Intelligent crushing cavity adjusting and cleaning control method and device

Abstract

The invention discloses an intelligent crushing cavity adjusting and cleaning control method and device, and belongs to the technical field of mining machinery automatic control. On the basis of the PLC, displacement, torque and humidity sensor data are fused, high-precision adjustment of the diameter of + / -0.1 mm of the crushing cavity is achieved by adopting position-torque dual-mode control, soft torque control is automatically switched to during overload, and fine adjustment and protection are completed; a periodic cavity diameter fine adjustment strategy is introduced for wet and sticky materials, and blocking is effectively prevented. Cleaning control is triggered as required, the air speed and cleaning time of the air knife are adaptively adjusted according to the size of the cavity diameter and the adhesion degree, and the cleaning effect is verified through torque feedback. The system further has the functions of fault diagnosis and automatic reset, the intelligent level, operation stability and crushing efficiency of equipment are remarkably improved, and energy consumption and manual intervention are reduced.

Description

A method and device for intelligent crushing chamber adjustment and cleaning control Technical Field

[0001] This invention relates to the field of automatic control technology for mining machinery, and in particular to an intelligent method and device for adjusting and cleaning the crushing chamber. Background Technology

[0002] Vertical crushers, as core equipment in mining machinery, are widely used in multi-material crushing operations in industries such as mining, building materials, and metallurgy. With the evolution of industrial automation and intelligent technologies, traditional crusher control methods have evolved from manual, experience-based adjustments to sensor-based semi-automatic control systems. Existing technologies typically use position sensors to control liner movement for cavity diameter adjustment, or employ timed cleaning devices for periodic cleaning. This technology encompasses three parts: mechanical actuators (such as hydraulic cylinders and electric actuators), a basic sensor network, and simple control logic. Specifically, this control architecture includes key aspects such as cavity diameter setting, load monitoring, and cleaning triggering, but it has not yet formed a multi-technology collaborative intelligent control ecosystem, making it difficult to handle complex operating conditions involving the coupling of multiple parameters such as material hardness and moisture content.

[0003] However, existing crusher control methods directly employ a single-position control mode and lack the coordinated operation of torque and humidity sensors. This can lead to systemic problems such as insufficient cavity diameter adjustment accuracy, overload jamming, and low cleaning efficiency. For example, the control system disclosed in Chinese patent CN11126345A only responds to material changes through speed adjustment and does not establish a position-torque dual-mode switching mechanism. When processing wet and sticky materials, the lack of a periodic fine-tuning strategy can easily cause cavity blockage, leading to equipment shutdown. Furthermore, traditional cleaning devices use fixed parameter triggering and do not adaptively adjust based on cavity diameter status and load changes, resulting in 30%-40% ineffective energy consumption. Due to the lack of a unified architecture for multi-sensor data fusion and real-time control response, existing technologies struggle to achieve coordinated optimization of crushing efficiency and equipment protection under complex operating conditions, leading to a 40% decrease in equipment utilization and a 25%-30% increase in maintenance costs in industrial scenarios. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the first objective of this invention is to propose an intelligent method for adjusting and cleaning the crushing chamber.

[0006] Another objective of this invention is to provide an intelligent crushing chamber adjustment and cleaning control device.

[0007] The third objective of this invention is to provide a computer device.

[0008] A fourth objective of this invention is to provide a non-transitory computer-readable storage medium.

[0009] To achieve the above objectives, a first aspect of the present invention proposes an intelligent crushing chamber adjustment and cleaning control method, comprising: S1, starting the PLC controller and reading the initial parameters of the equipment, including the minimum diameter, maximum diameter, target chamber diameter, torque threshold corresponding to different materials, and cleaning trigger humidity threshold, and calibrating the current chamber diameter through a displacement sensor; S2, based on the target chamber diameter, driving the arc plate to move through the position control actuator, providing real-time feedback on the displacement and adjusting the servo motor speed until the chamber diameter reaches the target value; S3, when the load torque is detected to exceed the preset torque threshold, switching to torque control mode, reducing the output torque and driving the arc plate to fine-tune towards the maximum diameter direction until the load torque returns to the threshold range; S4, in the wet and sticky material processing mode, periodically driving the arc plate to reciprocate and fine-tune near the target chamber diameter, adjusting the fine-tuning cycle and fine-tuning amount according to real-time humidity detection to avoid clogging caused by chamber diameter drift.

[0010] In one embodiment of the present invention, S1 includes: S11, setting the torque threshold T1 of the hard material to 800-1000N. For wet and sticky materials, the torque threshold T1 is 500-700 N. m; S12, when calibrating the cavity diameter, a displacement sensor is used to ensure that the zero-position error is ≤0.05mm and the torque detection error is ≤5N. m.

[0011] In one embodiment of the present invention, S2 includes: S21, adjusting the servo motor speed using a PID algorithm, wherein the proportional coefficient Kp = 0.5-0.8, the integral time Ti = 10-20s, and the derivative time Td = 2-5s; S22, triggering servo motor speed adjustment when the deviation ΔD between the actual cavity diameter Dcurrent and the target cavity diameter D0 is ≥ 0.2mm, with an adjustment step size Δω = 10-20rpm.

[0012] In one embodiment of the present invention, S3 includes: S31, calculating the output torque T_output = K × T1 using a compliance coefficient K = 0.8-0.9, where T1 is the torque threshold corresponding to the current material; S32, fine-tuning ΔD = 1-3 mm, and after each fine-tuning, restoring the position control mode when T ≤ T1 is detected by the torque sensor.

[0013] In one embodiment of the present invention, S4 includes: S41, setting the fine-tuning period t=5-10min, the fine-tuning amount ΔD'=0.5-1mm, and the reciprocating range is D0-ΔD' to D0+ΔD'; S42, when the torque sensor detects that T increases by 20% compared to the initial value under the same cavity diameter, the fine-tuning period t is extended to 15min.

[0014] To achieve the above objectives, a second aspect of the present invention provides an intelligent crushing chamber adjustment and cleaning control device, comprising: a parameter reading and calibration module, used to start the PLC controller and read the initial parameters of the equipment, including the minimum diameter, maximum diameter, target chamber diameter, torque threshold corresponding to different materials, and cleaning trigger humidity threshold, and calibrate the current chamber diameter through a displacement sensor; a position control adjustment module, used to drive the arc plate to move through the position control adjustment actuator based on the target chamber diameter, provide real-time feedback on the displacement amount and adjust the servo motor speed until the chamber diameter reaches the target value; a torque control switching module, used to switch to torque control mode when the load torque is detected to exceed the preset torque threshold, reduce the output torque and drive the arc plate to fine-tune towards the maximum diameter direction until the load torque returns to the threshold range; and a wet and sticky material handling module, used to periodically drive the arc plate to reciprocate and fine-tune near the target chamber diameter in the wet and sticky material handling mode, and adjust the fine-tuning cycle and fine-tuning amount according to real-time humidity detection to avoid clogging caused by chamber diameter drift.

[0015] The present invention discloses an intelligent crushing chamber adjustment and cleaning control method and device, which realizes high-precision dynamic adjustment of the crushing chamber diameter and overload compliant control, effectively improving the equipment operation stability and crushing efficiency, and reducing maintenance costs and material sticking risk.

[0016] To achieve the above objectives, a third aspect of this application provides a computer device, including a processor and a memory; wherein the processor runs a program corresponding to the executable program code by reading executable program code stored in the memory, for implementing the method described in the first aspect embodiment.

[0017] To achieve the above objectives, a fourth aspect of this application provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described in the first aspect.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] Figure 1 is a flowchart of an intelligent crushing chamber adjustment and cleaning control method according to an embodiment of the present invention; Figure 2 is a system architecture diagram of an intelligent control method according to an embodiment of the present invention; Figure 3 is a flowchart of crushing chamber adjustment control according to an embodiment of the present invention; Figure 4 is a flowchart of intelligent cleaning control according to an embodiment of the present invention; Figure 5 is a structural diagram of an intelligent crushing chamber adjustment and cleaning control device according to an embodiment of the present invention; Figure 6 is a computer device according to an embodiment of the present invention. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] The following description, with reference to the accompanying drawings, describes an intelligent crushing chamber adjustment and cleaning control method and apparatus according to an embodiment of the present invention.

[0023] Example 1 Figure 1 is a flowchart of an intelligent crushing chamber adjustment and cleaning control method according to an embodiment of the present invention. As shown in Figure 1, it includes: S1, starting the PLC controller and reading the initial parameters of the equipment, including the minimum diameter, maximum diameter, target chamber diameter, torque threshold corresponding to different materials and cleaning trigger humidity threshold, and calibrating the current chamber diameter through a displacement sensor.

[0024] Specifically, in the system initialization and parameter setting steps, the PLC controller is first started, and its internal program reads the initial operating parameters of the equipment. These parameters include the minimum diameter of the crushing chamber. Maximum diameter Target cavity diameter Torque thresholds for different materials (such as hard ores or wet, sticky materials) and cleaning trigger humidity threshold In some implementations, the PLC controller communicates with the host computer via RS485 or Ethernet interfaces to remotely configure and update parameters, ensuring the system has good maintainability and flexibility.

[0025] Subsequently, the current diameter of the crushing chamber is measured using a high-precision displacement sensor. Calibration is performed. This sensor typically employs a linear differential transformer (LVDT) or photoelectric encoder, offering a measurement accuracy of ±0.1mm. It provides real-time feedback on the displacement state of the curved plate, offering a reference for subsequent position control. Optionally, the system can also ensure that the sensor's zero-point error does not exceed 0.05mm through a preset zero-point calibration procedure to meet high-precision control requirements.

[0026] Furthermore, a torque control compliance coefficient also needs to be configured. Its value range is This is used to reduce output torque under overload conditions and prevent actuator jamming. In addition, system initialization includes preset control modes, such as switching logic for position control, torque control, and fine-tuning modes for wet and sticky materials, laying the foundation for subsequent intelligent adjustment and cleaning control.

[0027] Furthermore, by accurately reading and calibrating initial parameters, it ensures the accuracy and stability of subsequent adjustments and cleaning controls. In practical applications, this step is usually executed automatically when the equipment starts up, and it is suitable for multi-material crushing scenarios such as mining and building materials, providing data support and a logical starting point for achieving integrated control of "precise adjustment, intelligent protection, and dynamic cleaning".

[0028] Further, S1 includes: S11, setting the torque threshold T1 of the hard material to 800-1000N. For wet and sticky materials, the torque threshold T1 is 500-700 N. m.

[0029] Specifically, in some implementations, a torque threshold is set for hard materials. Torque threshold of wet and sticky materials Its technical implementation is based on in-depth analysis of the mechanical load characteristics during the crushing process and the construction of a classification control strategy.

[0030] Furthermore, this step involves the PLC controller reading and storing the torque thresholds corresponding to different material types, which serve as the basis for subsequent torque control mode switching. During system initialization, the PLC first reads the initial parameters of the equipment, including the minimum diameter of the crushing chamber. Maximum diameter Target cavity diameter Cleaning trigger humidity threshold and torque threshold Hard materials (such as iron ore and granite) exert a large impact torque on the equipment during crushing due to their high compressive strength and low adhesion; therefore, a higher torque threshold is set. This is to prevent the torque protection mechanism from being accidentally triggered, which could affect crushing efficiency. Wet and sticky materials (such as wet coal and clay) are prone to adhesion and blockage during crushing, resulting in smaller torque fluctuations but higher continuous loads. Therefore, a lower torque protection mechanism is set. This allows for more sensitive overload response and timely cavity diameter fine-tuning.

[0031] Furthermore, hard materials The range is The preferred value is This value is based on the typical hard material within the crushing chamber diameter. The average load torque test results were used to determine the wet, sticky material. The range is The preferred value is This value is based on the moisture content of the material. The adhesion torque variation curve was analyzed. The torque threshold setting needs to be combined with the range of the torque sensor (usually 1000 rpm). ) and sampling frequency (recommended) This ensures real-time performance and accuracy.

[0032] Furthermore, this step is applicable to scenarios involving materials with different physical properties in industries such as mining, building materials, and metallurgy. For example, in the crushing process of hard iron ore, if the load torque after adjustment of the crushing chamber exceeds... The PLC will immediately switch to torque control mode, using the compliance coefficient. Reduce output torque to And drive the curved plate towards fine-tuning of direction This is to alleviate overload. In the processing of wet, sticky coal, a setting is made... When material adhesion causes the load to increase, a fine-tuning mechanism can be triggered in time to prevent the cavity from being blocked.

[0033] Furthermore, by setting differentiated torque thresholds, adaptive control of the crushing characteristics of different materials is achieved, improving the stability and safety of equipment operation. Simultaneously, combined with the subsequent position-torque dual-mode switching mechanism, equipment jamming or adjustment failure caused by sudden changes in material characteristics can be effectively avoided, thereby improving overall crushing efficiency and extending equipment lifespan.

[0034] S12, during cavity diameter calibration, a displacement sensor ensures a zero-position error ≤0.05mm and a torque detection error ≤5N. m.

[0035] Specifically, during the system initialization phase, the cavity diameter calibration step uses a high-precision displacement sensor to determine the current diameter of the crushing cavity. Real-time feedback is provided to achieve precise setting of the chamber diameter. Specifically, the PLC controller first reads the initial parameters of the equipment upon startup, including the minimum diameter of the crushing chamber. Maximum diameter Target cavity diameter And the torque thresholds corresponding to different materials. and cleaning trigger humidity threshold Subsequently, the PLC sends a zero-finding command to the servo driver, driving the electric actuator to move the curved plate towards... Directional movement is initiated, and torque control mode is entered simultaneously; zero-seeking torque is then set. (like ).

[0036] Furthermore, the torque sensor detects the torque acting on the actuator in real time. When detected When the position is zero, the PLC determines it to be at zero, stops moving, and records the current position of the curved plate as the zero-point reference. At this time, the displacement sensor must ensure zero-point error. This is to meet the requirements of high-precision adjustment. If the zero-point error exceeds this range, it indicates that there is a deviation in the sensor or mechanical transmission system, which needs to be calibrated or the fault needs to be investigated.

[0037] In addition, the torque detection error also needs to be controlled within a certain range. This ensures that the PLC can accurately determine the load status and switch the control mode in a timely manner during subsequent adjustments, preventing equipment overload or adjustment failure due to misjudgment.

[0038] S2, based on the target cavity diameter, uses position control to adjust the actuator to drive the arc plate to move, provides real-time feedback on the displacement, and adjusts the servo motor speed until the cavity diameter reaches the target value.

[0039] Specifically, in some implementations, the arc-shaped plate is moved by a position control actuator based on the target cavity diameter. The displacement is fed back in real time, and the speed of the servo motor is adjusted until the cavity diameter reaches the target value. This technology is based on a coordinated response mechanism of high-precision displacement closed-loop control and servo drive system. This step receives the set value of the target cavity diameter D0 through the PLC controller and sends precise displacement commands to the servo driver, driving the electric actuator to rotate the turntable, thereby pushing the arc-shaped plate to move radially, realizing the dynamic adjustment of the crushing cavity diameter.

[0040] Furthermore, the system is set to have a position control accuracy error of 1. To ensure high precision in cavity diameter adjustment, a high-resolution linear displacement sensor (such as an LVDT or photoelectric encoder) is used, with a sampling frequency of no less than 100Hz, to provide real-time feedback on the displacement of the curved plate. The PLC dynamically adjusts the servo motor speed using a PID control algorithm, where the proportional coefficient P, integral time constant TI, and derivative time constant TD can be tuned online according to the equipment's response characteristics to optimize adjustment speed and stability. The servo motor speed adjustment range is... - Its output torque must meet the following requirements. This is to avoid mechanical jamming due to overload.

[0041] Furthermore, this step is mainly applied to the cavity diameter adjustment scenario of vertical crushers when processing hard ores or standard materials. In actual operation, when the crushing cavity diameter deviates from the target value, the PLC will automatically adjust the servo motor speed according to the feedback deviation to achieve closed-loop control. For example, in Example 1, when the cavity diameter is adjusted to... At the same time, the system uses real-time data fed back from the displacement sensor, combined with a PID control strategy, to keep the adjustment error within a certain range. Within this range, the adjustment accuracy and response speed have been significantly improved.

[0042] Furthermore, the technical benefits of this step are reflected in achieving high-precision, rapid-response cavity diameter adjustment, thereby improving crushing efficiency and product quality. Through real-time feedback and dynamic adjustment, the system can effectively cope with complex working conditions such as sudden changes in material hardness, avoiding equipment overload or uneven crushing caused by adjustment lag or excessive error, and has significant engineering practical value.

[0043] Furthermore, S2 includes: S21, using a PID algorithm to adjust the speed of the servo motor, wherein the proportional coefficient Kp = 0.5-0.8, the integral time Ti = 10-20s, and the derivative time Td = 2-5s.

[0044] Specifically, in some implementations, this invention employs a PID algorithm to adjust the rotational speed of the servo motor in real time, thereby achieving high-precision control of the crushing chamber diameter. Specifically, the PID controller acquires the actual chamber diameter value fed back by a displacement sensor. , with target cavity diameter Compare and calculate the deviation. The output speed of the servo motor is dynamically adjusted according to the deviation, thereby driving the electric actuator to move the arc plate radially, thus realizing closed-loop control of the cavity diameter.

[0045] Furthermore, the proportionality coefficient This determines the strength of the system's response to the current error; a higher response indicates a stronger response. The value can speed up the adjustment, but may cause system oscillation; integral time Used to eliminate steady-state errors, the motor output is gradually corrected by observing the cumulative error over time, ensuring that the final adjustment accuracy reaches the required level. Differential time It is used to predict error change trends, suppress system overshoot, and improve the stability of the regulation process. In practical applications, PID parameters need to be tuned online according to factors such as equipment mechanical characteristics, material hardness, and ambient temperature to adapt to the regulation requirements under different operating conditions.

[0046] Furthermore, the speed control signal of the servo motor is output by the PLC controller through the servo driver, and its control cycle is typically [time period missing]. To ensure real-time response. Balancing accuracy and response speed is one of the key design aspects of this invention, achieved through reasonable settings. , , This allows the system to... It operates stably within a certain range, significantly improving crushing efficiency and equipment lifespan.

[0047] Furthermore, by introducing the PID algorithm, the system can quickly respond to cavity diameter deviations and achieve high-precision, low-latency automatic adjustment, providing a stable operating prerequisite for subsequent overload protection and cleaning control, and has significant engineering practical value.

[0048] S22, when the deviation ΔD between the actual cavity diameter Dcurrent and the target cavity diameter D0 is ≥0.2mm, the servo motor speed adjustment is triggered, with an adjustment step size Δω=10-20rpm.

[0049] Specifically, when the actual cavity diameter With target cavity diameter deviation At this time, the system will trigger the servo motor speed adjustment mechanism to improve the response speed and control accuracy of the crushing chamber adjustment. This step is based on the closed-loop control principle and the dynamic response characteristics of the servo drive system.

[0050] Furthermore, the servo motor's speed adjustment is achieved by the servo driver receiving command signals from the PLC controller. Specifically, when the displacement sensor reports a cavity diameter deviation... Exceeding the set threshold At this time, the PLC will dynamically adjust the output speed of the servo motor according to the current adjustment direction (increasing or decreasing the cavity diameter). Its adjustment step size Set as - The step size setting takes into account the mechanical inertia of the crushing chamber adjustment, the response speed of the servo motor, and the system stability, ensuring that mechanical shock or control instability caused by sudden changes in speed are avoided while adjusting rapidly.

[0051] Furthermore, the adjustment strategy employed in this step is based on a PID control algorithm, where the proportional term (P) modulates the deviation. Amplification is performed, with the integral term (I) eliminating steady-state error and the derivative term (D) suppressing overshoot during regulation. By adjusting the PID parameters, the system can achieve [the desired effect]. Its rapid response and high-precision control enable it to achieve rapid response and high precision control. near Gradually reduce the servo motor speed until finally... The cavity diameter is locked within the specified range.

[0052] Furthermore, when processing high-hardness ores or wet, sticky materials, the crushing chamber is prone to adjustment lag or jamming due to changes in material properties. This can be addressed by setting... The deviation threshold and using - With its precise speed adjustment step size, the system can identify deviations early and respond quickly, effectively improving adjustment efficiency and reducing equipment downtime risks. Furthermore, this mechanism works in conjunction with subsequent torque control and cleaning control, laying the foundation for integrated control that achieves "precise adjustment, intelligent protection, and dynamic cleaning."

[0053] S3, when the load torque is detected to exceed the preset torque threshold, switch to torque control mode, reduce the output torque and drive the arc plate to finely adjust in the direction of the maximum diameter until the load torque is restored to the threshold range.

[0054] Specifically, in some implementations, when the detected load torque exceeds a preset torque threshold, the system will automatically switch to torque control mode to achieve overload protection and adaptive adjustment of the equipment. This step is based on the load torque signal collected in real time by the torque sensor. With preset torque threshold Compare, once detected The PLC controller immediately terminates the displacement command output in position control mode and switches to torque control logic. At this time, the system uses a compliant control algorithm with a compliant coefficient... The output torque is dynamically adjusted, and the specific calculation formula is as follows: This reduces the output torque of the drive mechanism and prevents mechanical jamming or damage caused by overload.

[0055] Furthermore, the PLC-controlled servo driver drives the electric actuator to rotate the turntable, which in turn pushes the arc plate to make a fine adjustment in the direction of its maximum diameter. The fine adjustment amount is... This gradually releases the pressure within the crushing chamber. During fine-tuning, the system continuously monitors changes in load torque, and when it detects... When the overload condition is resolved, the system returns to position control mode and continues the cavity diameter adjustment task. This process requires high torque control precision, typically requiring [specific parameters not specified]. To ensure smoothness and safety of adjustment, the adjustment should be kept within 5%.

[0056] Furthermore, it is particularly suitable for handling hard materials (such as iron ore) or situations involving sudden changes in material hardness. For example, when crushing iron ore, if the material hardness suddenly increases to... The above results in load torque. Exceed The system will automatically switch to torque control mode, reducing the output torque to [a lower value]. And drive the curved plate to fine-tune to This restores the load torque to This avoids equipment malfunctions and ensures continuous operation.

[0057] Furthermore, this step enables the crusher to actively respond and adaptively adjust under overload conditions, effectively improving the stability and safety of equipment operation. By combining torque compliant control with fine-tuning strategies, the system can complete cavity diameter adjustment without interrupting operation, significantly reducing downtime and maintenance costs, while avoiding mechanical damage caused by overload in traditional control systems.

[0058] Furthermore, S3 includes: S31, calculating the output torque T_output = K × T1 using the compliance coefficient K = 0.8-0.9, where T1 is the torque threshold corresponding to the current material.

[0059] Specifically, through compliance coefficient Calculate output torque ,in The torque threshold corresponding to the current material is used in this step, which is based on torque control mode. When an abnormal load is detected during the crushing process, the output torque of the actuator is dynamically reduced to avoid mechanical jamming or damage to the equipment due to overload.

[0060] Furthermore, when the torque sensor detects the current load torque... Exceeding the set torque threshold When this happens, the PLC controller immediately switches the control mode from position control to torque control. At this time, the system adjusts the control mode according to the compliance coefficient. The output torque is proportionally adjusted to... To control the target, the drive rod moves the arc-shaped plate towards the maximum diameter of the crushing chamber. Directional fine-tuning, fine-tuning amount Compliance coefficient The range of values ​​is This range has been experimentally verified to effectively reduce the output torque while maintaining the response speed and stability of the crushing chamber adjustment, avoiding adjustment lag or ineffectiveness due to a sudden drop in torque.

[0061] Furthermore, compliance coefficient The settings need to be adjusted based on the mechanical properties of different materials. For example, for hard materials, Usually set to ,and Values At that time, output torque Controllable at This provides sufficient buffer space in the event of an overload. For wet, sticky materials, Usually , It can be appropriately increased to This enhances the sensitivity of the adjustment while avoiding system instability caused by frequent adjustments.

[0062] Furthermore, this step is mainly applied to the overload protection stage during the crushing chamber adjustment process. When the crushing chamber experiences a sudden change in material hardness or adhesion / clogging, resulting in increased load torque... When this occurs, the system automatically enters torque control mode, reducing the output torque through a compliance coefficient. This allows the arc plate to fine-tune within a safe range, thereby releasing blockages or reducing the load and restoring normal equipment operation. This mechanism is particularly suitable for crushing operations involving multiple working conditions and materials, such as in mining and building materials industries, and can significantly improve the equipment's operational stability and adaptability.

[0063] Furthermore, the technical effectiveness of this step is reflected in its dual guarantee of equipment operational safety and adjustment efficiency. This is achieved through the compliance coefficient. The introduction of this feature allows the system to achieve a smooth torque reduction under overload conditions, avoiding mechanical shocks caused by sudden control changes, while ensuring the continuity and controllability of adjustment actions. This strategy effectively reduces the risk of equipment jamming and improves the operational reliability of the crusher under complex working conditions.

[0064] S32, the fine adjustment amount ΔD=1-3mm, and after each fine adjustment, the position control mode is restored when the torque sensor detects that T≤T1.

[0065] Specifically, during the adjustment of the crushing chamber, when the equipment detects an overload, the fine-tuning amount... The settings are based on a comprehensive consideration of the material characteristics within the crushing chamber and the equipment load response. This step involves real-time monitoring of the load status of the crushing chamber using a torque sensor. When the actual output torque is detected... When this occurs, the system immediately switches from position control mode to torque control mode to prevent mechanical jamming or damage to actuators (such as servo motors or electric actuators) due to overload. The fine-tuning range is 1 to 3 millimeters, designed to release abnormal loads within the cavity through small adjustments without significantly altering the target cavity diameter, thereby achieving compliant response and adaptive adjustment of the equipment.

[0066] Furthermore, the PLC controller receives real-time feedback signals from the torque sensor to determine whether the current torque exceeds a set threshold. Once an overload condition is triggered, the PLC will adjust its operation based on the compliance factor. Adjust the output torque to achieve the actual output torque. This reduces the output stiffness of the actuator, causing the arc-shaped plate to move slowly in the load release direction. Fine-tuning amount. The servo driver controls the stroke of the electric actuator according to a preset step size, ensuring that each adjustment does not exceed 3mm to avoid excessive changes in the cavity diameter affecting the crushing particle size accuracy. After fine-tuning, the system checks the torque again. ,when When the load is determined to have returned to normal, the PLC switches back to position control mode and continues to perform the cavity diameter adjustment task.

[0067] Furthermore, when handling hard or suddenly high-density materials, traditional control methods often lead to equipment jamming due to the lack of a torque feedback mechanism, requiring manual intervention for reset. This invention, however, achieves automatic response and recovery of the equipment under overload conditions by setting reasonable fine-tuning amounts and torque thresholds, significantly improving the system's robustness and operational continuity. In addition, the setting of the fine-tuning amount is also related to the cavity diameter adjustment accuracy. This matching mechanism ensures high-precision control of the cavity diameter even under torque control, thus balancing equipment protection and crushing quality. In complex working conditions such as mining and building materials, this mechanism can effectively reduce downtime and improve equipment utilization and production efficiency.

[0068] S4, in the wet and sticky material handling mode, periodically drives the arc plate to reciprocate and finely adjust near the target cavity diameter, and adjusts the fine adjustment cycle and fine adjustment amount according to real-time humidity detection to avoid clogging caused by cavity diameter drift.

[0069] Specifically, in the wet and sticky material processing mode, the arc plate is periodically driven to reciprocate and finely adjust near the target cavity diameter. This step effectively addresses the problem of high humidity materials easily adhering to and clogging the cavity during the crushing process through real-time humidity detection and dynamic adjustment mechanism, thereby avoiding equipment jamming or efficiency reduction caused by cavity diameter drift.

[0070] Furthermore, when the humidity sensor detects the humidity of the material... When H_0 = 15%-20%, the PLC controller automatically switches to the wet and sticky material handling mode and sets a periodic fine-tuning cycle. Each fine-tuning amount In actual operation, the PLC sends reciprocating motion commands to the servo driver, which drives the electric actuator to rotate the turntable, thereby pushing the arc-shaped plate in... to It moves periodically within a certain range. This reciprocating motion is achieved through closed-loop control, with a displacement sensor providing real-time feedback on the position of the arc-shaped plate to ensure that changes in the cavity diameter are controlled within the set range.

[0071] Furthermore, during the fine-tuning process, the PLC monitors the load changes in the crushing chamber via a torque sensor. If a torque is detected... (For example This indicates that material adhesion is causing abnormal load, and the system will automatically extend the fine-tuning cycle. The adjustment frequency is reduced to 15 minutes to prevent drive overload caused by frequent actions. Simultaneously, fine-tuning is performed. Keep it unchanged to ensure that each adjustment still has sufficient agitation capacity to loosen the adhering material.

[0072] Furthermore, through periodic fine-tuning and adaptive adjustment mechanisms, the adhesion phenomenon caused by prolonged residence of wet and sticky materials in the crushing chamber is effectively suppressed, thereby significantly reducing the probability of clogging. In practical applications, this mode is suitable for crushing operations of high-moisture materials such as coal, clay, and wet mud. Especially under continuous operation conditions, it can maintain the cleanliness of the crushing chamber and improve equipment operating efficiency and stability. Combined with the on-demand triggering mechanism of the air knife cleaning device, this step achieves a dual guarantee of "active anti-sticking + passive cleaning," which is an important component of the intelligent crushing chamber control of this invention.

[0073] Furthermore, S4 includes: S41, setting the fine-tuning period t=5-10min, the fine-tuning amount ΔD'=0.5-1mm, and the reciprocating range is D0-ΔD' to D0+ΔD'.

[0074] Specifically, in some implementations, a fine-tuning period is set. Fine-tuning amount And make the curved plate in to The material moves back and forth within a certain range. This step, through periodic fine-tuning of the cavity diameter, effectively alleviates the adhesion phenomenon of materials in the crushing cavity caused by high humidity, thereby reducing the risk of clogging and improving the continuity and stability of equipment operation.

[0075] Furthermore, this step involves the PLC controller making logical judgments and control outputs based on real-time feedback from the humidity sensor. When material humidity is detected... And the duration reaches a set threshold (e.g.) When this occurs, the PLC automatically switches to the wet / sticky material adaptation mode and initiates a periodic fine-tuning mechanism. The servo driver receives periodic displacement commands from the PLC, driving the electric actuator to rotate the turntable, thereby pushing the arc-shaped plate to move radially within a set reciprocating range. Fine-tuning amount The settings need to balance sensitivity adjustment and device load, usually in This is done in a way that ensures effective disturbance of adhering materials without significantly affecting crushing efficiency.

[0076] Furthermore, fine-tuning the cycle The setting range is This parameter can be dynamically adjusted based on the material's viscosity, rate of moisture change, and equipment operating status. For example, in Example 2, for wet, sticky coal, the fine-tuning cycle is set to... Fine-tuning amount This allows for cavity diameter disturbance every 8 minutes, preventing the formation of a sticky layer of material on the cavity wall. Simultaneously, the reciprocating adjustment range is... to This ensures that the adjustment is performed near the target cavity diameter, avoiding any impact on the accuracy of particle size control due to excessive adjustment.

[0077] Furthermore, this step is primarily applicable to processing materials with high moisture content and a tendency to stick, such as wet coal, clay, and wet mud. Under these conditions, the material easily forms an adhesion layer on the inner wall of the crushing chamber, causing the actual chamber diameter to deviate from the set value, thereby affecting crushing efficiency and equipment lifespan. Through periodic fine-tuning, the adhesion on the chamber wall can be periodically disturbed, making it easier to peel off during the crushing process, thus maintaining the dynamic stability of the chamber diameter.

[0078] Furthermore, the technical effect of this step is reflected in a significant reduction in the frequency of sticking and blockage, and an improvement in the continuity of equipment operation. In Example 2, the equipment operated continuously for 48 hours under wet and sticky coal conditions without sticking, with zero downtime for cleaning and a cross-contamination rate reduced to 0.2%. In addition, this mechanism can also work in conjunction with torque control; when an abnormal load is detected during fine-tuning (such as...),... When this happens, the system can automatically extend the fine-tuning period to... This avoids overload caused by frequent adjustments, thus achieving the dual goals of adaptive adjustment and equipment protection.

[0079] S42, when the torque sensor detects that T increases by 20% compared to the initial value under the same cavity diameter, the fine-tuning period t is extended to 15 minutes.

[0080] Specifically, during the adjustment and control of the crushing chamber, when the torque sensor detects torque under the same chamber diameter... When the value increases by 20% from the initial value, the system will automatically extend the fine-tuning period. to This step is based on the synergistic effect of multi-sensor fusion and dynamic control strategies.

[0081] Furthermore, this step first relies on the real-time monitoring of the crushing chamber's operating status by a torque sensor. During the crushing process, the adhesion or accumulation of material leads to an increase in the frictional torque within the chamber, which is reflected in the torque sensor's output value. The abnormal increase in torque. The PLC controller compares the current torque... Compared with the initial setting value Calculate its relative rate of change When the rate of change exceeds 20%, the system determines it to be an abnormal load caused by material adhesion, thus triggering the fine-tuning cycle extension mechanism. At this time, the PLC will adjust the originally set fine-tuning cycle... (like to Updated to This reduces the adjustment frequency and avoids exacerbating adhesion or causing overload due to frequent movements.

[0082] Furthermore, the key parameters involved in this step include the torque change threshold (20%) and the fine-tuning period. (initial to After extension, it becomes ), fine-tuning amount to The torque sensor needs to achieve the required accuracy. This is to ensure the reliability of torque change detection. In addition, the PLC controller needs to have a high sampling rate (recommended). (Above) and rapid response capability, so as to promptly detect torque anomalies and adjust the control strategy.

[0083] Furthermore, this step is primarily applicable to crushing operations involving wet, sticky materials (such as wet coal and clay). In high-humidity environments, materials tend to adhere within the crushing chamber, reducing the actual effective value of the chamber diameter and consequently causing an abnormal increase in torque. By extending the fine-tuning cycle, the system can avoid exacerbating adhesion due to frequent adjustments, while also providing a time window for the material to loosen naturally, thereby improving adjustment stability and equipment operating efficiency.

[0084] Furthermore, the technical effect of this step is that by dynamically adjusting the fine-tuning cycle, it effectively mitigates the overload risk caused by material adhesion, extends the service life of the equipment, reduces unnecessary adjustment actions, and lowers energy consumption and mechanical wear. Moreover, this mechanism works synergistically with "on-demand cleaning control" to form a closed-loop control, ensuring the stable operation of the crushing chamber without triggering forced cleaning, thereby achieving the goal of intelligent and energy-saving crushing control.

[0085] The intelligent adjustment and overload protection method for the crushing chamber of the vertical crusher in this invention realizes high-precision dynamic adjustment of the crushing chamber diameter and on-demand cleaning control, effectively improving the equipment's adaptability to multiple materials and changing working conditions, reducing the risk of overload jamming and the need for manual intervention, and improving crushing efficiency and operational stability.

[0086] Example 2: This embodiment of the invention proposes an intelligent crushing chamber adjustment and cleaning control system for a vertical crusher, as shown in Figure 2. Through the collaborative design of "position-torque dual-mode control," "working condition adaptive adjustment," and "on-demand cleaning control," it achieves precise adjustment of the crushing chamber diameter, automatic overload protection, and dynamic cleaning, thereby improving crushing efficiency and equipment lifespan while reducing manual intervention costs. To achieve the above objectives, this invention utilizes a PLC controller, servo driver, displacement sensor, torque sensor, humidity sensor, and air knife cleaning device, employing the following control system, specifically as follows: In one embodiment of the invention, system initialization and parameter setting include: starting the PLC controller and reading the initial parameters of the equipment: minimum crushing chamber diameter Dmin, maximum diameter Dmax, chamber diameter D0 corresponding to the target crushing particle size, and torque threshold T1 for different materials (hard materials / wet and sticky materials) (hard materials T1 = 800-1000N). m, wet and sticky material T1=500-700N m), cleaning trigger humidity threshold H0 (H0=15%-20%); calibrate the current diameter Dcurrent of the crushing chamber through the displacement sensor, set the position control accuracy error to ±0.1mm, and the torque control compliance coefficient K (K=0.8-0.9).

[0087] Furthermore, the intelligent adjustment and control of the crushing chamber (position-torque dual-mode switching) includes: Normal crushing mode (position control): The target chamber diameter D0 is determined according to the target particle size. The PLC sends a displacement command to the servo driver, which drives the electric actuator to move the turntable, thereby pushing the arc plate to move radially; the displacement sensor provides real-time feedback on the displacement of the arc plate, and the PLC compares the actual chamber diameter Dcurrent with the target chamber diameter D0. The servo motor speed is adjusted through a PID algorithm until Dcurrent = D0 ± 0.1 mm, locking the chamber diameter position; Zeroing and overload mode (torque control): When the equipment starts zeroing, the PLC switches to torque control mode and sets the zeroing torque T0 (T0 = 300-400 N). m), drive the arc plate to move in the direction of Dmin. When the torque sensor detects that the actual torque T = T0, it is determined as the zero position, stop moving and record the zero position coordinates; during the crushing process, if the torque sensor detects that T > T1, the PLC immediately cuts off the displacement command, switches to torque control, reduces the output torque with the compliance coefficient K (T output = K × T1), and drives the arc plate to fine-tune in the direction of Dmax (the fine-tuning amount ΔD = 1 - 3 mm) until T ≤ T1, and then resumes position control; wet sticky material adaptation mode (periodic fine-tuning): the humidity sensor continuously detects the material humidity H. When H > H0, the PLC automatically switches to the wet sticky material mode, sets the periodic fine-tuning period t (t = 5 - 10 min), and the fine-tuning amount per time ΔD' = 0.5 - 1 mm (reciprocating between D0 - ΔD' and D0 + ΔD'); during the fine-tuning process, monitor the load change through the torque sensor. If T > T1 appears, extend the fine-tuning period t to 15 min to avoid overload caused by frequent adjustment.

[0088] Furthermore, the intelligent cleaning control (triggered on demand + parameter self-adaptation) includes: cleaning trigger condition judgment: when any of the following conditions is met, the PLC triggers the cleaning instruction: ① the humidity sensor detects that H > H0 and the duration ≥ 10 min; ② the torque sensor detects that T increases by 20% compared with the initial value under the same bore diameter (determined as an increase in load caused by material adhesion); ③ manual trigger by the operator through the HMI interface; cleaning parameter self-adaptive adjustment: the PLC adjusts the air knife parameters according to the current bore diameter Dcurrent: when Dcurrent < D0 (small bore diameter), set the air knife wind speed V = 15 - 20 m / s and the cleaning time t1 = 30 - 60 s; when Dcurrent ≥ D0 (large bore diameter), set the wind speed V = 20 - 25 m / s and the cleaning time t1 = 60 - 90 s; during the cleaning process, the displacement sensor monitors whether the bore diameter changes due to material shedding. If ΔD ≥ 0.5 mm, the PLC synchronously corrects the servo drive instruction to maintain the bore diameter stability; cleaning effect verification: after the cleaning is completed, the torque sensor detects the current torque T2. If T2 - T initial ≤ 10%, it is determined that the cleaning is qualified and the cleaning is stopped; if T2 - T initial > 10%, repeat the cleaning 1 - 2 times. If it is still unqualified, an alarm signal is sent through the HMI to prompt the operator to check manually.

[0089] Furthermore, the fault diagnosis and automatic reset include: if any of the following faults occur, the PLC performs the corresponding processing: ① no feedback from the displacement sensor (determined as a sensor fault), switch to torque control to maintain the current working condition and alarm at the same time; ② servo driver fault (determined as drive failure), immediately stop the bore diameter adjustment, start the air knife cleaning for 5 min and then stop; stuck fault reset: when the equipment stops due to material jamming, the PLC memorizes the current bore diameter position. When restarting, first drive the arc plate to move 5 - 10 mm in the direction of Dmax, start the air knife cleaning for 1 min, and then resume to the target bore diameter D0 to achieve automatic reset.

[0090] The embodiments of this invention also have the following technical effects: High adjustment accuracy and strong adaptability: Through position-torque dual-mode switching, the cavity diameter adjustment accuracy reaches ±0.1mm, which is 50% higher than traditional control; the periodic fine-tuning mode for wet and sticky materials can reduce the sticking rate by more than 80%, adapting to the crushing needs of materials with different moisture and hardness. Intelligent overload protection and reset: In case of overload, torque smooth control avoids equipment damage, and automatic reset is performed after jamming, eliminating the need for manual disassembly and reducing downtime to 1 / 5 of traditional control, thus improving production efficiency. High cleaning efficiency and energy saving: On-demand cleaning combined with adaptive parameter adjustment avoids blind cleaning, reducing cleaning energy consumption by 30%-40%; at the same time, it ensures thorough cleaning, reducing the material cross-contamination rate to below 0.3%. Comprehensive fault diagnosis: Multi-sensor collaborative monitoring enables real-time fault alarms and emergency handling, reducing equipment failure rate by 40% and maintenance costs by 25%-30%.

[0091] Example 3 To implement the above embodiments, as shown in Figure 5, this embodiment also provides an intelligent crushing chamber adjustment and cleaning control device 10, including: a parameter reading and calibration module 100, used to start the PLC controller and read the initial parameters of the equipment, including the minimum diameter, maximum diameter, target chamber diameter, torque threshold corresponding to different materials, and cleaning trigger humidity threshold, and calibrate the current chamber diameter through a displacement sensor; a position control adjustment module 200, used to drive the arc plate to move through the position control adjustment actuator based on the target chamber diameter, provide real-time feedback on the displacement amount and adjust the servo motor speed until the chamber diameter reaches the target value; a torque control switching module 300, used to switch to torque control mode when the load torque is detected to exceed the preset torque threshold, reduce the output torque and drive the arc plate to fine-tune towards the maximum diameter direction until the load torque returns to the threshold range; and a wet and sticky material processing module 400, used to periodically drive the arc plate to reciprocate and fine-tune near the target chamber diameter in the wet and sticky material processing mode, and adjust the fine-tuning cycle and fine-tuning amount according to real-time humidity detection to avoid clogging caused by chamber diameter drift.

[0092] Furthermore, the parameter reading and calibration module 100 is also used to: set the torque threshold for hard materials. 800-1000N m, the torque threshold for wet and sticky materials. 500-700N m; Zero-position error is ensured by a displacement sensor during cavity diameter calibration. Torque detection error .

[0093] Furthermore, the position control adjustment module 200 is also used to: adjust the servo motor speed using a PID algorithm, wherein the proportional coefficient... Integral time Differential time When the actual cavity diameter With target cavity diameter deviation At that time, the servo motor speed adjustment is triggered, and the adjustment step size is adjusted. .

[0094] An intelligent crushing chamber adjustment and cleaning control device according to an embodiment of the present invention realizes high-precision dynamic adjustment of the crushing chamber diameter and overload smooth control, effectively improving the equipment operation stability and crushing efficiency, and reducing maintenance costs and material sticking risk.

[0095] Example 4 To implement the method of the above embodiments, the present invention also provides a computer device, as shown in FIG6. The computer device 600 includes a memory 601 and a processor 602; wherein, the processor 602 reads the executable program code stored in the memory 601 to run a program corresponding to the executable program code, so as to implement the various steps of the intelligent crushing chamber adjustment and cleaning control method described above.

[0096] Example 5 To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements an intelligent crushing chamber adjustment and cleaning control method as described in the foregoing embodiments.

[0097] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0098] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A method for intelligent adjustment and cleaning control of the crushing chamber, characterized in that, include: S1. Start the PLC controller and read the initial parameters of the equipment, including the minimum diameter and maximum diameter of the crushing chamber, the target chamber diameter, the torque threshold corresponding to different materials, and the cleaning trigger humidity threshold. The current chamber diameter is calibrated by the displacement sensor. S2. Based on the target chamber diameter, the position control adjusts the actuator to drive the arc plate to move, providing real-time feedback on the displacement and adjusting the servo motor speed until the chamber diameter reaches the target value. S3. When the load torque is detected to exceed the preset torque threshold, switch to torque control mode, reduce the output torque, and drive the arc plate to fine-tune towards the maximum diameter until the load torque returns to the threshold range. S4. In the wet and sticky material processing mode, periodically drive the arc plate to reciprocate and fine-tune near the target chamber diameter. Adjust the fine-tuning cycle and fine-tuning amount according to the real-time humidity detection to avoid clogging caused by chamber diameter drift.

2. The method as described in claim 1, characterized in that, S1 includes: S11, setting the torque threshold T1 of the hard material to 800-1000N. For wet and sticky materials, the torque threshold T1 is 500-700 N. m; S12, when calibrating the cavity diameter, a displacement sensor is used to ensure that the zero-position error is ≤0.05mm and the torque detection error is ≤5N. m。 3. The method as described in claim 1, characterized in that, S2 includes: S21, using a PID algorithm to adjust the servo motor speed, wherein the proportional coefficient Kp = 0.5-0.8, the integral time Ti = 10-20s, and the derivative time Td = 2-5s; S22, when the deviation ΔD between the actual cavity diameter Dcurrent and the target cavity diameter D0 is ≥ 0.2mm, the servo motor speed is triggered to adjust, with an adjustment step size Δω = 10-20rpm.

4. The method as described in claim 1, characterized in that, S3 includes: S31, calculating the output torque T_output = K × T1 using a compliance coefficient K = 0.8-0.9, where T1 is the torque threshold corresponding to the current material; S32, fine-tuning ΔD = 1-3 mm, and after each fine-tuning, restoring the position control mode when the torque sensor detects that T ≤ T1.

5. The method as described in claim 1, characterized in that, S4 includes: S41, setting the fine-tuning period t=5-10min, the fine-tuning amount ΔD'=0.5-1mm, and the reciprocating range from D0-ΔD' to D0+ΔD'; S42, when the torque sensor detects that T increases by 20% compared to the initial value under the same cavity diameter, extending the fine-tuning period t to 15min.

6. An intelligent crushing chamber adjustment and cleaning control device, characterized in that, include: The parameter reading and calibration module is used to start the PLC controller and read the initial parameters of the equipment, including the minimum diameter and maximum diameter of the crushing chamber, the target chamber diameter, the torque threshold corresponding to different materials, and the cleaning trigger humidity threshold. The current chamber diameter is calibrated through the displacement sensor. The position control adjustment module is used to drive the arc plate to move through the position control adjustment actuator based on the target cavity diameter, provide real-time feedback of displacement and adjust the servo motor speed until the cavity diameter reaches the target value. The torque control switching module is used to switch to torque control mode when the load torque exceeds the preset torque threshold, reduce the output torque and drive the arc plate to fine-tune in the direction of the maximum diameter until the load torque returns to the threshold range; the wet and sticky material handling module is used to periodically drive the arc plate to reciprocate and fine-tune near the target cavity diameter in the wet and sticky material handling mode, and adjust the fine-tuning cycle and fine-tuning amount according to the real-time humidity detection to avoid clogging caused by cavity diameter drift.

7. The apparatus as claimed in claim 6, characterized in that, The parameter reading and calibration module is also used to: set the torque threshold for hard materials. 800-1000N m, the torque threshold for wet and sticky materials. 500-700N m; Zero-position error is ensured by a displacement sensor during cavity diameter calibration. Torque detection error 。 8. The apparatus as claimed in claim 6, characterized in that, The position control adjustment module is also used to: adjust the speed of the servo motor using a PID algorithm, wherein the proportional coefficient... Integral time Differential time ； When the actual cavity diameter With target cavity diameter deviation At that time, the servo motor speed adjustment is triggered, and the adjustment step size is adjusted. 。 9. A computer device, characterized in that, It includes a processor and a memory; wherein the processor runs a program corresponding to the executable program code stored in the memory to implement an intelligent crushing chamber adjustment and cleaning control method as described in any one of claims 1-5.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements an intelligent crushing chamber adjustment and cleaning control method as described in any one of claims 1-5.

Images