame is lowered to the first target height of this round. Specifically, the concentrator drive motor can be controlled to drive the rake frame to lower, so that the rake frame is lowered to the first target height of this round.

[0055] In order to clearly explain how to control the concentrator to perform the rake lowering action on the rake frame, in a possible implementation method of the embodiment of the present application, when the first time length is not less than the first set time length, the hydraulic station in the concentrating tank is started, and the first timer is started; wherein the first time length can be used to indicate the time length that the rake frame is at the height of the current wheel; when the value of the first timer is not less than the second set time length, the descending solenoid valve is opened to control the concentrator to drive the rake frame to descend.

[0056] Among them, the first set time length can be pre-set, such as 2 minutes, 2.5 minutes, etc., and this application does not impose any restrictions on this.

[0057] Among them, the second set time length can be pre-set, such as 5s, 6s, etc., and this application does not impose any restrictions on this.

[0058] Specifically, when the first time length that the rake frame is at the height of the current wheel is not less than the first set time length, it indicates that the time length that the rake frame is at the height of the current wheel meets the requirement. At this time, the hydraulic station in the concentrating tank can be started first to provide power to the concentrator through the hydraulic station, and the first timer can be started at the same time; when the value of the first timer is not less than the second set time length, it indicates that the hydraulic station has accumulated enough power. At this time, the descending solenoid valve can be opened to control the concentrator to drive the rake frame to descend.

[0059] Step S105 , in response to the rake frame descending to the first target height of this round, obtaining the target current of the driving motor of this round.

[0060] In the embodiment of the present application, when the rake frame descends to the first target height of this round, the target current of the drive motor of this round can be obtained.

[0061] For example, the current of the driving motor when the rake frame descends to the first target height of this round can be determined as the target current of this round.

[0062] As a possible implementation method, when the rake frame descends to the first target height of this round, the descending solenoid valve is closed and the second timer is started; when the value of the second timer is not less than the third set time length, the hydraulic station is closed and the current current of the drive motor is obtained; the current current of the drive motor is determined as the target current of this round.

[0063] Among them, the third set time length can be pre-set, such as 5s, 6s, etc., and this application does not impose any restrictions on this.

[0064] Specifically, when the rake frame descends to the first target height of this round, the descent solenoid valve can be closed first to cut off the descending power of the rake frame; and at the same time as closing the descent solenoid valve, the second timer is started. When the value of the second timer is not less than the third set time, the hydraulic station is closed again, and the current current of the drive motor is obtained, and the current current of the drive motor is determined as the target current of this round.

[0065] Therefore, closing the descending solenoid valve first and then closing the hydraulic station after a certain period of time can ensure the safe closure of the hydraulic station and the solenoid valve, effectively avoiding equipment damage or failure caused by instantaneous power loss; at the same time, effectively obtaining the target current of this round.

[0066] Step S106, in response to the current round target current being not greater than the first set threshold value, controlling the concentrator to perform the next round of lifting and lowering action on the rake frame.

[0067] The first set threshold value may be preset. For example, the first set threshold value may be a set minimum value I of the current value of the driving motor. 下限 , this application does not restrict its value.

[0068] In the embodiment of the present application, when the target current of this round is not greater than the first set threshold value, it indicates that the resistance encountered by the rake frame is small and the load of the driving motor is low. In order to effectively scrape and discharge the coal slime deposited at the bottom of the thickening tank, the thickener can be controlled to perform the next round of lifting and lowering action on the rake frame.

[0069] The lifting rake control method of the embodiment of the present application controls the concentrator in the concentrating tank to perform at least one round of lifting rake action on the rake frame in the concentrating tank in response to the start of the coal preparation plant production system and the start of the drive motor in the concentrating tank of the coal preparation plant; wherein the lifting rake action includes a lowering rake action; for any round of lifting rake action, when it is determined that the filter downstream of the concentrating tank is started, the current round thickness of the coal slime in the concentrating tank, the current round height of the rake frame, and the current round current of the drive motor are obtained; based on the current round thickness, the current round height and the current round current, the first target height of the rake frame to which the rake frame descends under the rake lowering action is determined; the concentrator is controlled to perform the rake lowering action on the rake frame so that the rake frame descends to the first target height of the current round; in response to the rake frame descending to the first target height of the current round, the current round target current of the drive motor is obtained; in response to the current round target current being not greater than the first set threshold, the concentrator is controlled to perform the next round of lifting rake action on the rake frame. Therefore, based on the startup status of the coal preparation plant equipment, the thickness of the coal slime, the height of the rake frame and the current of the driving motor, the concentrator in the concentrating tank is accurately controlled to perform the lifting and lowering action of the rake frame, thereby realizing automatic adjustment of the rake frame height. This can optimize the sedimentation and concentration process of the coal slime, improve coal preparation efficiency, reduce the risk of equipment failure, and enhance the stability and production efficiency of the coal preparation plant production system. At the same time, it can also reduce human resource consumption and manual operation errors.

[0070] In the case where the rake lifting action also includes a rake raising action, the present application also proposes a rake lifting control method.

[0071] Figure 3 A schematic flow chart of a lifting rake control method provided in another embodiment of the present application.

[0072] like Figure 3 As shown, the method may include the following steps: Step S301, in response to the start of the coal preparation plant production system and the start of the driving motor in the thickening tank of the coal preparation plant, the thickener in the thickening tank is controlled to perform at least one round of lifting and lowering action on the rake frame in the thickening tank.

[0073] Step S302, for any round of lifting rake action, when it is determined that the filter downstream of the thickening tank is started, the current round thickness of the coal slime in the thickening tank, the current round height of the rake frame, and the current round current of the driving motor are obtained.

[0074] Step S303, based on the current round thickness, the current round height and the current round, determining the first target height of the current round to which the rake frame descends in the rake lowering action.

[0075] Step S304, controlling the concentrator to perform a rake lowering action on the rake frame, so that the rake frame is lowered to the first target height of this round.

[0076] Step S305 , in response to the rake frame descending to the first target height of this round, obtaining the target current of the driving motor of this round.

[0077] Step S306, in response to the target current of this round being not greater than the first set threshold value, controlling the concentrator to perform the next round of lifting and lowering action on the rake frame.

[0078] It should be noted that the execution process of steps S301 to S306 can refer to the execution process of any embodiment of the present application and will not be repeated here.

[0079] Step S307 , in response to the target current of this round being not less than the second set threshold, monitoring the current of the driving motor and the height of the rake frame.

[0080] The second set threshold value may be preset. For example, the second set threshold value may be a set maximum value I of the driving motor current value. 上限 , this application does not restrict its value.

[0081] In the embodiment of the present application, when the target current of this round is not less than the second set threshold, it indicates that the drive motor is under high load and the rake frame is subject to large resistance. The current of the drive motor and the height of the rake frame can continue to be monitored.

[0082] Step S308, in response to monitoring that the duration of the drive motor in the first state is not less than the fourth set duration, and the duration of the rake frame at the position of the first target height of this round is not less than the fourth set duration, determine the second target height of this round to which the rake frame rises in the rake raising action; wherein the current of the drive motor in the first state is not less than the second set threshold.

[0083] Among them, the fourth set time length can be pre-set, such as 2 minutes, 2.5 minutes, etc., and this application does not impose any restrictions on this.

[0084] In an embodiment of the present application, when it is monitored that the current of the drive motor has not been less than the second set threshold value within the fourth set time period, it indicates that the resistance encountered by the climbing frame is still large within the set time period, the drive motor is still in a high load state, and the time when the rake frame is at the first target height of this round has also reached the fourth set time period. At this time, in order to avoid the "rake pressure" failure and prevent equipment damage, it can be determined that the concentrator performs the rake lifting action, and determine the second target height of this round to which the rake frame rises under the rake lifting action.

[0085] In order to accurately determine the second target height of the current round to which the rake frame rises in the raking action, as a possible implementation method, the fourth set height threshold can be determined as the second target height of the current round to which the rake frame rises in the raking action. For example, if the fourth set height threshold is 95 cm, this value can be determined as the second target height of the current round to which the rake frame rises in the raking action. It should be noted that the present application does not limit the value of the fourth set height threshold.

[0086] As another possible implementation, the second target height of the current round to which the rake frame rises during the rake raising action may be determined according to the current height of the rake frame and the set height increment.

[0087] As an example, assuming that the current height of the rake frame is L and the height increment is set to ΔL, the second target height L' of the current round to which the rake frame rises during the rake raising action can be determined according to the following formula: L'=L+ΔL; (3) Step S309, controlling the concentrator to perform a raking action on the rake frame, so that the rake frame rises to the second target height of this round.

[0088] In the embodiment of the present application, the concentrator can be controlled to perform a raking action on the rake frame so that the rake frame rises to the second target height of this round. Specifically, the concentrator drive motor can be controlled to drive the rake frame to rise so that the rake frame rises to the second target height of this round.

[0089] In order to clearly illustrate how to control the concentrator to perform the rake lifting action on the rake frame, in a possible implementation method of the embodiment of the present application, the hydraulic station in the concentrating tank is started, and the third timer is started; when the value of the third timer is not less than the fifth set time, the lifting solenoid valve is opened to control the concentrator to drive the rake frame to rise; in response to the rake frame rising to the second target height of this round, the lifting solenoid valve is closed, and the fourth timer is started; when the value of the fourth timer is not less than the sixth set time, the hydraulic station is closed.

[0090] Among them, the fifth set time length can be pre-set, such as 5s, 6s, etc., and this application does not impose any restrictions on this.

[0091] Among them, the sixth set time length can be pre-set, such as 5s, 6s, etc., and this application does not impose any restrictions on this.

[0092] It should be noted that the fifth set time lengths may be the same or different, and this application does not impose any limitation on this.

[0093] Specifically, the hydraulic station in the concentrator tank can be started in a limited manner to provide power to the concentrator through the hydraulic station, and the third timer can be started at the same time; when the value of the third timer is not less than the fifth set time, it indicates that the hydraulic station has accumulated enough power. At this time, the rising solenoid valve can be opened to control the concentrator to drive the rake to rise; when the rake rises to the second target height of this round, the rising solenoid valve can be closed first to cut off the rising power of the rake; and while closing the rising solenoid valve, the fourth timer is started, and when the value of the fourth timer is not less than the sixth set time, the hydraulic station is closed. Therefore, closing the rising solenoid valve first and then closing the hydraulic station after a certain period of time can ensure the safe closure of the hydraulic station and the solenoid valve, and effectively avoid equipment damage or failure caused by the instantaneous loss of power.

[0094] Step S310, in response to the rake frame rising to the second target height of this round, the concentrator is controlled to perform the next round of lifting and lowering action on the rake frame.

[0095] In the embodiment of the present application, when the rake frame rises to the second target height of this round, the concentrator can be controlled to perform the next round of lifting and lowering action on the rake frame.

[0096] The method for controlling the lifting rake of the embodiment of the present application monitors the current of the driving motor and the height of the rake frame in response to the target current of this round being not less than the second set threshold value; determines the second target height of this round to which the rake frame rises under the lifting action in response to the monitoring that the duration of the driving motor in the first state is not less than the fourth set duration, and the duration of the rake frame at the position of the first target height of this round is not less than the fourth set duration; wherein the current of the driving motor in the first state is not less than the second set threshold value; controls the concentrator to perform the lifting action on the rake frame so that the rake frame rises to the second target height of this round; and controls the concentrator to perform the next lifting action on the rake frame in response to the rake frame rising to the second target height of this round. Thus, the concentrator in the concentrating tank can be automatically and accurately controlled to perform the lifting action on the rake frame based on the current of the driving motor and the height of the rake frame.

[0097] In the case that the lifting rake action also includes only the rotation action, the present application also proposes a lifting rake control method.

[0098] Figure 4 A schematic flow chart of a lifting rake control method provided in another embodiment of the present application.

[0099] like Figure 4As shown, based on the above embodiment of the present application, the method may further include the following steps: Step S401, in response to the current round target current being less than the second set threshold value and the current round target current being greater than the first set threshold value, the concentrator is controlled to perform only a rotation action on the rake frame and continue to monitor the current of the drive motor.

[0100] It should be noted that the explanation of the second set threshold in step S307 is also applicable to this embodiment and will not be repeated here.

[0101] It should also be noted that the explanation of the first set threshold in step S106 is also applicable to this embodiment and will not be repeated here.

[0102] In an embodiment of the present application, when the target current of the drive motor in this round is less than the second set threshold and the target current in this round is greater than the first set threshold, it indicates that the load of the drive motor is moderate and the resistance of the rake frame is moderate. The concentrator can be controlled to perform only rotation action on the rake frame and continue to monitor the current of the drive motor.

[0103] Step S402, in response to monitoring that the current of the driving motor is not greater than the first set threshold, controlling the concentrator to perform the next round of lifting and lowering action on the rake frame.

[0104] In the embodiment of the present application, when it is subsequently monitored that the current of the drive motor is not greater than the first set threshold, it indicates that the load of the drive motor is low and the resistance to the rake frame is small, and the concentrator can be controlled to perform the next round of lifting and lowering action on the rake frame.

[0105] The method for controlling the lifting rake of the embodiment of the present application controls the thickener to perform only the rotation action on the rake frame and continues to monitor the current of the drive motor in response to the current of the current round being less than the second set threshold value and the current round being greater than the first set threshold value; and controls the thickener to perform the next round of lifting rake action on the rake frame in response to the current of the drive motor being less than the first set threshold value. In this way, the thickener in the thickening tank can be automatically and accurately controlled to perform only the rotation action on the rake frame based on the current of the drive motor.

[0106] It should be noted that the above is a lifting rake control method implemented when the coal preparation plant production system is operating normally. It is understandable that there may be a situation where the coal preparation plant production system is shut down. Therefore, this application also proposes a lifting rake control method.

[0107] Figure 5 A schematic flow chart of a lifting rake control method provided in another embodiment of the present application.

[0108] like Figure 5 As shown, based on any of the above embodiments of the present application, the method may further include the following steps: Step S501, in response to the coal preparation plant production system stopping due to a fault, the fifth timer is started, and during the cyclic execution of the rake raising and lowering action, the concentrator is controlled to complete the rake lowering action on the rake frame for a set number of times, and then the rake frame is controlled to operate at the position of the third target height.

[0109] The third target height indicates the position that the rake frame reaches after a set number of rake lowering actions.

[0110] The setting number of times may be, for example, once, twice, etc.

[0111] In an embodiment of the present application, the operating status of the coal preparation plant production system can be continuously monitored. When it is monitored that the coal preparation plant production system stops due to a fault, the fifth timer can be started. However, since the execution subject of the present application is still in the cyclic execution process of the rake lifting action at this time, in order to enable the execution subject of the present application to clarify the next execution action, the concentrator can be controlled to complete the rake lowering action on the rake frame for a set number of times during the cyclic execution of the rake lifting action, and then the rake frame can be controlled to operate at the third target height.

[0112] As an example, when it is monitored that the production system of the coal preparation plant stops due to a fault, the execution subject of the present application is in the process of executing the nth round of lifting and lowering rake action; at this time, when the execution subject of the present application controls the concentrator to perform the rake lowering action during the execution of the nth round of lifting and lowering rake action, then after controlling the concentrator to continue to complete this rake lowering action, the rake frame is controlled to operate (i.e., rotate) at the position reached by the rake lowering action; when the execution subject of the present application controls the concentrator to perform the rake raising action during the execution of the nth round of lifting and lowering rake action, the concentrator is controlled to continue to complete this rake raising action, and after completing this round of rake lowering action during the execution of the n+1th round of lifting and lowering rake action, the rake frame is controlled to operate (i.e., rotate) at the position reached by the rake lowering action; when the execution subject of the present application controls the concentrator to perform only the rotation action during the execution of the nth round of lifting and lowering rake action, the concentrator is controlled to continue to complete this only rotation action, and after completing this round of rake lowering action during the execution of the n+1th round of lifting and lowering rake action, the rake frame is controlled to operate (i.e., rotate) at the position reached by the rake lowering action.

[0113] Step S502: When the value of the fifth timer is not less than the seventh set time period, a fourth target height of the rake frame in the rake raising action is determined based on the third target height.

[0114] Among them, the seventh set time length can be pre-set, such as 30 minutes, 20 minutes, etc., and this application does not impose any restrictions on this.

[0115] In the embodiment of the present application, when the value of the fifth timer is not less than the seventh set time length, the fourth target height of the rake frame in the rake raising action can be determined based on the third target height.

[0116] As an example, the seventh target height of the rake frame can be obtained, and the fourth target height of the rake frame in the rake raising action can be determined according to the seventh target height and the third target height. The seventh target height can be the height of the rake frame when the production system of the coal preparation plant is started, or it can also be the maximum height that the rake frame can reach.

[0117] For example, assuming the seventh target height of the rake is L 原 , the third target height is L 实 , the fourth target height L' under the harrow lifting action can be determined according to the following formula: L'=(L 原 +L 实 ) / 2; (4) Step S503, start the hydraulic station in the concentration tank and start the sixth timer.

[0118] In the embodiment of the present application, after the fourth target height is determined, the hydraulic station in the concentration tank can be started preferentially and the sixth timer can be started at the same time.

[0119] Step S504: when the value of the sixth timer is not less than the eighth set time, the ascending solenoid valve is started to control the concentrator to drive the rake frame to ascend.

[0120] Among them, the eighth set time length can be pre-set, such as 5s, 6s, etc., and this application does not impose any restrictions on this.

[0121] In the embodiment of the present application, when the value of the sixth timer is not less than the eighth set time, it indicates that the hydraulic station has accumulated enough power. At this time, the ascending solenoid valve can be opened to control the concentrator to drive the rake frame to ascend.

[0122] Step S505, in response to the rake frame rising to the fourth target height, closing the rising solenoid valve and starting the seventh timer.

[0123] After the rake rises to the fourth target height, the ascending electromagnetic valve may be closed first to cut off the ascending power of the rake; and at the same time as the ascending electromagnetic valve is closed, the seventh timer is started.

[0124] Step S506: When the value of the seventh timer is not less than the eighth set time, the hydraulic station is turned off.

[0125] In the embodiment of the present application, when the value of the seventh timer is not less than the eighth set time, the hydraulic station is closed.

[0126] Optionally, after shutting down the hydraulic station, when the production system of the coal preparation plant has not yet been started, the concentrator can be controlled to perform the target action on the rake frame every seventh set time period; wherein, controlling the concentrator to perform the target action on the rake frame may include: starting the hydraulic station, and starting an eighth timer; when the value of the eighth timer is not less than the eighth set time period, starting the rising solenoid valve to control the concentrator to drive the rake frame to rise; in response to the rake frame rising to the first set height threshold, closing the rising solenoid valve, and starting a ninth timer; when the value of the ninth timer is not less than the eighth set time period, shutting down the hydraulic station.

[0127] Among them, the first set height threshold can be pre-set, such as 95cm, 100cm, etc., and this application does not impose any restrictions on this.

[0128] It is understandable that after the hydraulic station is turned off, the drive motor is still not turned off, and the rake frame is still in a rotating operating state. However, due to the gravity of the rake frame itself, the rake frame may automatically drop. Therefore, when the production system of the coal preparation plant has not yet started, the concentrator can be controlled to perform the target action on the rake frame every seventh set time period; wherein, the specific process of controlling the concentrator to perform the target action on the rake frame may include: starting the hydraulic station in the concentrating tank and starting the eighth timer at the same time; when the value of the eighth timer is not less than the eighth set time period, starting the rising solenoid valve again; when the rake frame rises to the first set height threshold, the rising solenoid valve is closed first, and the ninth timer is started at the same time; when the value of the ninth timer is not less than the eighth set time period, the hydraulic station is closed again.

[0129] It can be understood that the coal preparation plant's production system has normal shutdown situations, such as the relevant staff pressing the motor stop button causing the coal preparation plant's production system to stop. In a scenario where the production system of a coal preparation plant is normally stopped, in a possible implementation of an embodiment of the present application, when it is monitored that the production system of the coal preparation plant is normally stopped, the hydraulic station can be started first and the tenth timer can be started at the same time; when the value of the tenth timer is not less than the eighth set time, the rising solenoid valve can be started to control the concentrator to drive the rake frame to rise; in response to the rake frame rising to the second set height threshold, the rising solenoid valve is closed and the eleventh timer can be started at the same time; when the value of the eleventh timer is not less than the eighth set time, the hydraulic station is closed and the working current of the drive motor is obtained; when the working current of the drive motor is not less than the third set threshold and the production system of the coal preparation plant has not been started within the ninth set time, at this time, the load of the drive motor is high and the resistance of the rake frame is large. In order to avoid equipment damage, the operation of the drive motor is prohibited at this time; when the working current of the drive motor is less than the third set threshold and the production system of the coal preparation plant has not been started, at this time, the load of the drive motor is low and the resistance of the rake frame is small. The drive motor can be controlled to continue to run to maintain the continuity and efficiency of production.

[0130] Among them, the second set height threshold can be pre-set, such as 95cm, 100cm, etc., and this application does not impose any restrictions on this.

[0131] The third set threshold value may be preset, for example, the third set threshold value may be a set maximum value I of the driving motor current value. 上限 , this application does not restrict its value.

[0132] Among them, the ninth set time length can be pre-set, for example, it can be 2 minutes, 3 minutes, etc., and this application does not impose any restrictions on this.

[0133] Therefore, accurate control of the lifting rake of the concentrator can be achieved when the production system of the coal preparation plant is normally shut down.

[0134] The lifting rake control method of the embodiment of the present application starts the fifth timer in response to the coal preparation plant production system stopping due to a fault, and controls the rake frame to operate at a third target height after controlling the concentrator to complete the rake lowering action for a set number of times during the cyclic execution of the lifting rake action; wherein the third target height indicates the position reached by the rake frame after the set number of rake lowering actions; when the value of the fifth timer is not less than the seventh set time, based on the third target height, the fourth target height of the rake frame under the rake raising action is determined; the hydraulic station in the concentrating tank is started, and the sixth timer is started; when the value of the sixth timer is not less than the eighth set time, the rising solenoid valve is started to control the concentrator to drive the rake frame to rise; in response to the rake frame rising to the fourth target height, the rising solenoid valve is closed, and the seventh timer is started; when the value of the seventh timer is not less than the eighth set time, the hydraulic station is closed. In this way, the lifting rake can be precisely controlled when the production system of the coal preparation plant is abnormal, which effectively addresses the control problem of the lifting rake when the production system of the coal preparation plant is abnormal, prevents the confusion of the lifting rake operation when the production system is abnormal, avoids the occurrence of production failures, and ensures the stability and safety of production.

[0135] In order to clearly illustrate the lifting rake control method of the present application, a detailed description is given below with reference to examples.

[0136] As an example, the lifting rake control method of the present application is applied to the control system of the automatic lifting rake of the thickener (hereinafter referred to as the lifting rake control system) for explanation. In the scenario where the lifting rake control system operates normally and the production system of the coal preparation plant operates normally, specifically, Figure 6 As shown, the lifting rake control method may include the following steps: 6.1 When the control system of the automatic lifting rake of the thickener is put into automatic state, the lifting rake control system monitors the start-up signal of the production system of the coal preparation plant; 6.2 When the start signal of the coal preparation plant production system is detected, the drive motor of the thickener is started first to drive the rake frame to rotate by controlling the thickener (it should be noted that the rake frame cannot be driven to rise or fall at this time); 6.3 Control the concentrator to perform at least one round of lifting and lowering action on the rake frame; wherein the lifting and lowering action includes at least one of a lowering action, a raising action, and a rotating action only; 6.4 For any lifting rake action, it is first necessary to monitor whether the start signal of the pressure filter (referred to as filter in this application) downstream of the thickening tank indicates start. When the start signal of the pressure filter indicates start, the current round thickness of the coal sludge in the thickening tank is obtained through the sludge interface meter (referred to as coal sludge interface meter in this application), the current round height L of the rake is obtained through the displacement sensor, and the current round current of the drive motor is monitored; It should be noted that when the start signal indicating the start of the pressure filter is not detected, the concentrator is prohibited from driving the rake frame to perform the lifting and lowering rake action; 6.5 According to the current round thickness of the coal slime, the current round height L of the rake frame and the current round current of the driving motor, determine the current round first target height to which the rake frame descends in the rake lowering action; As a possible implementation method, whether to control the concentrator to perform the rake lowering action can be determined based on the current round height L of the rake frame and the current round current of the drive motor; when it is determined that the concentrator is controlled to perform the rake lowering action, the first target height of the current round to which the rake frame descends under the rake lowering action is determined based on the current round thickness of the coal slime.

[0137] As an example, when the current wheel height L of the rake frame is greater than 0 (referred to as the third set height threshold in this application), and the current wheel current I of the driving motor is not greater than I 下限 (referred to as the fourth set threshold in this application), it is determined to control the concentrator to perform the rake lowering action, wherein I 下限 Indicates the set minimum value of the driving motor current value; in the case of determining that the thickener is controlled to perform the rake lowering action, when the current round thickness of the coal slime is greater than 500mm (recorded as the set thickness threshold in this application), the first target height of the current round to which the rake frame descends under the rake lowering action is determined to be L 下 When the thickness of the coal slime is less than 500 mm, the first target height of the current round to which the rake frame descends under the rake lowering action is determined to be (L 下 +2cm), where 2cm is denoted as ΔL' in this application; When the wheel height L of the rake is ≤ 0, the concentrator can be controlled to perform only a rotation action on the rake; When the current of the driving motor I>I 下限When the current of the drive motor is continuously monitored, the concentrator can be controlled to rotate the rake frame until the current of the drive motor is I≤I 下限 ; 6.6 When it is monitored that the time length of the rake frame at the position of the current wheel height (recorded as the first time length in this application) is ≥ 2 minutes (recorded as the first set time length in this application), the hydraulic station is started first to provide power to the concentrator through the hydraulic station; 6.7 5 seconds after the hydraulic station is started (recorded as the second set time in this application), the descending solenoid valve is opened to control the concentrator to drive the rake frame to descend; 6.8 When the rake is detected to be lowered to a height L 实 If the height is not greater than the first target height of the current round, the descending solenoid valve is closed, and the hydraulic station is closed after 5 seconds (recorded as the third set time in this application); 6.9 Get the current of the drive motor; When the current of the driving motor is not greater than I 下限 (referred to as the first set threshold in this application, which is the same as the fourth set threshold at this time), the concentrator is controlled to perform the next round of lifting and lowering action on the rake frame; When the current of the driving current is not less than I 上限 (referred to as the second set threshold in the application), the current of the drive motor and the height of the rake are continuously monitored, wherein I 上限 is the maximum value set for the current value of the driving motor; when the current of the driving motor is monitored to be within 2 minutes (recorded as the fourth set time in this application, which can be the same as the first set time), its size has not been less than I 上限 , and the time the rake is at the first target height of this round has reached 2 minutes, it is determined that the concentrator is controlled to drive the rake to rise, and the second target height of this round to which the rake rises under the rake raising action is L 上 ; Start the hydraulic station first, and open the rising solenoid valve after 5s (recorded as the fifth setting time in this application, which can be the same as the second setting time); when the actual height of the rake rises L 实 Not less than the second target height L of this round 上 When the rake is lifted, the lifting solenoid valve is closed, and the hydraulic station is closed after 5 seconds, and the concentrator is controlled to perform the next round of lifting and lowering action on the rake frame; When the current of the driving motor is less than I 上限 , and the current of the driving motor is greater than I 下限 When the concentrator is controlled to rotate the rake frame only, the current of the drive motor is continuously monitored. When the current of the drive motor is not greater than I 下限 When the thickener is controlled, the rake frame is lifted and lowered for the next round.

[0138] In a scenario where the lifting rake control system operates normally and the coal preparation plant production system is shut down, specifically, the lifting rake control method may include the following steps: It should be noted that during the normal operation of the lifting rake control system, the operating status of the coal preparation plant production system can be continuously monitored.

[0139] When the lifting rake control system detects that the coal preparation plant production system stops due to a fault, Figure 7 As shown, the following steps may be included: 7.1 The shutdown time of the coal preparation plant production system is timed, and during the cyclic execution of the rake lifting action, the concentrator is controlled to complete a rake lowering action on the rake frame, and the rake frame is controlled to perform only rotation operation at the position of the third target height reached by the rake lowering action; 7.2 When the recorded parking time is not less than 30 minutes (recorded as the seventh set time in this application), it is determined to control the concentrator to drive the rake frame to rise, and based on the third target height, according to formula (4), the fourth target height of the rake frame under the rake raising action is determined; 7.3 Start the hydraulic station first, and open the rising solenoid valve after 5s (recorded as the eighth setting time in this application, which can be the same as the second setting time); 7.4 When the actual height of the rake frame is not less than the fourth target height, close the rising solenoid valve and close the hydraulic station after 5 seconds; 7.5 When the coal plant production system is not started, every 30 minutes, control the thickener to perform the following operations on the rake: Start the hydraulic station, and start the rising solenoid valve after 5 seconds. When the height of the rake frame reaches 95 cm (recorded as the first set height threshold in this application), close the rising solenoid valve and close the hydraulic station after 5 seconds.

[0140] When the lifting rake control system detects that the coal preparation plant production system is normally stopped due to the manual motor stop button, Figure 8 As shown, the following steps may be included: 8.1 Start the hydraulic station and start the rising solenoid valve after 5 seconds; 8.2 When the height of the rake reaches 95cm, close the rising solenoid valve and close the hydraulic station after 5s; 8.3 When the operating current of the drive motor is not less than I 上限 , and if the production system of the coal preparation plant has not started within 2 minutes, the operation of the drive motor is prohibited, and the start-up signal of the production system of the coal preparation plant is continuously monitored; 8.4 When the operating current of the drive motor is less than I 上限 , the drive motor is controlled to only rotate at the position reached after rising, and the start-up signal of the coal preparation plant production system is continued to be monitored.

[0141] The automatic lifting rake is an important part of intelligent dosing and intelligent filter pressing. If the rake frame in the thickening tank cannot accurately reach the position closest to the coal slime dust, the coal slime in the thickening tank cannot be quickly discharged and enter the next step of filter pressing, which may cause the pressure in the coal slime water link of the production system to increase, thereby affecting the overall production efficiency of the coal preparation plant; at the same time, the automatic lifting rake can fully mix the coal slime water and the reagent in the thickening tank, accelerate the sedimentation of the coal slime in the coal slime water and remove it in time; the automatic lifting rake in the thickening tank can free up manpower for the coal preparation plant and simultaneously accelerate the construction of intelligent other systems.

[0142] In summary, the lifting rake control method of the present application, by integrating multiple sensor data and real-time information of the production system, uses advanced data fusion technology and control models to realize adaptive lifting control of the concentrator, which can significantly reduce the labor intensity of relevant personnel, and also reduce production accidents and equipment failures caused by unclear coal slime content through precise control, thereby improving the stability and efficiency of the overall production system, helping to optimize the production process, reduce human intervention, and ensure the continuity and reliability of the production process.

[0143] With the above Figures 1 to 5 Corresponding to the lifting rake control method provided in the embodiment, the present application also provides a lifting rake control device. Figures 1 to 5 The lifting rake control method provided in the embodiment corresponds to the lifting rake control method, so the implementation of the lifting rake control method is also applicable to the lifting rake control device provided in the embodiment of the present application, and will not be described in detail in the embodiment of the present application.

[0144] Fig. 9 This is a schematic structural diagram of a lifting rake control device provided in another embodiment of the present application.

[0145] like Fig. 9 As shown, the lifting rake control device 900 may include: a first control module 901 , a first acquisition module 902 , a first determination module 903 , a second control module 904 , a second acquisition module 905 and a third control module 906 .

[0146] Among them, the first control module 901 is used to respond to the start of the coal preparation plant production system and the start of the drive motor in the thickening tank of the coal preparation plant, and control the thickener in the thickening tank to perform at least one round of lifting and lowering action on the rake frame in the thickening tank; wherein the lifting and lowering action includes the lowering action.

[0147] The first acquisition module 902 is used for acquiring the current round thickness of the coal slime in the thickening tank, the current round height of the rake frame, and the current round current of the driving motor for any round of lifting rake action when it is determined that the filter downstream of the thickening tank is started.

[0148] The first determination module 903 is used to determine the first target height of the current round to which the rake frame descends in the rake lowering action based on the current round thickness, the current round height and the current of the current round.

[0149] The second control module 904 is used to control the concentrator to perform a rake lowering action on the rake frame, so that the rake frame is lowered to the first target height of this round.

[0150] The second acquisition module 905 is used to acquire the current round target current of the driving motor in response to the rake frame descending to the current round first target height.

[0151] The third control module 906 is used to control the concentrator to perform the next round of lifting and lowering action on the rake frame in response to the current round target current being not greater than the first set threshold value.

[0152] In a possible implementation of the embodiment of the present application, the second control module 904 is used to: in response to the first time length being not less than the first set time length, start the hydraulic station in the concentrating tank and start the first timer; wherein the first time length is used to indicate the time length during which the rake frame is at the height of the current wheel; when the value of the first timer is not less than the second set time length, open the descending solenoid valve to control the concentrator to drive the rake frame to descend.

[0153] In a possible implementation of the embodiment of the present application, the second acquisition module 905 is used to: in response to the rake frame descending to the first target height of this round, close the descending solenoid valve and start the second timer; when the value of the second timer is not less than the third set time length, close the hydraulic station and obtain the current current of the drive motor; determine the current current of the drive motor as the target current of this round.

[0154] In a possible implementation of the embodiment of the present application, the rake lifting action further includes a rake raising action, and the rake lifting control device 900 may further include: The first monitoring module is used to monitor the current of the driving motor and the height of the rake frame in response to the target current of this round being not less than the second set threshold.

[0155] The second determination module is used to determine the second target height of this round to which the rake frame rises in the rake raising action in response to monitoring that the duration of the drive motor in the first state is not less than the fourth set duration, and the duration of the rake frame at the position of the first target height of this round is not less than the fourth set duration; wherein the current of the drive motor in the first state is not less than the second set threshold.

[0156] The fourth control module is used to control the concentrator to perform a raking action on the rake frame so that the rake frame rises to the second target height of this round.

[0157] The fifth control module is used for controlling the concentrator to perform the next round of lifting and lowering action on the rake frame in response to the rake frame rising to the second target height of this round.

[0158] In a possible implementation of the embodiment of the present application, the fourth control module is used to: start the hydraulic station in the concentrating tank and start the third timer; when the value of the third timer is not less than the fifth set time, open the rising solenoid valve to control the concentrator to drive the rake frame to rise; in response to the rake frame rising to the second target height of this round, close the rising solenoid valve and start the fourth timer; when the value of the fourth timer is not less than the sixth set time, close the hydraulic station.

[0159] In a possible implementation of the embodiment of the present application, the lifting rake action also includes only a rotation action, and the lifting rake control device 900 may also include: The sixth control module is used for controlling the concentrator to perform only a rotation action on the rake frame and continue to monitor the current of the drive motor in response to the current target current being less than the second set threshold and the current target current being greater than the first set threshold.

[0160] The seventh control module is used for controlling the concentrator to perform the next round of lifting and lowering action on the rake frame in response to monitoring that the current of the driving motor is not greater than the first set threshold.

[0161] In a possible implementation of the embodiment of the present application, the lifting rake control device 900 may further include: The first processing module is used for starting the fifth timer in response to the coal preparation plant production system stopping due to a fault, and controlling the rake frame to operate at a third target height after the concentrator completes the rake frame lowering action for a set number of times during the cyclic execution of the rake raising and lowering action; wherein the third target height indicates the position reached by the rake frame after the set number of rake lowering actions.

[0162] The third determination module is used to determine a fourth target height of the rake frame in the rake raising action based on the third target height when the value of the fifth timer is not less than the seventh set time length.

[0163] The first starting module is used to start the hydraulic station in the concentration tank and start the sixth timer.

[0164] The second starting module is used to start the rising solenoid valve when the value of the sixth timer is not less than the eighth set time length, so as to control the concentrator to perform a rising action on the rake frame.

[0165] The second processing module is used for closing the ascending solenoid valve and starting a seventh timer in response to the rake ascending to a fourth target height.

[0166] The first closing module is used to close the hydraulic station when the value of the seventh timer is not less than the eighth set time.

[0167] In a possible implementation of the embodiment of the present application, the lifting rake control device 900 may further include: The eighth control module is used to control the thickener to perform the target action on the rake frame every seventh set time period when the production system of the coal preparation plant has not yet been started; wherein, controlling the thickener to perform the target action on the rake frame includes: starting the hydraulic station and starting the eighth timer; when the value of the eighth timer is not less than the eighth set time period, starting the rising solenoid valve to control the thickener to drive the rake frame to rise; in response to the rake frame rising to the first set height threshold, closing the rising solenoid valve and starting the ninth timer; when the value of the ninth timer is not less than the eighth set time period, closing the hydraulic station.

[0168] In a possible implementation of the embodiment of the present application, the lifting rake control device 900 may further include: The third starting module is used to start the hydraulic station and start the tenth timer in response to the coal preparation plant production system being shut down normally.

[0169] The fourth starting module is used to start the ascending solenoid valve when the value of the tenth timer is not less than the eighth set time length, so as to control the concentrator to drive the rake frame to ascend.

[0170] The third processing module is used for closing the ascending solenoid valve and starting an eleventh timer in response to the rake frame ascending to a second set height threshold.

[0171] The fourth processing module is used to shut down the hydraulic station and obtain the working current of the driving motor when the value of the eleventh timer is not less than the eighth set time.

[0172] The fifth processing module is used to prohibit the operation of the drive motor in response to the operating current being not less than the third set threshold and the coal preparation plant production system not being started within the ninth set time period.

[0173] The ninth control module is used to control the drive motor to continue running in response to the operating current being less than the third set threshold and the coal preparation plant production system not being started within the ninth set time period.

[0174] In a possible implementation of an embodiment of the present application, the first determination module 903 is used to: determine whether the concentrator performs a rake lowering action based on the height and current of this round; when it is determined that the concentrator performs a rake lowering action, determine the first target height of this round to which the rake frame descends under the rake lowering action based on the thickness of this round.

[0175] The rake lifting control device of the embodiment of the present application controls the concentrator in the concentrating tank to perform at least one round of rake lifting action on the rake frame in the concentrating tank in response to the start of the coal preparation plant production system and the start of the drive motor in the concentrating tank of the coal preparation plant; wherein the rake lifting action includes a rake lowering action; for any round of rake lifting action, when it is determined that the filter downstream of the concentrating tank is started, the current round thickness of the coal slime in the concentrating tank, the current round height of the rake frame, and the current round current of the drive motor are obtained; based on the current round thickness, the current round height and the current round current, the first target height of the rake frame to which the rake frame descends under the rake lowering action is determined; the concentrator is controlled to perform the rake lowering action on the rake frame so that the rake frame descends to the first target height of this round; in response to the rake frame descending to the first target height of this round, the current round target current of the drive motor is obtained; in response to the current round target current being not greater than the first set threshold, the concentrator is controlled to perform the next round of rake lifting action on the rake frame. Therefore, based on the startup status of the coal preparation plant equipment, the thickness of the coal slime, the height of the rake frame and the current of the driving motor, the concentrator in the concentrating tank is accurately controlled to perform the lifting and lowering action of the rake frame, thereby realizing automatic adjustment of the rake frame height, optimizing the sedimentation and concentration process of the coal slime, improving the coal preparation efficiency, reducing equipment, and at the same time, reducing human resource consumption and the risk of failure caused by manual operation errors, thereby improving the stability and production efficiency of the coal preparation plant production system.

[0176] In order to implement the above embodiments, the present application also proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the lifting rake control method provided in the above embodiments.

[0177] In order to implement the above embodiments, the present application further proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the lifting rake control method provided by the above embodiments.

[0178] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program. When the computer program is executed by a processor, the lifting rake control method provided by the above embodiments is implemented.

[0179] The collection, storage, use, processing, transmission, provision and application of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0180] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign the agreement / authorization including authorization of relevant user information before the user uses the function. In addition, any necessary steps should be taken to protect and safeguard access to such personal information data and ensure that others who have access to personal information data comply with its privacy policy and procedures.

[0181] This application is expected to provide an implementation scheme for users to selectively block the use or access of personal information data. That is, this application is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, risks can be minimized by limiting data collection and deleting data. In addition, when applicable, personal identifiers are removed from such personal information to protect the privacy of users.

[0182] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they contradict each other.

[0183] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to control or imply relative importance or implicitly indicate the number of technical features controlled. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0184] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0185] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0186] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0187] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0188] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0189] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling a lifting rake, characterized in that: The method comprises: In response to the start of the production system of the coal preparation plant and the start of the driving motor in the thickening tank of the coal preparation plant, the thickener in the thickening tank is controlled to perform at least one round of lifting and lowering action on the rake frame in the thickening tank; wherein the lifting and lowering action includes a lowering action; For any round of the lifting rake action, when it is determined that the filter downstream of the thickening tank is started, the current round thickness of the coal slime in the thickening tank, the current round height of the rake frame, and the current round current of the driving motor are obtained; Based on the current wheel thickness, the current wheel height and the current of the current wheel, determining a first target height of the current wheel to which the rake frame descends in the rake lowering action; Controlling the concentrator to perform a rake lowering action on the rake frame, so that the rake frame is lowered to the first target height of the current round; In response to the rake frame descending to the first target height of the current round, obtaining the current round target current of the drive motor; In response to the target current of this round being not greater than the first set threshold, the concentrator is controlled to perform the next round of the rake lifting action on the rake frame.

2. The method according to claim 1, characterized in that The controlling the concentrator to perform a rake lowering action on the rake frame comprises: In response to the first time length being not less than the first set time length, starting the hydraulic station in the concentration tank and starting the first timer; wherein the first time length is used to indicate the time length during which the rake frame is at the position of the current wheel height; When the value of the first timer is not less than the second set time, the descending solenoid valve is opened to control the concentrator to drive the rake to descend.

3. The method according to claim 2, characterized in that In response to the rake frame descending to the first target height of the current round, obtaining the current round target current of the drive motor includes: In response to the rake frame descending to the first target height of the current wheel, closing the descending solenoid valve and starting a second timer; When the value of the second timer is not less than the third set time, the hydraulic station is turned off, and the current current of the drive motor is obtained; The current current of the driving motor is determined as the current round target current.

4. The method according to claim 1, characterized in that: The lifting and lowering rake action also includes a lifting rake action, and the method also includes: In response to the current round target current being not less than a second set threshold, monitoring the current of the drive motor and the height of the rake; In response to monitoring that the duration of the drive motor in the first state is not less than a fourth set duration, and the duration of the rake frame at the position of the first target height of the current round is not less than the fourth set duration, determining the second target height of the current round to which the rake frame rises in the rake raising action; wherein the current of the drive motor in the first state is not less than the second set threshold value; Controlling the concentrator to perform a raking action on the rake frame, so that the rake frame rises to the second target height of the current round; In response to the rake frame rising to the second target height of this round, the concentrator is controlled to perform the next round of the rake lifting action on the rake frame.

5. The method according to claim 4, characterized in that The controlling the concentrator to perform a raking action on the rake frame comprises: Starting the hydraulic station in the concentration tank and starting the third timer; When the value of the third timer is not less than the fifth set time, the ascending solenoid valve is opened to control the concentrator to drive the rake to ascend; In response to the rake frame rising to the second target height of the current wheel, closing the rising solenoid valve and starting a fourth timer; When the value of the fourth timer is not less than the sixth set time, the hydraulic station is turned off.

6. The method according to claim 4, characterized in that The lifting and rake action also includes a rotation-only action, and the method further includes: In response to the current round target current being less than the second set threshold value and the current round target current being greater than the first set threshold value, controlling the concentrator to perform only a rotation action on the rake frame and continuing to monitor the current of the drive motor; In response to monitoring that the current of the driving motor is not greater than the first set threshold, the concentrator is controlled to perform the next round of the rake lifting action on the rake frame.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: In response to the coal preparation plant production system being stopped due to a fault, a fifth timer is started, and in the cyclic execution process of the rake raising and lowering action, the concentrator is controlled to complete the rake lowering action on the rake frame for a set number of times, and then the rake frame is controlled to operate at a position of a third target height; wherein the third target height indicates the position reached by the rake frame after the set number of rake lowering actions; When the value of the fifth timer is not less than the seventh set time length, determining a fourth target height of the rake frame in the rake raising action based on the third target height; Starting the hydraulic station in the concentration tank and starting the sixth timer; When the value of the sixth timer is not less than the eighth set time, the lifting solenoid valve is started to control the concentrator to perform a lifting action on the rake frame; In response to the rake rising to the fourth target height, closing the rising solenoid valve and starting a seventh timer; When the value of the seventh timer is not less than the eighth set time length, the hydraulic station is turned off.

8. The method according to claim 7, characterized in that When the value of the seventh timer is not less than the eighth set time, after shutting down the hydraulic station, the method further includes: When the production system of the coal preparation plant is still not started, every the seventh set time period, controlling the thickener to perform a target action on the rake; Wherein, controlling the concentrator to perform a target action on the rake frame includes: Starting the hydraulic station and starting the eighth timer; When the value of the eighth timer is not less than the eighth set time length, the ascending solenoid valve is started to control the concentrator to drive the rake to ascend; In response to the rake rising to a first set height threshold, closing the rising solenoid valve and starting a ninth timer; When the value of the ninth timer is not less than the eighth set time length, the hydraulic station is shut down.

9. The method according to claim 7, characterized in that: The method further comprises: In response to the coal preparation plant production system being shut down normally, starting the hydraulic station and starting the tenth timer; When the value of the tenth timer is not less than the eighth set time length, the ascending solenoid valve is started to control the concentrator to drive the rake to ascend; In response to the rake frame rising to a second set height threshold, closing the rising solenoid valve and starting an eleventh timer; When the value of the eleventh timer is not less than the eighth set time length, shutting down the hydraulic station and obtaining the working current of the driving motor; In response to the operating current being not less than a third set threshold value and the coal preparation plant production system still not being started within a ninth set time period, prohibiting the operation of the drive motor; In response to the operating current being less than the third set threshold value and the coal preparation plant production system not being started within a ninth set time period, the drive motor is controlled to continue running.

10. The method according to any one of claims 1 to 6, characterized in that: The determining, based on the current wheel thickness, the current wheel height and the current of the current wheel, of a first target current wheel height to which the rake frame descends in the rake lowering action comprises: Based on the epicycle height and the epicycle current, determining whether the concentrator performs a rake lowering action; When it is determined that the concentrator performs a rake lowering action, a first target height of the current round to which the rake frame is lowered in the rake lowering action is determined based on the thickness of the current round.

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