Multi-stage material distribution control system and method for isolating grouting coal gangue

Abstract

The invention discloses a multi-stage material distribution control system and method for isolating grouting coal gangue in the technical field of mine material conveying. The method comprises the steps that a gangue flow signal at a feeding port of a ball mill is received; the gangue flow signal at the feeding port of the ball mill is compared with a preset threshold value; when the gangue flow signal at the feeding port of the ball mill exceeds the preset threshold value, the angle correction amount of a material guide plate is calculated through a fuzzy PID algorithm based on the gangue flow signal at the feeding port of the ball mill; and after the angle correction amount of the material guide plate is conveyed to a hydraulic executing mechanism to conduct angle correction on the adjustable material guide plate, the gangue flow signal at the feeding port of the ball mill is received again and compared with a preset threshold value. Through linkage of the hydraulic adjustable material guide plate and the PLC intelligent control system, the feeding amount of the ball mill is monitored in real time, the material distribution angle is dynamically adjusted, the matching precision is improved, and the problems that material grading is unbalanced and the efficiency of the mill is reduced are solved.

Description

Technical Field

[0001] The present invention relates to a multi-stage feeding control system and method for isolated grouting coal gangue, belonging to the technical field of mine material transportation. Background Art

[0002] The large-sized gangue with a particle size of 13 - 200 mm generated in the coal preparation plant enters the gangue bunker and is sent to the crushing station through a feeder and a belt conveyor for two-stage crushing. The first-stage crushing uses a double-toothed roll crusher to crush it to 50 mm, and the second-stage crushing uses a reversible hammer-type fine crusher to crush it to 10 mm. Then it is transported to the scraper conveyor in the pulp-making workshop through a belt for feeding and then transported to two wet overflow ball mills for pulverizing the crushed gangue. The gangue slurry overflows from the ball mill and enters the subsequent filling and pumping link, and is pressurized and transported to the grouting hole through a grouting pump and injected into the separated layer space to achieve gangue disposal.

[0003] The existing scraper conveyor in the pulp-making workshop is limited by the rigid structure and cannot dynamically adjust the feeding ratio of the two mill inlets, resulting in the technical bottleneck of insufficient feeding accuracy, leading to unbalanced material grading and reduced mill efficiency. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a multi-stage feeding control system and method for isolated grouting coal gangue. Through the linkage of a hydraulically adjustable deflector and a PLC intelligent control system, the feeding amount of the ball mill is monitored in real time and the feeding angle is dynamically adjusted, improving the proportioning accuracy and avoiding the problems of unbalanced material grading and reduced mill efficiency.

[0005] To achieve the above object, the present invention is implemented by the following technical solutions: In the first aspect, the present invention provides a multi-stage feeding control method for isolated grouting coal gangue, including: Receiving the gangue flow signal at the inlet of the ball mill; Comparing the gangue flow signal at the inlet of the ball mill with a preset threshold; When the gangue flow signal at the inlet of the ball mill exceeds the preset threshold, calculating the deflector angle correction amount through a fuzzy PID algorithm based on the gangue flow signal at the inlet of the ball mill; After sending the deflector angle correction amount to the hydraulic actuator to correct the angle of the adjustable deflector, receiving the gangue flow signal at the inlet of the ball mill again and comparing it with the preset threshold; When the gangue flow signal at the inlet of the ball mill does not exceed the preset threshold, no angle correction is made to the deflector, otherwise the deflector angle is corrected again through the fuzzy PID algorithm.

[0006] Further, the calculation formula for the deflector angle correction amount is:

[0007] In the formula: is the correction amount of the guide plate angle; is the current angle of the guide plate; is the dynamic proportionality coefficient; is the relative deviation of material distribution; is the dynamic integral coefficient; is the upper limit of the integral time; is the system response time constant; is the hydraulic-mechanical coupling compensation angle; is the rate of change of deviation.

[0008] Furthermore, the calculation formula for the hydraulic-mechanical coupling compensation angle is:

[0009] In the formula: is the hydraulic-mechanical coupling compensation angle; is the real-time pressure of the hydraulic cylinder; is the rated working pressure; is the speed gain of the actuator; is the pressure attenuation coefficient, is the duration of abnormal pressure; is the current angle of the guide plate.

[0010] Furthermore, the calculation formula for the dynamic proportionality coefficient is:

[0011] In the formula: is the dynamic proportionality coefficient; is the basic proportionality coefficient; is the relative deviation of material distribution; is the rated deviation threshold; is the dynamic correction amount of the fuzzy proportionality coefficient; is the 7-dimensional membership function; is the output of the fuzzy rule; is the normalized deviation amount, is the rate of change of deviation; is the maximum allowable deviation threshold; is the change time.

[0012] Furthermore, the calculation formula for the relative deviation of material distribution is:

[0013] In the formula: is the relative deviation of material distribution; is the absolute deviation of material distribution; is the actual material distribution quantity; is the theoretical material distribution quantity.

[0014] Furthermore, the angle correction amount of the material guiding plate is converted into a hydraulic cylinder displacement command, and then the proportional servo valve of the hydraulic actuator is driven through a PWM signal. The conversion expression is:

[0015] In the formula: is the hydraulic cylinder displacement command; is the angle correction amount of the material guiding plate; is the current angle of the material guiding plate; is the transmission ratio coefficient.

[0016] In the second aspect, the present invention provides a multi-stage material distribution control system for isolated grouting coal gangue, which is used to implement the above-mentioned multi-stage material distribution control method for isolated grouting coal gangue. It includes a material distribution chute arranged under the head of the belt conveyor from the crushing station to the ball mill workshop. An adjustable material guiding plate is arranged in the middle of the material distribution chute, and the adjustable material guiding plate controls the hydraulic actuator to adjust the angle through a PLC system. The two outlet pipe orifices under the material distribution chute are respectively matched with the inlet of the first ball mill and the material distribution belt conveyor. The tail end of the material distribution belt conveyor is connected to the inlet of the second ball mill through a head chute. A magnetic separator is arranged at the top of the inlet of the material distribution chute, and a flow sensor is arranged on the inner wall of the outlet pipe of the material distribution chute.

[0017] Furthermore, an arc-shaped curved surface baffle is arranged at the bottom of the material distribution chute close to the material distribution belt conveyor.

[0018] Furthermore, a high-frequency vibrator is arranged on the outer wall of the outlet pipe of the material distribution chute.

[0019] Furthermore, an alumina ceramic layer is sprayed on the inner wall of the material distribution chute.

[0020] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: First, in this solution, the adjustable material guiding plate is arranged in the middle of the material distribution chute under the head of the belt conveyor from the crushing station to the ball mill workshop. Through the linkage of the hydraulically adjustable material guiding plate and the PLC intelligent control system, the feeding amount of the ball mill is monitored in real time and the material distribution angle is dynamically adjusted, improving the mixing ratio accuracy and avoiding problems such as unbalanced material grading and reduced mill efficiency; Second, this solution innovatively adopts a combined design of an arc-shaped curved surface baffle and a high-frequency vibrator, combined with an elastic rubber self-cleaning scraper, shortening the cleaning cycle of sticky gangue caking, reducing the shutdown rate, and saving the annual operation and maintenance cost; III. A magnetic separator for intercepting metal debris is added at the feed inlet of this solution to reduce foreign objects from entering the belt system. The belt conveyor system uses a steel cord anti - tear rubber belt as the conveying main body, which is suitable for high - humidity and debris - containing gangue materials, supports stepless speed change, and adapts to different production capacity requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings forming a part of this invention are used to provide a further understanding of the invention. The schematic embodiments and descriptions thereof of the invention are used to explain the invention and do not constitute an improper limitation of the invention. In the drawings: Figure 1 FIG. 1 is a schematic structural diagram of a multi - stage material distribution control system for isolated grouting coal gangue provided in Embodiment 1 of the present invention; Figure 2 FIG. 2 is a flowchart of a multi - stage material distribution control method for isolated grouting coal gangue provided in Embodiment 2 of the present invention.

[0022] In the figure: 1. Belt conveyor from crushing station to ball mill workshop; 2. Magnetic separator; 3. Hydraulic actuator; 4. Adjustable deflector; 5. High - frequency vibrator; 6. Flow sensor; 7. Material distribution chute; 8. Arc - shaped curved baffle; 9. Material distribution belt conveyor; 10. Head chute. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present invention will be described in detail below with reference to the drawings and in combination with embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0024] The following detailed descriptions are all exemplary descriptions, aiming to provide further details of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the present invention are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present invention.

[0025] Embodiment 1: This embodiment provides a multi - stage material distribution control system for isolated grouting coal gangue. For the whole process of gangue crushing - pulping - grouting in the separated - layer grouting workshop, an intelligent material distribution system of "particle size adaptation - dynamic material distribution - anti - impurity and energy - saving" is constructed. Through an adjustable deflector, an anti - debris module and a self - cleaning design, problems such as uneven batching and easy failure of the traditional scraper conveyor are solved, and the technical effects of improving the material distribution accuracy and reducing the maintenance cost are achieved, which is applicable to complex working conditions such as mine crushing and separated - layer grouting. As Figure 1 shown, it includes three major modules: optimization of the material distribution structure, anti - wet adhesion and self - cleaning, and anti - impurity and energy - saving design. The specific technical solutions are as follows: I. Material distribution adjustment system 1) Location and function: The adjustable material guide plate 4 is arranged in the middle of the material distribution chute 7 under the head of the belt conveyor 1 from the crushing station to the ball mill workshop.

[0026] 2) Driving mechanism: The adjustable material guide plate 4 uses a hydraulic actuator 3 (stroke accuracy ±0.5 mm) for dynamic angle adjustment, realizing stepless adjustment of the guide plate angle from 0° to ±35°, and dynamically distributing the feeding amount of the two ball mills.

[0027] 3) Control logic: Receive the signal of the flow sensor 6 at the feeding port of the ball mill (accuracy ±1%) through the PLC system, calculate the relative deviation of material distribution in real time, and finally send the correction amount of the guide plate angle to the hydraulic actuator 3 to ensure a ±5% ratio accuracy (the error of the existing technology > 10%). The formula for calculating the relative deviation of material distribution is:

[0028] In the formula: is the relative deviation of material distribution, which is used to evaluate the proportion of the deviation to the theoretical value and is convenient for horizontal comparison of the material distribution accuracy under different working conditions; is the absolute deviation of material distribution, which is applicable to quantifying the material deviation value of a single time or a single point during the material distribution process; is the actual material distribution amount; is the theoretical material distribution amount.

[0029] It should be noted that this solution innovatively proposes a "three-dimensional perception - fuzzy decision - dynamic compensation" collaborative control architecture, and realizes intelligent adjustment through the following core algorithms: ① Fuzzy PID parameter dynamic correction formula

[0030] In the formula: is the dynamic proportional coefficient; is the basic proportional coefficient; is the relative deviation of material distribution; is the rated deviation threshold; is the dynamic correction amount of the fuzzy proportional coefficient; is the 7-dimensional membership function; is the normalized deviation amount, is the deviation change rate; is the maximum allowable deviation threshold; is the output of the fuzzy rule, is the change time.

[0031] ② Hydraulic-mechanical coupling compensation formula

[0032] In the formula: is the hydraulic-mechanical coupling compensation angle; is the real-time pressure of the hydraulic cylinder; is the rated working pressure; is the speed gain of the actuator; is the pressure attenuation coefficient, is the duration of abnormal pressure; is the current angle of the material guiding plate, which is detected by an optoelectronic encoder installed at the material guiding plate.

[0033] ③ Dynamic Angle Comprehensive Correction Formula

[0034] In the formula: is the angle correction amount of the material guiding plate; is the current angle of the material guiding plate; is the dynamic proportional coefficient; is the relative deviation of material distribution; is the dynamic integral coefficient; is the upper limit of integral time; is the system response time constant; is the hydraulic-mechanical coupling compensation angle.

[0035] Application example in the coal pulp preparation workshop of a certain coal mine: 1. Data acquisition layer: The flow sensor 6 sends the value to the PLC every 50 ms, and the hydraulic pressure transmitter collects at a frequency of 1 kHz, and the optoelectronic encoder feeds back .

[0036] 2. Fuzzy decision-making layer: Step 1: Calculate the normalized deviation = / 15% ( = 15%); Step 2: Call the fuzzy rule base to generate ; Step 3: Calculate the pressure compensation term according to ; Step 4: Synthesize the three items to generate .

[0037] 3. Execution control layer: Convert into the displacement command of the hydraulic cylinder, and then drive the proportional servo valve of the hydraulic actuator 3 through the PWM signal (response time ≤ 5 ms). The conversion expression is:

[0038] In the formula: is the displacement command of the hydraulic cylinder; is the transmission ratio coefficient.

[0039] 4. Safety monitoring mechanism: When | exceeds the limit for 3 consecutive seconds, the expert intervention mode is activated; when the pressure compensation term exceeds the threshold, the gradient decay protection is triggered.

[0040] The following technical effects are achieved in this solution: Multi-physical field coupling control: Integrate the closed-loop feedback of material flow, mechanical angle, and hydraulic pressure to break through the limitations of the traditional single-variable control architecture; Intelligent parameter tuning: The fuzzy rule base realizes the online self-optimization of PID parameters, eliminating the response lag caused by manual parameter tuning; Nonlinear disturbance suppression: The hydraulic compensation term dynamically cancels the influence of pressure fluctuations, and the integral term adaptively adjusts to avoid the saturation of the control quantity; Improvement of system robustness: The expert rule base provides a multiple fault tolerance mechanism, and the encoder feedback data realizes mechanical clearance compensation; Full life cycle adaptation: The self-learning module tracks the parameter drift of equipment aging and supports remote rule base update and policy optimization.

[0041] II. Moisture-proof adhesion and self-cleaning system 1) Structure design: An arc-shaped curved baffle 8 (curvature radius R = 800 mm) is set at the bottom of the material distribution chute 7 to reduce the retention of gangue; the inner wall of the material distribution chute 7 is sprayed with an alumina ceramic layer (thickness ≥ 3 mm, hardness ≥ HRA85), and the service life is ≥ 12 months (the service life of traditional carbon steel parts ≤ 3 months).

[0042] 2) High-frequency vibrator 5: Installed on the outer wall of the material distribution chute 7, integrated with an adjustable frequency vibration module (10 - 50 Hz), and dynamically adjusts the vibration intensity according to the moisture content of the gangue (15 - 25%) to prevent sticking and caking.

[0043] 3) Elastic rubber self-cleaning scraper (installed at the head of the material distribution belt conveyor 9, which can scrape the sticky material on the material distribution belt conveyor 9 into the head chute 10): A pressure sensor is built into the scraper (the pressure sensor is installed on the elastic rubber self-cleaning scraper and designed as an integral structure with the rubber self-cleaning scraper, range 0 - 50 kN), which real-time monitors the scraping resistance and automatically adjusts the contact pressure between the scraper and the belt (error ≤ 5 N). It should be noted that the relationship between the scraping resistance and the contact pressure is: F = μ·N, where: F is the scraping resistance (unit: N); μ is the friction coefficient between the material and the scraper (depending on material properties such as material hardness and scraper material); N is the contact pressure (unit: N, which can be controlled by adjusting the pressing force of the scraper on the material or its self-weight). This formula is applicable to the condition of uniform scraping, where the power needs to be equal to the frictional resistance (i.e., the scraping resistance).

[0044] 4) Timed material cleaning: Trigger the strong scraping mode every 30 minutes to remove residual wet material and avoid manual material cleaning during shutdown (previously required ≥ 2 hours).

[0045] III. Anti-impurity and conveying system 1) Magnetic separator 2: Installed at the front end of the feed inlet of the material distribution chute 7, using a permanent magnet (magnetic induction intensity ≥ 0.8T) to intercept metal debris (such as iron wire, anchor bolts, etc.). The interception rate of metal impurities is increased to over 95%, and the worn debris of the chain is recycled through the magnetic recovery device.

[0046] 2) Steel cord anti-tear rubber belt: Structural parameters: The conveyor belt uses steel wire ropes (tensile strength ≥ 2500 N / mm²) + wear-resistant rubber layer (thickness ≥ 8 mm), with an impact resistance strength ≥ 15 MPa, suitable for conveying materials containing waste rock.

[0047] 3) Variable-speed drive: The conveying system supports stepless speed change from 0.5 - 2.5 m / s, adapting to the production capacity requirements of 50 - 300 t / h and reducing no-load energy consumption.

[0048] IV. Installation and commissioning 1) Installation of belt conveyor: Select a belt width of 800 - 1200 mm (adapting to a production capacity of 50 - 300 t / h), with an inclination angle ≤ 15°, and the centering error between the head of the conveyor and the center line of the feed inlet of the ball mill ≤ 2 mm.

[0049] 2) Calibration of the deflector: The initial angle is set to 90°. The PLC system calibrates the feed quantity into the two mills by controlling the position of the deflector based on the fuzzy PID algorithm, and the error after commissioning ≤ 3%.

[0050] V. Operating process 1) Dynamic material distribution stage The flow sensor 6 monitors the feed quantity into the ball mill in real time → The PLC calculates the material distribution deviation → The hydraulic actuator 3 adjusts the angle of the adjustable deflector 4 → Feedback to the control terminal.

[0051] 2) Self-cleaning and maintenance Perform strong scraping of the scraper every 30 minutes to remove residual wet material. Replace the wear-resistant ceramic coating every 12 months and conduct an overall overhaul every 2 years.

[0052] The present invention provides a multi-stage feeding control device and a dynamic process intelligent regulation method for isolated grouting of coal gangue. Through the "dynamic feeding-intelligent blockage clearing-anti-impurity energy consumption reduction" trinity technology system, the invention systematically overcomes three major industry problems of uneven feeding, wet adhesion shutdown, and metal jamming of traditional scraper conveyors, comprehensively improves the feeding accuracy, equipment reliability, energy efficiency, and environmental protection indicators, provides an intelligent solution with high efficiency, low carbon, and low cost for the gangue separation grouting process, improves the comprehensive economic benefits, realizes the efficient and low-carbon operation of gangue disposal, and has significant industry promotion value.

[0053] Embodiment 2: A multi-stage feeding control method for isolated grouting of coal gangue, which is realized based on the multi-stage feeding control system for isolated grouting of coal gangue described in Embodiment 1, includes: S1: The gangue after secondary crushing is transported to the feeding system through the belt conveyor of the crushing station; S2: A magnetic separator is installed above the head of the belt conveyor from the crushing station to the ball mill workshop to intercept metal sundries; S3: A sensor is arranged below the head of the belt conveyor from the crushing station to the ball mill workshop to monitor the gangue flow rate entering the feeding chute in real time; S4: An adjustable deflector: It is arranged in the middle of the feeding chute below the head of the belt conveyor from the crushing station to the ball mill workshop. The angle of the deflector (0° to ±35°) is adjusted through a hydraulic actuator to dynamically distribute the feeding amount of the two machines; S5: An arc-shaped curved baffle is arranged at the bottom of the feeding chute, and a high-frequency vibrator (frequency adjustable range 10 - 50Hz) is used to prevent sticking. An elastic rubber self-cleaning scraper is configured at the head. The scraping resistance is monitored in real time through a pressure sensor, and the fitting degree of the scraper is automatically adjusted; S6: Belt conveyor system: A steel cord anti-tear rubber belt is used as the main conveyor, which is suitable for gangue materials with high humidity and containing sundries. The belt width is selected from 800 - 1200mm according to the production capacity requirements, and the belt speed is adjustable from 0.5 - 2.5m / s. The initial angle of the deflector is set to 90°, and the feeding amount error of the two mills is ≤3% through on-site calibration.

[0054] As is known by common technical knowledge, the present invention can be implemented by other embodiments that do not depart from its spiritual essence or essential features. Therefore, the above-disclosed embodiments are illustrative in all aspects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are encompassed by the present invention.

[0055] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0056] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems) and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0057] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0058] These computer program instructions can also be loaded onto a computer or other programmable data processing devices, so that a series of operation steps are executed on the computer or other programmable devices to generate a computer-implemented process. Therefore, the instructions executed on the computer or other programmable devices provide steps for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: still can modify the specific implementation manners of the present invention or make equivalent replacements. Any modification or equivalent replacement without departing from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A method for controlling multi-stage feeding of isolated grouting coal gangue, characterized in that Executed by the PLC system, including: Receive the gangue flow signal at the ball mill inlet; Compare the gangue flow signal at the ball mill inlet with the preset threshold value; In response to a gangue flow signal at a ball mill inlet exceeding a preset threshold, a guide plate angle correction amount is calculated based on the gangue flow signal at the ball mill inlet by a fuzzy PID algorithm; After the angle correction value of the guide plate is transmitted to the hydraulic actuator to correct the angle of the adjustable guide plate, the gangue flow signal at the inlet of the ball mill is received again and compared with the preset threshold value; In response to the gangue flow signal at the ball mill inlet not exceeding the preset threshold, the guide plate is not corrected in angle, otherwise the guide plate is corrected in angle again through the fuzzy PID algorithm.

2. The method for multi-stage batching control of isolated grouting coal gangue according to claim 1, characterized in that, The calculation formula of the guide plate angle correction is: In the formula: is the correction amount of the material guide plate angle; is the current angle of the material guide plate; is the dynamic proportionality coefficient; is the relative deviation of material distribution; is the dynamic integral coefficient; is the upper limit of the integral time; is the system response time constant; is the hydraulic-mechanical coupling compensation angle; is the deviation change rate.

3. The method for multi-stage feeding control of isolated grouting coal gangue according to claim 2, characterized in that, The calculation formula of the hydraulic-mechanical coupling compensation angle is: In the formula: is the hydraulic-mechanical coupling compensation angle; is the real-time pressure of the hydraulic cylinder; is the rated working pressure; is the speed gain of the actuator; is the pressure attenuation coefficient, is the duration of abnormal pressure; is the current angle of the material guide plate.

4. The method for multi-stage feeding control of isolated grouting coal gangue according to claim 2, characterized in that, The calculation formula of the dynamic proportional coefficient is: In the formula: is the dynamic proportionality coefficient; is the basic proportionality coefficient; is the relative deviation of material distribution; is the rated deviation threshold; is the dynamic correction amount of the fuzzy proportionality coefficient; is the 7-dimensional membership function; is the output of the fuzzy rule; is the normalized deviation amount, is the deviation change rate; is the maximum allowable deviation threshold; is the change time.

5. The method for multi-stage feeding control of isolated grouting coal gangue according to claim 2, characterized in that, The calculation formula for the relative deviation of the material distribution is: In the formula: is the relative deviation of material distribution; is the absolute deviation of material distribution; is the actual material distribution amount; is the theoretical material distribution amount.

6. The method for multi-stage batching control of isolated grouting coal gangue according to claim 2, characterized in that, The guide plate angle correction is converted into a hydraulic cylinder displacement command, and then the proportional servo valve of the hydraulic actuator is driven by a PWM signal. The conversion expression is: In the formula: is the displacement command of the hydraulic cylinder; is the angle correction amount of the material guide plate; is the current angle of the material guide plate; is the transmission ratio coefficient.

7. A multi-stage material distribution control system for isolated grouting of coal gangue, characterized in that, A method for controlling the multi-stage material distribution of coal gangue for isolation grouting as claimed in any one of claims 1 to 6, comprising a distribution chute (7) arranged below the head of a belt conveyor (1) from a crushing station to a ball mill, wherein an adjustable material guide plate (4) is arranged in the middle of the distribution chute (7), and the adjustable material guide plate (4) is controlled by a hydraulic actuator (3) through a PLC system to adjust the angle, the two discharge pipe openings below the distribution chute (7) are matched with a first feed port of a ball mill and a distribution belt conveyor (9), respectively, the tail end of the distribution belt conveyor (9) is connected to a second feed port of a ball mill through a head chute (10), a magnetic separator (2) is arranged on the top of the feed port of the distribution chute (7), and a flow sensor (6) is arranged on the inner wall of the discharge pipe of the distribution chute (7).

8. The multi-stage material distribution control system for isolated grouting coal gangue according to claim 7, characterized in that, The material distribution chute (7) is provided with an arc-shaped curved baffle (8) at the bottom close to the material distribution belt conveyor (9).

9. The multi-stage material distribution control system for isolated grouting coal gangue according to claim 7, characterized in that A high-frequency vibrator (5) is provided on the outer wall of the discharge pipe of the material distribution chute (7).

10. The multi-stage batching control system for isolated grouting coal gangue according to claim 7, characterized in that, The inner wall of the material distribution chute (7) is sprayed with an alumina ceramic layer.

Images