Lifting rake control method

Abstract

The present application provides a method for controlling a lifting rake, which includes: in response to the startup of the production system of a coal preparation plant and the startup of a drive motor in the thickener of the coal preparation plant, controlling the thickener to perform at least one round of lifting and lowering rake actions on the rake in the thickener; for any round of lifting and lowering rake actions, when it is determined that a filter press downstream of the thickener starts, obtaining the thickness of the coal slime in the thickener in this round, the height of the rake in this round, and the current of the drive motor in this round; based on the thickness, height, and current in this round, determining the first target height in this round to which the rake descends during the lowering rake action; controlling the thickener to perform the lowering rake action on the rake so that the rake descends to the first target height in this round; when the rake descends to the first target height in this round, when the target current of the drive motor in this round is not greater than the first set threshold, controlling the thickener to perform the next round of lifting and lowering rake actions, precisely controlling the thickener to perform the lifting and lowering rake actions on the rake, and realizing the automatic adjustment of the height of the rake.

Description

Technical Field

[0001] This application relates to the technical field of intelligent mines, and particularly to a control method for a lifting rake. Background Art

[0002] The thickener is an important device in a coal preparation plant (also known as a coal washing plant or coal washery), mainly used for dehydrating concentrate or tailings. In the thickener, solid particles suspended in the coal slurry 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:

[0003] 1. The operation of the lifting rake can continuously scrape and discharge the settled solid particles at the bottom of the thickener, ensuring the solid-liquid separation effect.

[0004] 2. The operation of the lifting rake can adjust the capacity of the thickener. When it is necessary to increase the capacity of the thickener, the height of the rake frame can be lowered to allow more coal slurry to enter the thickener for precipitation; conversely, when it is necessary to reduce the capacity of the thickener, the height of the rake frame can be raised to discharge some of the precipitates.

[0005] 3. The operation of the lifting rake can prevent excessive accumulation of coal sludge at the bottom, effectively prevent the occurrence of rake jamming failures, thereby reducing the equipment failure rate and the risk of production interruption and maintenance costs.

[0006] 4. The timely operation of the lifting rake can ensure that an appropriate concentration of precipitates is always maintained in the thickener, thereby improving production efficiency. If the operation of the lifting rake is not timely, it may lead to too high or too low precipitate concentration, affecting the solid-liquid separation effect and subsequent processing procedures. Therefore, timely lifting and lowering of the rake is crucial for maintaining the smoothness of the production process and improving the overall production efficiency.

[0007] 5. The operation of the lifting rake can also ensure the safety of the thickener and related equipment. When abnormal situations occur in the thickener, such as overload, blockage, etc., timely lifting and lowering of the rake can quickly respond and handle to avoid equipment damage or safety accidents.

[0008] Thus, precise control of the lifting and lowering of the rake frame in the thickener of a coal preparation plant is very important for maintaining the production safety and continuity of the coal preparation plant. Summary of the Invention

[0009] This application aims to at least partly solve one of the technical problems in the related art.

[0010] For this reason, the first object of this application is to propose a control method for a lifting rake.

[0011] The second object of this application is to propose a control device for a lifting rake.

[0012] The third object of the present application is to propose an electronic device.

[0013] The fourth object of the present application is to propose a computer-readable storage medium.

[0014] The fifth object of the present application is to propose a computer program product.

[0015] To achieve the above object, an embodiment of the first aspect of the present application proposes a lifting rake control method, including: in response to the startup of the production system of the coal preparation plant and the startup of the drive motor in the thickener of the coal preparation plant, controlling the thickener in the thickener to perform at least one round of lifting rake actions on the rake frame in the thickener; wherein, the lifting rake action includes a lowering rake action; for any round of the lifting rake action, when it is determined that the filter downstream of the thickener starts, obtaining the current round thickness of the slime in the thickener, 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 lowering rake action; controlling the thickener to perform a lowering rake 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 not being greater than the first set threshold, controlling the thickener to perform the next round of the lifting rake action on the rake frame.

[0016] To achieve the above object, an embodiment of the second aspect of the present application proposes a lifting rake control device, the device includes:

[0017] A first control module, configured to control the thickener in the thickener to perform at least one round of lifting rake actions on the rake frame in the thickener in response to the startup of the production system of the coal preparation plant and the startup of the drive motor in the thickener; wherein, the lifting rake action includes a lowering rake action;

[0018] A first obtaining module, configured to obtain the current round thickness of the slime in the thickener, the current round height of the rake frame, and the current round current of the drive motor for any round of the lifting rake action when it is determined that the filter downstream of the thickener starts;

[0019] A first determining module, configured to determine the current round first target height to which the rake frame descends under the lowering rake action based on the current round thickness, the current round height, and the current round current;

[0020] A second control module, configured to control the thickener to perform a lowering rake action on the rake frame so that the rake frame descends to the current round first target height;

[0021] A second acquisition module, configured to acquire a target current of the driving motor in response to the rake frame descending to the first target height of this cycle.

[0022] A third control module, configured to control the thickener to perform the next cycle of the lifting and lowering rake action on the rake frame in response to the target current of this cycle not being greater than a first set threshold.

[0023] To achieve the above object, an embodiment of the third aspect of the present application provides an electronic device, including: 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 as described in the embodiment of the first aspect above.

[0024] To achieve the above object, an embodiment of the fourth aspect of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in the embodiment of the first aspect above.

[0025] To achieve the above object, an embodiment of the fifth aspect of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the method as described in the embodiment of the first aspect above.

[0026] The lifting and lowering rake control method provided by the present application controls the thickener in the thickener to perform at least one cycle of lifting and lowering rake action on the rake frame in response to the startup of the production system of the coal preparation plant and the startup of the driving motor in the thickener of the coal preparation plant; wherein, the lifting and lowering rake action includes a lowering rake action; for any cycle of the lifting and lowering rake action, when it is determined that the filter press downstream of the thickener is started, obtain the thickness of the coal slime in this cycle, the height of the rake frame in this cycle, and the current of the driving motor in this cycle; based on the thickness of this cycle, the height of this cycle, and the current of this cycle, determine the first target height of the rake frame descending in the lowering rake action; control the thickener to perform a lowering rake action on the rake frame so that the rake frame descends to the first target height of this cycle; in response to the rake frame descending to the first target height of this cycle, obtain the target current of the driving motor in this cycle; in response to the target current of this cycle not being greater than a first set threshold, control the thickener to perform the next cycle of the lifting and lowering rake action on the rake frame. Thus, automatically based on the startup situation of the coal preparation plant equipment, as well as the thickness of the coal slime, the height of the rake frame, and the current of the driving motor, accurately control the thickener in the thickener to perform the lifting and lowering rake action on the rake frame, realize the automatic adjustment of the height of the rake frame, optimize the sedimentation and thickening process of the coal slime, improve the coal preparation efficiency, reduce the equipment, and at the same time, it can also reduce the consumption of human resources and the risk of failures caused by human operation errors, and improve the stability and production efficiency of the production system of the coal preparation plant.

[0027] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0028] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, where:

[0029] Figure 1 Schematic flowchart of the lifting rake control method provided in an embodiment of the present application;

[0030] Figure 2 Schematic diagram of the thickener and its equipment provided by the present application;

[0031] Figure 3 Schematic flowchart of the lifting rake control method provided in another embodiment of the present application;

[0032] Figure 4 Schematic flowchart of the lifting rake control method provided in another embodiment of the present application;

[0033] Figure 5 Schematic flowchart of the lifting rake control method provided in another embodiment of the present application;

[0034] Figure 6 Schematic flowchart of a lifting rake control method provided by the present application;

[0035] Figure 7 Schematic flowchart of another lifting rake control method provided by the present application;

[0036] Figure 8 Schematic flowchart of another lifting rake control method provided by the present application;

[0037] Figure 9 Schematic diagram of the structure of the lifting rake control device provided in another embodiment of the present application. Detailed Description of the Embodiments

[0038] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0039] The lifting rake control method of the embodiments of the present application will be described below with reference to the accompanying drawings.

[0040] Figure 1 Schematic flowchart of the lifting rake control method provided in an embodiment of the present application.

[0041] In the embodiments of the present application, the lifting rake control method is configured in a lifting rake control device for illustration. The lifting rake control device can be applied to any electronic device so that the electronic device can execute the lifting rake control function.

[0042] Among them, the electronic device can be any device with computing power, such as a personal computer (PC for short), an industrial computer, a host computer, a mobile terminal, a server, etc. The mobile terminal can be a hardware device such as a mobile phone, a tablet computer, a personal digital assistant, a wearable device, etc. with various operating systems, touch screens and / or display screens.

[0043] As Figure 1 shown, the method includes the following steps:

[0044] Step S101, in response to the startup of the coal preparation plant production system and the startup of the drive motor in the thickener of the coal preparation plant, control the thickener in the thickener to perform at least one round of lifting and lowering rake actions on the rake frame in the thickener.

[0045] In the embodiments of the present application, the lifting and lowering rake action can include a lowering rake action. Among them, when performing the lowering rake action on the rake frame, the rake frame can be driven to move downward from a higher position. It should be noted that when performing the lowering rake action on the rake frame, the rake frame can be driven to rotate, or the rake frame can also not be driven to rotate.

[0046] Optionally, the lifting and lowering rake action can also include a raising rake action, a only rotation action, etc.

[0047] Among them, when performing the raising rake action on the rake frame, the rake frame moves upward from a lower position. It should be noted that when performing the raising rake action on the rake frame, similar to the lowering rake action, the rake frame can be driven to rotate, or the rake frame can also not be driven to rotate. The present application does not limit this.

[0048] Among them, when performing the only rotation action on the rake frame, the rake frame only rotates at a certain position.

[0049] In the embodiments of the present application, the coal preparation plant (also known as a coal washing plant) can be provided with a corresponding thickener, and the thickener can be provided with a corresponding thickener, a drive motor, and a rake frame.

[0050] In the embodiments of the present application, when the coal preparation plant production system starts up and the drive motor in the thickener of the coal preparation plant starts up, the thickener in the thickener can be controlled to perform at least one round of lifting and lowering rake actions on the rake frame in the thickener.

[0051] Taking the production scenario of a coal preparation plant as an example, when the start signal of the coal preparation plant production system indicates a startup, the drive motor of the thickener is preferentially started to control the rotation of the rake of the thickener by driving the rake (it should be noted that at this time, it is prohibited to drive the rake to rise or fall). Furthermore, the thickener can be controlled to perform the lifting and lowering rake action on the rake, for example, until the start signal of the production system indicates a stop.

[0052] Step S102, for any round of lifting and lowering rake action, when it is determined that the filter press downstream of the thickener is started, obtain the thickness of the coal slime in the thickener in this round, the height of the rake in this round, and the current of the drive motor in this round.

[0053] In the embodiment of the present application, a filter press (also known as a pressure filter press) can be arranged downstream of the thickener.

[0054] As an example, the layout of the thickener and equipment in a coal preparation plant is shown in Figure 2. Among them, the thickener is provided 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 thickener is a core facility specifically used to accommodate and treat coal slime water, and also undertakes the important responsibility of supporting the stable operation of the thickener; the rake is a device driven by the drive device under the thickener, mainly used to push the coal slime in the thickener towards the middle, and also to accelerate the rapid mixing of coal slime water and chemicals for coal slime sedimentation; the thickener is a power output device for driving the rake; the lifting hydraulic station is a power output device for lifting and lowering the thickener; the hydraulic cylinder is the connection between the thickener and the thickener support, mainly used for lifting and lowering the thickener; the displacement sensor is mainly used to monitor the position of the thickener during lifting and lowering; the coal slime interface meter is used to monitor the coal slime content in the thickener.

[0055] In the embodiment of the present application, during the process of controlling the thickener to perform any round of lifting and lowering rake action on the rake, in order to ensure safe production, it is first necessary to determine whether the filter press downstream of the thickener is started. When it is determined that the filter press downstream of the thickener is started, the coal slime, rake, and drive motor in the thickener can be monitored to obtain the thickness of the coal slime in this round, the height of the rake in this round, and the current of the drive motor in this round. For example, the coal slime in the thickener can be monitored by a coal slime interface meter, the rake can be monitored by a displacement sensor, and the drive motor can be monitored by a current sensor, so as to obtain the thickness of the coal slime in this round, the height of the rake in this round, and the current of the drive motor in this round.

[0056] Step S103, based on the thickness in this round, the height in this round, and the current in this round, determine the first target height in this round to which the rake descends during the lowering rake action.

[0057] In an embodiment of the present application, during the process of controlling the thickener to perform any round of lifting and lowering rake actions on the rake frame, the first target height of the current round that the rake frame descends to under the lowering rake action can be determined based on the height of the current round and the current of the current round.

[0058] To clearly illustrate how to determine the first target height of the current round that the rake frame descends to under the lowering rake action based on the thickness of the current round, the height of the current round, and the current of the current round, in a possible implementation manner of the embodiment of the present application, based on the height of the current round and the current of the current round, it is determined whether the thickener performs the lowering rake action; in the case where it is determined that the thickener performs the lowering rake action, based on the thickness of the current round, the first target height of the current round that the rake frame descends to under the lowering rake action is determined.

[0059] In an embodiment of the present application, it can be determined whether the thickener performs the lowering rake action based on the height of the current round and the current of the current round.

[0060] As a possible implementation manner, when the height of the current round is greater than the third set height threshold and the current of the current round is not greater than the fourth set threshold, it is determined that the thickener performs the lowering rake action. Among them, the third set height threshold can be preset, for example, it can be 0, 5 cm, 10 cm, etc., and the present application does not limit this; the fourth set threshold can be preset, for example, it can be the set minimum value I of the drive motor current 下限 , etc.

[0061] As an example, when the height of the current round L > 0 and the current of the current round I ≤ I 下限 , it is determined that the thickener performs the lowering rake action.

[0062] It should be noted that the magnitude of the current of the drive motor can directly reflect the equipment load situation. When the current is small, it indicates that the resistance received by the rake frame is small. At this time, performing the lowering rake action can effectively avoid mechanical damage or motor overload risks caused by forced operation under high load, which helps to extend the equipment life; the "pressing rake" phenomenon of the thickener is often caused by excessive sludge accumulation at the bottom of the thickening tank, resulting in rake frame jamming. By monitoring the current change and lowering the rake in a timely manner when the current is small, the sludge discharge speed can be adjusted, which can effectively avoid failures caused by excessive sludge deposition, and at the same time can effectively reduce the energy consumption during the lowering rake process.

[0063] Optionally, when the height of the current round is not greater than the third set height threshold, it indicates that the height of the rake frame is low, and the thickener can be controlled to perform only the rotation action on the rake frame to scrape and discharge the coal slime; when the current of the current round is greater than the fourth set threshold, it indicates that the resistance received by the rake frame is not in a small state, and the current of the drive motor can continue to be monitored, and the thickener can be controlled to perform only the rotation action on the rake frame to scrape and discharge the coal slime.

[0064] In the embodiments of the present application, when it is determined that the thickener performs the rake lowering action, the first target height of the rake frame in the rake lowering action can be determined based on the thickness of the current round.

[0065] As a possible implementation, when the thickness of the current round is greater than the set thickness threshold, the first target height of the rake frame in the rake lowering action is determined according to the height of the current round.

[0066] Among them, the set thickness threshold can be preset, such as 500mm, 600mm, etc., and the present application does not limit this.

[0067] As an example, assuming that the thickness of the current round is h and the height of the current round is L, when the thickness h of the current round is greater than the set thickness threshold (such as 500mm) and the height L of the current round is greater than the set height increment ΔL, the first target height L'1 of the rake frame in the rake lowering action can be determined according to the following formula:

[0068] L'1 = L - ΔL; (1)

[0069] Among them, the set height increment is preset, and the present application does not limit its value.

[0070] 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 rake frame in the rake lowering action can be determined according to the following formula:

[0071] L'2 = L - ΔL + ΔL'; (2)

[0072] Among them, the value of ΔL' is preset, such as it can be 2cm, 1cm, etc., and the present application does not limit this.

[0073] It should be noted that the above method for determining the first target height of the rake frame in the rake lowering action is only exemplary. In practical applications, it can also be other methods, and the present application does not limit this.

[0074] Step S104, control the thickener 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.

[0075] In the embodiments of the present application, the thickener can be 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. Specifically, the driving motor of the thickener can be controlled to drive the rake frame to descend so that the rake frame descends to the first target height of the current round.

[0076] To clearly illustrate how to control the thickener to perform the lowering action of the rake frame, in a possible implementation of the embodiment of the present application, when the first duration is not less than the first set duration, the hydraulic station in the thickener is started, and the first timer is started; wherein, the first duration can be used to indicate the duration of the rake frame at the position of the current round height; when the value of the first timer is not less than the second set duration, the lowering solenoid valve is opened to control the thickener to drive the rake frame to descend.

[0077] Among them, the first set duration can be preset, such as 2 min, 2.5 min, etc., and the present application does not limit this.

[0078] Among them, the second set duration can be preset, such as 5 s, 6 s, etc., and the present application does not limit this.

[0079] Specifically, when the first duration of the rake frame at the position of the current round height is not less than the first set duration, it indicates that the duration of the rake frame at the position of the current round height meets the requirements. At this time, the hydraulic station in the thickener can be preferentially started to provide power to the thickener through the hydraulic station, and at the same time, the first timer can be started; when the value of the first timer is not less than the second set duration, it indicates that the hydraulic station has accumulated sufficient power. At this time, the lowering solenoid valve can be opened to control the thickener to drive the rake frame to descend.

[0080] Step S105, in response to the rake frame descending to the first target height of the current round, obtain the target current of the driving motor for the current round.

[0081] In the embodiment of the present application, when the rake frame descends to the first target height of the current round, the target current of the driving motor for the current round can be obtained.

[0082] For example, the current of the driving motor when the rake frame descends to the first target height of the current round can be determined as the target current for the current round.

[0083] As a possible implementation, when the rake frame descends to the first target height of the current round, the lowering solenoid valve is closed, and the second timer is started; when the value of the second timer is not less than the third set duration, the hydraulic station is closed, and the current of the driving motor is obtained; the current of the driving motor is determined as the target current for the current round.

[0084] Among them, the third set duration can be preset, such as 5 s, 6 s, etc., and the present application does not limit this.

[0085] Specifically, when the rake frame descends to the first target height of this round, the descending solenoid valve can be preferentially closed to cut off the descending power of the rake frame; and while closing the descending solenoid valve, a second timer is started. When the value of the second timer is not less than the third set duration, the hydraulic station is then closed, 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.

[0086] Thus, by first closing the descending solenoid valve and then closing the hydraulic station after a certain duration, the safe closing of the hydraulic station and the solenoid valve can be ensured, effectively avoiding equipment damage or failures caused by the instantaneous disappearance of power; at the same time, the effective acquisition of the target current of this round is achieved.

[0087] Step S106, in response to the target current of this round not being greater than the first set threshold, control the thickener to perform the next round of lifting and lowering the rake action on the rake frame.

[0088] Among them, the first set threshold can be preset. For example, the first set threshold can be the set minimum value I of the drive motor current value 下限 , and the application does not limit its value.

[0089] In the embodiment of the present application, when the target current of this round is not greater than the first set threshold, it indicates that the resistance on the rake frame is small and the load of the drive motor is low. In order to effectively scrape and discharge the slime deposited at the bottom of the thickener, the thickener can be controlled to perform the next round of lifting and lowering the rake action on the rake frame.

[0090] The lifting and lowering rake control method of the embodiment of the present application, by responding to the startup of the production system of the coal preparation plant and the startup of the drive motor in the thickener of the coal preparation plant, controls the thickener in the thickener to perform at least one round of lifting and lowering the rake action on the rake frame; among them, the lifting and lowering rake action includes the lowering rake action; for any round of lifting and lowering rake action, when it is determined that the filter press downstream of the thickener is started, the current thickness of the slime in the thickener, the current height of the rake frame, and the current current of the drive motor are obtained; based on the current thickness, the current height, and the current current, the first target height to which the rake frame descends in the lowering rake action is determined; control the thickener to perform the lowering rake 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, obtain the target current of the drive motor of this round; in response to the target current of this round not being greater than the first set threshold, control the thickener to perform the next round of lifting and lowering the rake action on the rake frame. Thus, automatically based on the startup situation of the equipment in the coal preparation plant, as well as the thickness of the slime, the height of the rake frame, and the current of the drive motor, precisely control the thickener in the thickener to perform the lifting and lowering rake action on the rake frame, realize the automatic adjustment of the height of the rake frame, can optimize the sedimentation and thickening process of the slime, improve the coal preparation efficiency, reduce the risk of equipment failures, enhance the stability and production efficiency of the production system of the coal preparation plant. At the same time, it can also reduce the consumption of human resources and the mistakes of manual operations.

[0091] When the lifting rake action further includes a raising rake action, the present application also provides a method for controlling a lifting rake.

[0092] Figure 3 It is a schematic flow chart of the method for controlling a lifting rake provided by another embodiment of the present application.

[0093] As Figure 3 shown, the method may include the following steps:

[0094] Step S301, in response to the start-up of the coal preparation plant production system and the start of the drive motor in the thickener of the coal preparation plant, control the thickener in the thickener to perform at least one round of lifting rake action on the rake frame.

[0095] Step S302, for any round of lifting rake action, when it is determined that the filter press downstream of the thickener is started, obtain the thickness of the coal slime in the thickener in this round, the height of the rake frame in this round, and the current of the drive motor in this round.

[0096] Step S303, based on the thickness in this round, the height in this round, and the current in this round, determine the first target height in this round to which the rake frame descends during the lowering rake action.

[0097] Step S304, control the thickener to perform a lowering rake action on the rake frame so that the rake frame descends to the first target height in this round.

[0098] Step S305, in response to the rake frame descending to the first target height in this round, obtain the target current of the drive motor in this round.

[0099] Step S306, in response to the target current in this round not being greater than the first set threshold, control the thickener to perform the next round of lifting rake action on the rake frame.

[0100] 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 elaborated here.

[0101] Step S307, in response to the target current in this round not being less than the second set threshold, monitor the current of the drive motor and the height of the rake frame.

[0102] Among them, the second set threshold can be preset. For example, the second set threshold can be the set maximum value I of the drive motor current value 上限 , and the present application does not limit its value.

[0103] In the embodiment of the present application, when the target current in this round is not less than the second set threshold, it indicates that the drive motor is in a high-load state at this time, and the resistance on the rake frame is relatively large. The current of the drive motor and the height of the rake frame can continue to be monitored.

[0104] 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 first target height of this cycle is not less than the fourth set duration, determine the second target height of this cycle to which the rake frame rises during the rake lifting action; wherein, the current of the drive motor in the first state is not less than the second set threshold.

[0105] Wherein, the fourth set duration can be preset, for example, it can be 2 min, 2.5 min, etc., and the present application does not limit this.

[0106] In the 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 within the fourth set duration, it indicates that the resistance on the climbing frame is still large and the drive motor is still in a high-load state within the set duration, and the duration of the rake frame at the first target height of this cycle has also reached the fourth set duration. At this time, in order to avoid the "pressing rake" fault and prevent equipment damage, it can be determined that the thickener performs the rake lifting action, and determine the second target height of this cycle to which the rake frame rises during the rake lifting action.

[0107] To accurately determine the second target height of this cycle to which the rake frame rises during the rake lifting action, as a possible implementation, the fourth set height threshold can be determined as the second target height of this cycle to which the rake frame rises during the rake lifting action. For example, if the fourth set height threshold is 95 cm, then this value can be determined as the second target height of this cycle to which the rake frame rises during the rake lifting action. It should be noted that the present application does not limit the value of the fourth set height threshold.

[0108] As another possible implementation, the second target height of this cycle to which the rake frame rises during the rake lifting action can be determined according to the current height of the rake frame and the set height increment.

[0109] As an example, assuming that the current height of the rake frame is L and the set height increment is ΔL, then the second target height L' of this cycle to which the rake frame rises during the rake lifting action can be determined according to the following formula:

[0110] L' = L + ΔL; (3)

[0111] Step S309: Control the thickener to perform the rake lifting action on the rake frame so that the rake frame rises to the second target height of this cycle.

[0112] In the embodiment of the present application, the thickener can be controlled to perform the rake lifting action on the rake frame so that the rake frame rises to the second target height of this cycle. Specifically, the drive motor of the thickener can be controlled to drive the rake frame to rise so that the rake frame rises to the second target height of this cycle.

[0113] To clearly illustrate how to control the thickener to perform the rake lifting action on the rake frame, in a possible implementation manner of the embodiment of the present application, start the hydraulic station in the thickener tank and start the third timer; when the value of the third timer is not less than the fifth set duration, open the rising solenoid valve to control the thickener to drive the rake frame to rise; in response to the rake frame rising to the second target height of this cycle, close the rising solenoid valve and start the fourth timer; when the value of the fourth timer is not less than the sixth set duration, close the hydraulic station.

[0114] Among them, the fifth set duration can be preset, such as 5s, 6s, etc., and the present application does not limit this.

[0115] Among them, the sixth set duration can be preset, such as 5s, 6s, etc., and the present application does not limit this.

[0116] It should be noted that the fifth set durations can be the same or different, and the present application does not limit this.

[0117] Specifically, the hydraulic station in the thickener tank can be started first to provide power to the thickener through the hydraulic station, and at the same time, the third timer can be started; when the value of the third timer is not less than the fifth set duration, it indicates that the hydraulic station has accumulated sufficient power. At this time, the rising solenoid valve can be opened to control the thickener to drive the rake frame to rise; when the rake frame rises to the second target height of this cycle, the rising solenoid valve can be closed first to cut off the rising power of the rake frame; and at the same time when the rising solenoid valve is closed, the fourth timer is started. When the value of the fourth timer is not less than the sixth set duration, the hydraulic station is then closed. Thus, closing the rising solenoid valve first and then closing the hydraulic station after a certain duration can ensure the safe closing of the hydraulic station and the solenoid valve, effectively avoiding equipment damage or failures caused by the instantaneous disappearance of power.

[0118] Step S310, in response to the rake frame rising to the second target height of this cycle, control the thickener to perform the next cycle of lifting and lowering the rake action on the rake frame.

[0119] In the embodiment of the present application, when the rake frame rises to the second target height of this cycle, the thickener can be controlled to perform the next cycle of lifting and lowering the rake action on the rake frame.

[0120] The lifting rake control method according to the embodiment of the present application monitors the current of the drive motor and the height of the rake frame by responding that the target current of this round is not less than the second set threshold; determines the second target height of this round that the rake frame rises to during the lifting rake action by responding 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 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; controls the thickener to perform the lifting rake action on the rake frame so that the rake frame rises to the second target height of this round; and controls the thickener to perform the next round of lifting and lowering rake action on the rake frame by responding that the rake frame rises to the second target height of this round. Thus, it is possible to automatically and precisely control the thickener in the thickening tank to perform the lifting rake action on the rake frame based on the current of the drive motor and the height of the rake frame.

[0121] In the case where the lifting and lowering rake action further includes only a rotation action, the present application also proposes a lifting and lowering rake control method.

[0122] Figure 4 It is a schematic flow chart of the lifting and lowering rake control method provided by another embodiment of the present application.

[0123] As Figure 4 shown, based on the above embodiments of the present application, the method may further include the following steps:

[0124] Step S401, in response to the target current of this round being less than the second set threshold and greater than the first set threshold, controls the thickener to perform only a rotation action on the rake frame and continues to monitor the current of the drive motor.

[0125] It should be noted that the explanation of the second set threshold in step S307 also applies to this embodiment and will not be elaborated here.

[0126] It should also be noted that the explanation of the first set threshold in step S106 also applies to this embodiment and will not be elaborated here.

[0127] In the embodiment of the present application, when the target current of the drive motor in this round is less than the second set threshold and greater than the first set threshold, it indicates that the load of the drive motor is moderate and the resistance on the rake frame is moderate at this time. The thickener can be controlled to perform only a rotation action on the rake frame and continue to monitor the current of the drive motor.

[0128] Step S402, in response to monitoring that the current of the drive motor is not greater than the first set threshold, controls the thickener to perform the next round of lifting and lowering rake action.

[0129] In an 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 at this time and the resistance received by the rake frame is small, and the thickener can be controlled to perform the next round of lifting and lowering of the rake on the rake frame.

[0130] The method for controlling the lifting and lowering of the rake in the embodiment of the present application controls the thickener to perform only the rotation action on the rake frame by responding to the target current of this round being less than the second set threshold and greater than the first set threshold, and continues to monitor the current of the drive motor; in response to monitoring that the current of the drive motor is not greater than the first set threshold, the thickener is controlled to perform the next round of lifting and lowering of the rake on the rake frame. Thus, it is possible to automatically and precisely control the thickener in the thickening tank to perform only the rotation action on the rake frame based on the current of the drive motor.

[0131] It should be noted that the above method for controlling the lifting and lowering of the rake is implemented under the condition that the production system of the coal preparation plant is operating normally. It can be understood that there is a situation where the production system of the coal preparation plant stops. Therefore, the present application also proposes a method for controlling the lifting and lowering of the rake.

[0132] Figure 5 It is a schematic flowchart of the method for controlling the lifting and lowering of the rake provided by another embodiment of the present application.

[0133] As Figure 5 shown, based on any of the above embodiments of the present application, the method may further include the following steps:

[0134] Step S501, in response to the production system of the coal preparation plant stopping due to a fault, start the fifth timer, and after controlling the thickener to complete the lowering action of the rake frame a set number of times during the cyclic execution of the lifting and lowering of the rake, control the rake frame to operate at the position of the third target height.

[0135] Among them, the third target height indicates the position reached by the rake frame under the lowering action of the set number of times.

[0136] Among them, the set number of times can be, for example, once, twice, etc.

[0137] In an embodiment of the present application, the operating state of the production system of the coal preparation plant can be continuously monitored. When it is monitored that the production system of the coal preparation plant 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 lifting and lowering of the rake at this time, in order to make the execution subject of the present application clear the next execution action, after controlling the thickener to complete the lowering action of the rake frame a set number of times during the cyclic execution of the lifting and lowering of the rake, the rake frame can be controlled to operate at the position of the third target height.

[0138] As an example, when it is detected that the coal preparation plant production system stops due to a fault, at this time, the execution subject of the present application is in the process of executing the nth round of lifting rake action; at this time, when the execution subject of the present application controls the thickener to execute the lowering rake action during the execution of the nth round of lifting rake action, after controlling the thickener to continue to complete this lowering rake action, control the rake frame to run (i.e., rotate) at the position reached under this lowering rake action; when the execution subject of the present application controls the thickener to execute the raising rake action during the execution of the nth round of lifting rake action at this time, then control the thickener to continue to complete this raising rake action, and after completing the lowering rake action of this round during the execution of the (n + 1)th round of lifting rake action, control the rake frame to run (i.e., rotate) at the position reached under this lowering rake action; when the execution subject of the present application controls the thickener to execute only the rotation action during the execution of the nth round of lifting rake action at this time, then control the thickener to continue to complete this only rotation action, and after completing the lowering rake action of this round during the execution of the (n + 1)th round of lifting rake action, control the rake frame to run (i.e., rotate) at the position reached under this lowering rake action.

[0139] Step S502, when the value of the fifth timer is not less than the seventh set duration, determine the fourth target height of the rake frame under the raising rake action based on the third target height.

[0140] Among them, the seventh set duration can be preset, for example, it can be 30 min, 20 min, etc., and the present application does not limit this.

[0141] In the embodiment of the present application, when the value of the fifth timer is not less than the seventh set duration, the fourth target height of the rake frame under the raising rake action can be determined based on the third target height.

[0142] As an example, the seventh target height of the rake frame can be obtained, and based on the seventh target height and the third target height, the fourth target height of the rake frame under the raising rake action can be determined. Among them, the seventh target height can be the height of the rake frame when the coal preparation plant production system starts, or it can also be the maximum height that the rake frame can reach.

[0143] For example, assume that the seventh target height of the rake frame is L 原 , and the third target height is L 实 , then the fourth target height L' of the frame under the raising rake action can be determined according to the following formula:

[0144] L' = (L 原 + L 实 ) / 2; (4)

[0145] Step S503, start the hydraulic station in the thickener and start the sixth timer.

[0146] In the embodiment of the present application, after determining the fourth target height, the hydraulic station in the thickener can be preferentially started, and at the same time, the sixth timer is started.

[0147] Step S504, when the value of the sixth timer is not less than the eighth set duration, start the up solenoid valve to control the thickener to drive the rake to rise.

[0148] Among them, the eighth set duration can be preset, such as 5s, 6s, etc., and the present application does not limit this.

[0149] In the embodiment of the present application, when the value of the sixth timer is not less than the eighth set duration, it indicates that the hydraulic station has accumulated sufficient power. At this time, the up solenoid valve can be opened to control the thickener to drive the rake to rise.

[0150] Step S505, in response to the rake rising to the fourth target height, close the up solenoid valve and start the seventh timer.

[0151] After the rake rises to the fourth target height, the up solenoid valve can be preferentially closed to cut off the rising power of the rake; and at the same time when closing the up solenoid valve, the seventh timer is started.

[0152] Step S506, when the value of the seventh timer is not less than the eighth set duration, close the hydraulic station.

[0153] In the embodiment of the present application, when the value of the seventh timer is not less than the eighth set duration, then close the hydraulic station.

[0154] Optionally, after closing the hydraulic station, when the coal preparation plant production system has not been started yet, the thickener can be controlled to perform a target action on the rake every seventh set duration; wherein, controlling the thickener to perform a target action on the rake can include: starting the hydraulic station and starting the eighth timer; when the value of the eighth timer is not less than the eighth set duration, starting the up solenoid valve to control the thickener to drive the rake to rise; in response to the rake rising to the first set height threshold, closing the up solenoid valve and starting the ninth timer; when the value of the ninth timer is not less than the eighth set duration, closing the hydraulic station.

[0155] Among them, the first set height threshold can be preset, such as 95cm, 100cm, etc., and the present application does not limit this.

[0156] It can be understood that after the hydraulic station is shut down, the drive motor is still not shut down, and at this time, the rake frame is still in the rotating operation state. However, due to the gravity of the rake frame itself, the rake frame may automatically descend. Therefore, when the coal preparation plant production system has not been started yet, the thickener can be controlled to perform a target action on the rake frame every seventh set time period; wherein, the specific process of controlling the thickener to perform a target action on the rake frame can include: starting the hydraulic station in the thickener 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, then start the up solenoid valve; when the rake frame rises to the first set height threshold, preferentially close the up solenoid valve and start the ninth timer at the same time; when the value of the ninth timer is not less than the eighth set time period, then shut down the hydraulic station.

[0157] It can be understood that there is a normal shutdown situation in the coal preparation plant production system. For example, relevant staff press the motor stop button to cause the coal preparation plant production system to stop. In a possible implementation manner of the embodiment of the present application in the scenario where the coal preparation plant production system has a normal shutdown, when it is monitored that the coal preparation plant production system stops due to normal shutdown, the hydraulic station can be preferentially started 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 period, the up solenoid valve can be started to control the thickener to drive the rake frame to rise; in response to the rake frame rising to the second set height threshold, close the up solenoid valve and start the eleventh timer at the same time; when the value of the eleventh timer is not less than the eighth set time period, shut down the hydraulic station and obtain the working current of the drive motor; when the working current of the drive motor is not less than the third set threshold and the coal preparation plant production system has not been started within the ninth set time period, at this time, the load of the drive motor is high and the resistance on the rake frame is large. 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 coal preparation plant production system has not been started yet, at this time, the load of the drive motor is low and the resistance on the rake frame is small, and the drive motor can be controlled to continue to operate to maintain the continuity and efficiency of production.

[0158] Among them, the second set height threshold can be preset. For example, it can be 95 cm, 100 cm, etc., and the present application does not limit this.

[0159] Among them, the third set threshold can be preset. For example, the third set threshold can be the set maximum value I of the drive motor current 上限 , and the present application does not limit its value.

[0160] Among them, the ninth set time period can be preset. For example, it can be 2 min, 3 min, etc., and the present application does not limit this.

[0161] Thus, accurate control of the lifting rake of the thickener can be achieved in the case of normal shutdown of the coal preparation plant production system.

[0162] The lifting rake control method according to the embodiment of the present application starts a fifth timer in response to the shutdown of the coal preparation plant production system due to a fault, and controls the thickener to complete a set number of lowering rake actions on the rake frame during the cyclic execution of the lifting rake action, and then controls the rake frame to operate at the position of the third target height; wherein, the third target height indicates the position reached by the rake frame under the set number of lowering rake actions; when the value of the fifth timer is not less than the seventh set duration, based on the third target height, determine the fourth target height of the rake frame under the raising rake action; start the hydraulic station in the thickener and start a sixth timer; when the value of the sixth timer is not less than the eighth set duration, start the rising solenoid valve to control the thickener to drive the rake frame to rise; in response to the rake frame rising to the fourth target height, close the rising solenoid valve and start a seventh timer; when the value of the seventh timer is not less than the eighth set duration, close the hydraulic station. Thereby, when the coal preparation plant production system is abnormal, precise control of the lifting rake can be achieved, effectively coping with the control problem of the lifting rake when the coal preparation plant production system is abnormal, preventing the chaos of the lifting rake operation in the case of production system abnormalities, avoiding the occurrence of production failures, and ensuring the stability and safety of production.

[0163] To clearly illustrate the lifting rake control method of the present application, the following will be described in detail with examples.

[0164] 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 simply referred to as the lifting rake control system) for description. In the scenario where the lifting rake control system is operating normally and the coal preparation plant production system is operating normally, specifically, as Figure 6 shown, the lifting rake control method may include the following steps:

[0165] 6.1 When the control system of the automatic lifting rake of the thickener is put into the automatic state, the lifting rake control system monitors the startup signal of the coal preparation plant production system;

[0166] 6.2 When it is monitored that the startup signal of the coal preparation plant production system indicates startup, the drive motor of the thickener is preferentially started to control the thickener to drive the rake frame to rotate (it should be noted that at this time, the rake frame cannot be driven to rise or fall);

[0167] 6.3 Control the thickener to perform at least one round of lifting rake actions on the rake frame; wherein, the lifting rake actions include at least one of a lowering rake action, a raising rake action, and a only rotation action;

[0168] 6.4 For any round of lifting and lowering rake actions, it is first necessary to monitor whether the start signal of the pressure filter, a downstream device of the thickener (denoted as the filter in this application), indicates a start. In the case where the start signal of the pressure filter indicates a start, obtain the thickness of the slime in the thickener in this round through a sludge interface meter (denoted as a slime interface meter in this application), obtain the height L of the rake frame in this round through a displacement sensor, and monitor the current of the drive motor in this round;

[0169] It should be noted that when the start signal of the pressure filter indicating a start is not monitored, the thickener is prohibited from driving the rake frame to perform lifting and lowering rake actions;

[0170] 6.5 Determine the first target height in this round to which the rake frame descends during the lowering rake action based on the thickness of the slime in this round, the height L of the rake frame in this round, and the current of the drive motor in this round;

[0171] As a possible implementation, it is possible to determine whether to control the thickener to perform a lowering rake action based on the height L of the rake frame in this round and the current of the drive motor in this round; in the case where it is determined to control the thickener to perform a lowering rake action, determine the first target height in this round to which the rake frame descends during the lowering rake action based on the thickness of the slime in this round.

[0172] As an example, when the height L of the rake frame in this round is greater than 0 (denoted as the third set height threshold in this application), and the current I of the drive motor in this round is not greater than I 下限 (denoted as the fourth set threshold in this application), it is determined to control the thickener to perform a lowering rake action, where I 下限 represents the set minimum value of the drive motor current value; in the case where it is determined to control the thickener to perform a lowering rake action, when the thickness of the slime in this round is greater than 500 mm (denoted as the set thickness threshold in this application), determine that the first target height in this round to which the rake frame descends during the lowering rake action is L 下 , and when the thickness of the slime in this round is not greater than 500 mm, determine that the first target height in this round to which the rake frame descends during the lowering rake action is (L 下 + 2 cm), where 2 cm is denoted as ΔL' in this application;

[0173] When the height L of the rake frame ≤ 0, the thickener can be controlled to perform only a rotation action on the rake frame;

[0174] When the current I of the drive motor > I 下限 , the current of the drive motor can continue to be monitored, and the thickener can be controlled to perform only a rotation action on the rake frame until the current I of the drive motor ≤ I 下限 ;

[0175] 6.6 When the duration (denoted as the first duration in this application) when the rake frame is at the height of this cycle ≥ 2 min (denoted as the first set duration in this application), the hydraulic station is preferentially started to provide power to the thickener through the hydraulic station;

[0176] 6.7 After the hydraulic station is started for 5 s (denoted as the second set duration in this application), the lowering solenoid valve is opened to control the thickener to drive the rake frame to lower;

[0177] 6.8 When the height L to which the rake frame is lowered is monitored 实 is not greater than the first target height of this cycle, the lowering solenoid valve is closed, and the hydraulic station is closed after 5 s (denoted as the third set duration in this application);

[0178] 6.9 Obtain the current current of the drive motor;

[0179] When the current current of the drive motor is not greater than I 下限 (denoted as the first set threshold in this application, which is the same as the fourth set threshold at this time), control the thickener to perform the next round of lifting and lowering rake actions on the rake frame;

[0180] When the current current of the drive current is not less than I 上限 (denoted as the second set threshold in the application), continue to monitor the current of the drive motor and the height of the rake frame. Among them, I 上限 is the set maximum value of the drive motor current value; when it is monitored that the current of the drive motor has not been less than I 上限 within 2 min (denoted as the fourth set duration in this application, which can be the same as the first set duration at this time), and the duration when the rake frame is at the position of the first target height of this cycle has also reached 2 min, determine to control the thickener to drive the rake frame to rise, and determine that the second target height of this cycle to which the rake frame rises under the rake lifting action is L 上 ; preferentially start the hydraulic station, and open the rising solenoid valve after 5 s (denoted as the fifth set duration in this application, which can be the same as the second set duration at this time); when the actual height L to which the rake frame rises 实 is not less than the second target height L of this cycle 上 , close the rising solenoid valve, close the hydraulic station after 5 s, and control the thickener to perform the next round of lifting and lowering rake actions on the rake frame;

[0181] When the current current of the drive motor is less than I 上限 , and the current current of the drive motor is greater than I 下限 , control the thickener to perform only the rotation action on the rake frame, and continue to monitor the current of the drive motor. When it is monitored that the current of the drive motor is not greater than I 下限 , control the thickener to perform the next round of lifting and lowering rake actions on the rake frame.

[0182] In the scenario where the lifting rake control system is operating normally and the coal preparation plant production system is stopped, specifically, the lifting rake control method may include the following steps:

[0183] 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.

[0184] When the lifting rake control system monitors that the coal preparation plant production system stops due to a fault, as Figure 7 shown, it may include the following steps:

[0185] 7.1 Time the parking duration of the coal preparation plant production system, and during the cyclic execution of the lifting rake action, control the thickener to complete a lowering action of the rake frame once, and control the rake frame to only rotate at the position of the third target height reached under this lowering action;

[0186] 7.2 When the recorded parking duration is not less than 30 min (denoted as the seventh set duration in this application), determine to control the thickener to drive the rake frame to rise, and based on the third target height, determine the fourth target height of the rake frame under the raising action according to formula (4);

[0187] 7.3 Prioritize starting the hydraulic station, and after 5 s (denoted as the eighth set duration in this application, which can be the same as the second set duration at this time), open the rising solenoid valve;

[0188] 7.4 When the actual height of the rising rake frame is not less than the fourth target height, close the rising solenoid valve, and after 5 s, close the hydraulic station;

[0189] 7.5 When the coal preparation plant production system still has not started, every 30 min, control the thickener to perform the following operations on the rake frame:

[0190] Start the hydraulic station, and after 5 s, start the rising solenoid valve. When the height of the rising rake frame reaches 95 cm (denoted as the first set height threshold in this application), close the rising solenoid valve, and after 5 s, close the hydraulic station.

[0191] When the lifting rake control system monitors that the coal preparation plant production system stops due to the normal operation of the manual motor stop button, as Figure 8 shown, it may include the following steps:

[0192] 8.1 Start the hydraulic station, and after 5 s, start the rising solenoid valve;

[0193] 8.2 When the height of the rising rake frame reaches 95 cm, close the rising solenoid valve, and after 5 s, close the hydraulic station;

[0194] 8.3 When the working current of the drive motor is not less than I 上限If the coal preparation plant production system fails to start within 2 minutes, the operation of the drive motor is prohibited, and the start signal of the coal preparation plant production system is continuously monitored;

[0195] 8.4 When the working current of the drive motor is less than I 上限 Then control the drive motor to rotate only at the position reached after rising, and continue to monitor the start signal of the coal preparation plant production system.

[0196] The automatic lifting rake is an important part of intelligent dosing and intelligent pressure filtration. If the rake in the thickener cannot accurately reach the position closest to the coal slime dust, the coal slime in the thickener cannot be quickly discharged and enter the next pressure filtration link, which may cause an increase in the pressure of the coal slime water link in the production system, 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 thickener, accelerate the sedimentation of the coal slime in the coal slime water and discharge it in time; the automatic lifting rake in the thickener can liberate manpower for the coal preparation plant and also accelerate the construction of the intelligence of other systems.

[0197] In summary, the lifting rake control method of the present application integrates the data of multiple sensors and the real-time information of the production system, and uses advanced data fusion technology and control models to realize the adaptive lifting control of the thickener, which can significantly reduce the labor intensity of relevant staff, and also reduce production accidents and equipment failures caused by unclear coal slime content through precise control, improve the stability and efficiency of the overall production system, help optimize the production process, reduce human intervention, and ensure the continuity and reliability of the production process.

[0198] Corresponding to the lifting rake control method provided in the above Figures 1 to 5 embodiment, the present application also provides a lifting rake control device. Since the lifting rake control device provided in the embodiment of the present application corresponds to the Figures 1 to 5 lifting rake control method provided in the above embodiment, the implementation manner 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.

[0199] Figure 9 It is a schematic structural diagram of a lifting rake control device provided by another embodiment of the present application.

[0200] As Figure 9 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.

[0201] Among them, the first control module 901 is configured to, in response to the startup of the coal preparation plant production system and the startup of the drive motor in the thickener of the coal preparation plant, control the thickener in the thickener to perform at least one round of lifting and lowering rake actions on the rake frame in the thickener; wherein, the lifting and lowering rake actions include lowering rake actions.

[0202] The first acquisition module 902 is configured to, for any round of lifting and lowering rake actions, when it is determined that the filter press downstream of the thickener is started, acquire the thickness of the coal slime in the thickener in this round, the height of the rake frame in this round, and the current of the drive motor in this round.

[0203] The first determination module 903 is configured to determine the first target height of the rake frame in this round when descending in the lowering rake action based on the thickness in this round, the height in this round, and the current in this round.

[0204] The second control module 904 is configured to control the thickener to perform a lowering rake action on the rake frame so that the rake frame descends to the first target height in this round.

[0205] The second acquisition module 905 is configured to, in response to the rake frame descending to the first target height in this round, acquire the target current of the drive motor in this round.

[0206] The third control module 906 is configured to, in response to the target current in this round not being greater than the first set threshold, control the thickener to perform the next round of lifting and lowering rake actions on the rake frame.

[0207] In a possible implementation manner of the embodiment of the present application, the second control module 904 is configured to: in response to the first duration being not less than the first set duration, start the hydraulic station in the thickener and start the first timer; wherein, the first duration is used to indicate the duration of the rake frame at the position of the height in this round; when the value of the first timer is not less than the second set duration, open the descending solenoid valve to control the thickener to drive the rake frame to descend.

[0208] In a possible implementation manner of the embodiment of the present application, the second acquisition module 905 is configured to: in response to the rake frame descending to the first target height in 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 duration, close the hydraulic station and acquire the current of the drive motor; determine the current of the drive motor as the target current in this round.

[0209] In a possible implementation manner of the embodiment of the present application, the lifting and lowering rake actions further include raising rake actions, and the lifting and lowering rake control device 900 may further include:

[0210] The first monitoring module is configured to, in response to the target current in this round being not less than the second set threshold, monitor the current of the drive motor and the height of the rake frame.

[0211] A second determination module, configured to determine a second target height of the current round to which the rake rises during the rake lifting action 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 a fourth set duration; wherein the current of the drive motor in the first state is not less than a second set threshold.

[0212] A fourth control module, configured to control the thickener to perform a rake lifting action on the rake frame so that the rake frame rises to the second target height of the current round.

[0213] A fifth control module, configured to control the thickener to perform the next round of rake lifting and lowering actions on the rake frame in response to the rake frame rising to the second target height of the current round.

[0214] In a possible implementation manner of the embodiment of the present application, the fourth control module is configured to: start the hydraulic station in the thickener tank and start a third timer; in the case where the value of the third timer is not less than a fifth set duration, open the rising solenoid valve to control the thickener to drive the rake frame to rise; in response to the rake frame rising to the second target height of the current round, close the rising solenoid valve and start a fourth timer; in the case where the value of the fourth timer is not less than a sixth set duration, close the hydraulic station.

[0215] In a possible implementation manner of the embodiment of the present application, the rake lifting and lowering action further includes only a rotation action, and the rake lifting and lowering control device 900 may further include:

[0216] A sixth control module, configured to control the thickener to perform only a rotation action on the rake frame and continue to monitor the current of the drive motor in response to the target current of the current round being less than the second set threshold and greater than the first set threshold.

[0217] A seventh control module, configured to control the thickener to perform the next round of rake lifting and lowering actions on the rake frame in response to monitoring that the current of the drive motor is not greater than the first set threshold.

[0218] In a possible implementation manner of the embodiment of the present application, the rake lifting and lowering control device 900 may further include:

[0219] A first processing module, configured to start a fifth timer in response to the production system of the coal preparation plant stopping due to a fault, and control the thickener to complete performing a set number of rake lowering actions on the rake frame during the cyclic execution of the rake lifting and lowering action, and then control the rake frame to operate at the position of the third target height; wherein the third target height indicates the position reached by the rake frame under the set number of rake lowering actions.

[0220] A third determination module, configured to determine a fourth target height of the rake frame during the rake lifting action based on the third target height in the case where the value of the fifth timer is not less than a seventh set duration.

[0221] The first start-up module is used to start the hydraulic station in the thickener and start the sixth timer.

[0222] The second start-up module is used to start the up solenoid valve to control the thickener to perform the rake lifting action on the rake frame when the value of the sixth timer is not less than the eighth set duration.

[0223] The second processing module is used to close the up solenoid valve and start the seventh timer in response to the rake frame rising to the fourth target height.

[0224] The first shutdown module is used to shut down the hydraulic station when the value of the seventh timer is not less than the eighth set duration.

[0225] In a possible implementation manner of the embodiment of the present application, the lifting rake control device 900 may further include:

[0226] The eighth control module is used to control the thickener to perform a target action on the rake frame every seventh set duration when the coal preparation plant production system has not yet started; wherein, controlling the thickener to perform a target action on the rake frame includes: starting the hydraulic station and starting the eighth timer; starting the up solenoid valve to control the thickener to drive the rake frame to rise when the value of the eighth timer is not less than the eighth set duration; closing the up solenoid valve and starting the ninth timer in response to the rake frame rising to the first set height threshold; and shutting down the hydraulic station when the value of the ninth timer is not less than the eighth set duration.

[0227] In a possible implementation manner of the embodiment of the present application, the lifting rake control device 900 may further include:

[0228] The third start-up module is used to start the hydraulic station and start the tenth timer in response to the normal shutdown of the coal preparation plant production system.

[0229] The fourth start-up module is used to start the up solenoid valve to control the thickener to drive the rake frame to rise when the value of the tenth timer is not less than the eighth set duration.

[0230] The third processing module is used to close the up solenoid valve and start the eleventh timer in response to the rake frame rising to the second set height threshold.

[0231] The fourth processing module is used to shut down the hydraulic station and obtain the working current of the drive motor when the value of the eleventh timer is not less than the eighth set duration.

[0232] The fifth processing module is used to prohibit the operation of the drive motor in response to the working current being not less than the third set threshold and the coal preparation plant production system not starting within the ninth set duration.

[0233] The ninth control module is configured to control the drive motor to continue running in response to the working current being less than the third set threshold and the coal preparation plant production system not starting up within the ninth set duration.

[0234] In a possible implementation manner of the embodiment of the present application, the first determination module 903 is configured to: determine whether the thickener performs a rake-lowering action based on the current round height and the current round current; and in the case of determining that the thickener performs a rake-lowering action, determine the first target height of the rake frame in the rake-lowering action based on the current round thickness.

[0235] The lift-rake control device of the embodiment of the present application controls the thickener in the thickener tank to perform at least one round of lift-rake actions on the rake frame in the thickener tank in response to the startup of the coal preparation plant production system and the startup of the drive motor in the thickener tank of the coal preparation plant; wherein, the lift-rake action includes a rake-lowering action; for any round of lift-rake actions, in the case of determining that the filter press downstream of the thickener tank starts up, obtain the current round thickness of the coal slime in the thickener 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 rake frame in the rake-lowering action based on the current round thickness, the current round height, and the current round current; control the thickener 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; in response to the rake frame descending to the first target height of the current round, obtain the current round target current of the drive motor; and in response to the current round target current not being greater than the first set threshold, control the thickener to perform the next round of lift-rake actions on the rake frame. Thus, automatically based on the startup situation of the coal preparation plant equipment, as well as the thickness of the coal slime, the height of the rake frame, and the current of the drive motor, accurately control the thickener in the thickener tank to perform lift-rake actions on the rake frame, realize the automatic adjustment of the height of the rake frame, optimize the sedimentation and thickening process of the coal slime, improve the coal preparation efficiency, reduce equipment, and at the same time, can also reduce the consumption of human resources and the risk of failures caused by human operation errors, and enhance the stability and production efficiency of the coal preparation plant production system.

[0236] To implement the above embodiment, the present application also proposes an electronic device, including: a processor, and a memory communicatively connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the lift-rake control method provided in the foregoing embodiment.

[0237] To implement the above embodiment, the present application also proposes a computer-readable storage medium storing computer execution instructions, and the computer execution instructions are used to implement the lift-rake control method provided in the foregoing embodiment when executed by a processor.

[0238] To implement the above embodiment, the present application also proposes a computer program product, including a computer program, and the computer program implements the lift-rake control method provided in the foregoing embodiment when executed by a processor.

[0239] The collection, storage, use, processing, transmission, provision, and application of the user's personal information involved in this application all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0240] It should be noted that personal information from users should be collected for legal and reasonable purposes and should not be shared or sold outside of these legal uses. In addition, such collection / sharing should be carried out after obtaining the informed consent of the user, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization including authorizing relevant user information before the user uses this function. In addition, any necessary steps should be taken to safeguard and protect access to such personal information data and ensure that others with access to personal information data comply with their privacy policies and procedures.

[0241] This application is expected to provide an implementation plan 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 personal information data is no longer needed, the risk can be minimized by restricting data collection and deleting data. In addition, when applicable, personal identifiers are removed from such personal information to protect the privacy of users.

[0242] In the description of the foregoing embodiments, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0243] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as controlling or implying relative importance or implicitly indicating the quantity of the controlled technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, "a plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0244] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where functions may be performed in a substantially simultaneous manner or in an order opposite to that shown or discussed, according to the functions involved, which should be understood by those skilled in the technical field to which the embodiments of the present application pertain.

[0245] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, and can be embodied specifically in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection portion having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or otherwise processing as appropriate, and then stored in a computer memory.

[0246] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above 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 in hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0247] Those of ordinary skill in the art can understand that all or part of the steps carried out in implementing the above-described embodiment methods can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0248] In addition, in each of the embodiments of the present application, the functional units can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0249] The above-mentioned storage medium can be a read-only memory, a magnetic disk, 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 should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to 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, controlling the concentrator to perform the next round of the lifting and lowering action on the rake frame; The lifting and lowering rake action also includes a lifting rake action, and the method also includes: In response to the target current of this round 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 the current round, controlling the concentrator to perform the next round of the rake lifting action on the rake frame; 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 lifting and lowering 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 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.

5. The method according to any one of claims 1 to 4, 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 shut down.

6. The method according to claim 5, 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.

7. The method according to claim 5, 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.

8. The method according to any one of claims 1 to 4, 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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