Method for removing iron from a fine crushing stage in a triangularly arranged crushing system

Abstract

The application discloses a method for removing iron before fine crushing in a triangularly arranged crushing system, and relates to the technical field of gold mine crushing and iron removal. The method comprises the following steps: feeding the output material of the first iron removal to a metal detection node along a second conveying edge; when metal is detected in the metal detection node, defining the corresponding time window material as suspected batch material, and simultaneously performing a shunting action to shunt the suspected batch material from the second conveying edge to a re-inspection branch to obtain re-inspected suspected material; conveying the re-inspected suspected material to a backflow self-healing re-inspection section connected with a third conveying edge, and performing low-speed strong iron removal and secondary metal detection confirmation; when the secondary metal detection confirmation fails, backflowing the re-inspected suspected material to a vertex A through the third conveying edge; when the secondary metal detection confirmation passes, returning the re-inspected suspected material to a vertex C to obtain qualified material before fine crushing. The method improves the reliability, pertinence and overall operation stability of the iron removal before fine crushing.

Description

Technical Field

[0001] This invention relates to the field of iron removal technology in gold mine crushing, and in particular to a method for iron removal before fine crushing in a triangularly arranged crushing system. Background Technology

[0002] In gold ore beneficiation, the crushing system is typically a critical upstream link in the process, and its operational stability directly impacts the efficiency and safety of subsequent grinding and beneficiation processes. With declining gold ore grades and expanding mining scale, gold ore crushing systems have gradually evolved from traditional linear layouts to complex multi-loop, closed-loop structures. The triangular logistics loop formed by multiple conveyor systems facilitates efficient organization and centralized management of return material, undersize material, and bypass material. Effective removal of metal foreign objects such as iron pieces and steel debris from the ore before the fine crushing process is a crucial technical measure to prevent abnormal wear, breakage, or even shutdown of the fine crushing equipment. Current technologies typically employ permanent magnet or electromagnetic iron removal devices on the conveyor belt, supplemented by metal detection equipment, to perform online detection and processing of materials entering the fine crushing section, ensuring continuous system operation.

[0003] However, in gold mine crushing systems, due to the wide particle size distribution of ore, complex material sources, and the characteristics of repeated material circulation and multiple material flow nodes converging under a triangular layout, existing iron removal technologies before fine crushing mostly adopt single-detection and single-point rejection methods. For transient interference signals or suspected metal batches appearing during the detection process, there is usually a lack of re-inspection and recirculation processing methods integrated with the system loop structure. This processing mode, to some extent, limits further improvements in iron removal accuracy and system stability. Especially when the main material flow, undersize material, and bypass material converge at the same node, how to reliably confirm suspected metal-containing materials without disrupting the continuity of the main material flow remains a key issue that existing technologies need to address. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, the present invention provides a method for removing iron before fine crushing in a triangularly arranged crushing system, which solves the problem that it is difficult to reliably re-inspect and recycle suspected metal-containing materials before fine crushing.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention provides a method for iron removal before fine crushing in a triangularly arranged crushing system. The method includes: determining a triangular material flow loop formed by a first conveying side, a second conveying side, and a third conveying side; conveying return material to vertex C via the first conveying side in the triangular material flow loop, where it merges with undersize material and bypass material to form the main material flow before fine crushing, and then conveying it along the second conveying side to vertex B to obtain primary iron removal input material; conveying the primary iron removal input material along the second conveying side to a primary iron removal node, where iron parts are removed online and introduced into an iron part chute to obtain primary iron removal output material; and conveying the primary iron removal output material along the second conveying side... When the conveyor enters the metal detection node, and metal is detected at the metal detection node, the material in the corresponding time window is defined as suspected batch material. At the same time, a diversion action is performed to divert the suspected batch material from the second conveyor to the re-inspection branch to obtain the re-inspection suspected material. The re-inspection suspected material is conveyed to the return self-healing re-inspection section connected to the third conveyor. It is confirmed by low-speed strong iron removal and secondary metal detection. If the secondary metal detection confirmation fails, the re-inspection suspected material is returned to vertex A via the third conveyor. If the secondary metal detection confirmation passes, the re-inspection suspected material is returned to vertex C to obtain qualified pre-crushing material.

[0007] As a preferred embodiment of the iron removal method before fine crushing in the triangular arrangement crushing system described in this invention, wherein: determining that the first conveying side, the second conveying side, and the third conveying side form a triangular material flow loop means connecting one end of the first conveying side to the return material output end and the other end to vertex C, connecting one end of the second conveying side to vertex C and the other end to vertex B, and setting the third conveying side as a return conveying path connecting vertex A and vertex B, thereby forming a triangular material flow loop.

[0008] As a preferred embodiment of the iron removal method before fine crushing in the triangularly arranged crushing system of the present invention, the specific steps for obtaining the primary iron removal input material are as follows: A material confluence node is set at vertex C. In the triangular logistics loop, the return material from the return output end is conveyed unidirectionally to vertex C along the first conveying side. The undersize material and bypass material from the screening end are conveyed together to vertex C for confluence, forming the main material flow before fine crushing. Start the second conveyor side to transport the main material flow before fine crushing from vertex C to vertex B as the primary iron removal input material.

[0009] As a preferred embodiment of the iron removal method before fine crushing in the triangularly arranged crushing system described in this invention, the steps of conveying the primary iron removal input material along the second conveying side to the primary iron removal node, removing iron parts online and guiding them into the iron part chute to obtain the primary iron removal output material are as follows: A primary iron removal node is set downstream of vertex B of the second conveying edge, and the primary iron removal input material at vertex B is continuously conveyed along the second conveying edge to the magnetic field action area of ​​the primary iron removal node. The iron parts in the primary iron removal input material are adsorbed onto the surface of the self-unloading belt by the electromagnetic field. The self-unloading conveyor belt continues to operate, carrying away the adsorbed iron parts from the magnetic field area and transporting them to the iron removal end of the iron separator. At the iron removal end, the iron parts enter the iron chute under the action of gravity. At the same time, the non-ferrous main material flow continues to flow along the second conveyor side and is output from the downstream end of the primary iron removal node, forming the primary iron removal output material.

[0010] As a preferred embodiment of the iron removal method before fine crushing in the triangularly arranged crushing system described in this invention, the steps are as follows: the primary iron removal output material enters the metal detection node along the second conveying edge, and when metal is detected at the metal detection node, the material in the corresponding time window is defined as suspected batch material. The primary iron removal output material is continuously conveyed along the second conveyor edge to the detection area of ​​the metal detection node, and the metal detection node synchronously acquires the corresponding belt speed signal and detection timestamp, and outputs the detection input stream. The belt speed signal is fused and filtered using a Kalman filter algorithm to output a speed estimate. Online metal detection is performed on the input stream. When metal is detected, a metal detection event is generated, and the suspected batch time window is calculated based on the event timestamp of the metal detection event, the diversion distance, and the speed estimate. The suspected batch time window is mapped to the micro-batch queue of the primary iron removal output material to determine the covered material segment, which is defined as the suspected batch material.

[0011] As a preferred embodiment of the iron removal method before fine crushing in the triangularly arranged crushing system of the present invention, the synchronous execution of the diversion action diverts suspected batch materials from the second conveying side to the re-inspection branch to obtain suspected materials for re-inspection. The specific steps are as follows. By using the diversion orchestration logic, suspected batch materials are divided into batches according to the opening and closing times of the suspected batch time window. The diversion execution mechanism is then issued opening diversion instructions and closing reset instructions to form a diversion action sequence. According to the diversion action sequence, the suspected batch materials within the suspected batch time window are diverted from the second conveyor side to the re-inspection branch, and the actual window opening time, actual window closing time and execution receipt are recorded to obtain the suspected materials for re-inspection.

[0012] As a preferred embodiment of the iron removal method before fine crushing in the triangular arrangement crushing system of the present invention, the diversion distance is obtained by calibration between the detection reference section of the metal detection node and the bifurcation point of the diversion actuator.

[0013] As a preferred embodiment of the iron removal method before fine crushing in the triangular arrangement crushing system described in this invention, the micro-batch queue of the primary iron removal output material is formed by dividing the continuous primary iron removal output material at equal intervals on the digital side according to the belt speed and sampling cycle by the edge computing terminal, generating micro-batch groups, and associating each micro-batch group with the corresponding timestamp and location information.

[0014] As a preferred embodiment of the iron removal method before fine crushing in the triangularly arranged crushing system described in this invention, the step of conveying suspected re-inspection material to the reflux self-healing re-inspection section connected to the third conveying side, and confirming it through low-speed high-intensity iron removal and secondary metal detection, includes the following specific steps. The suspected re-inspection material is introduced from the re-inspection branch into the third conveyor side and then conveyed to the return self-healing re-inspection section connected to the third conveyor side; In the reflow self-healing re-inspection section, the suspected re-inspection material is switched to low-speed conveying through the PID closed-loop control algorithm, and the iron parts are enhanced adsorption and removal through the strong iron removal node to form enhanced iron removal material. The iron-removed material is transported to the metal detection node for secondary transport and secondary metal detection confirmation is performed, and the metal re-inspection confirmation status is output.

[0015] As a preferred embodiment of the iron removal method before fine crushing in the triangularly arranged crushing system of the present invention, the following steps are taken: when the secondary metal detection confirmation fails, the suspected material is returned to vertex A via the third conveyor side; when the secondary metal detection confirmation passes, the suspected material is returned to vertex C to obtain qualified material before fine crushing. When the metal re-inspection confirms that the material has failed the re-inspection, the corresponding suspected material will be returned to vertex A via the third conveyor side to undergo the first-level iron removal process again. When the metal re-inspection confirms that the status is passed, the corresponding suspected re-inspection material is transported back to vertex C to merge with the material merging node, and qualified pre-crushing material is obtained.

[0016] The beneficial effects of this invention are as follows: By constructing a triangular logistics loop composed of the first, second, and third conveying sides, the return material, screened material, and bypass material form a unified main material flow before fine crushing, and first-stage iron removal and metal detection are carried out sequentially on the main channel; when metal is detected, the corresponding material is accurately introduced into the re-inspection branch through suspected batch identification and synchronous diversion based on time windows, and then enters the return self-healing re-inspection section through the third conveying side, where low-speed strong iron removal and secondary metal detection are used for confirmation, and the material is selected to be returned for rework or merged back into the main process according to the confirmation result. Thus, without disrupting the continuity of the main logistics flow, closed-loop re-inspection and self-healing treatment of suspected metal-containing materials are achieved, improving the reliability, pertinence, and overall operational stability of the iron removal treatment before fine crushing. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of the iron removal method before fine crushing in a crushing system with a triangular arrangement.

[0019] Figure 2 This is a flowchart for metal detection and suspected batch identification.

[0020] Figure 3 A flowchart for re-inspecting the return path of suspected materials.

[0021] Figure 4 This is a comparison chart of the continuity and stability of the main logistics.

[0022] Figure 5 This is a comparison chart showing the accuracy of iron removal treatment. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0026] Reference Figures 1-5 This is one embodiment of the present invention, which provides a method for removing iron before fine crushing in a triangularly arranged crushing system, comprising the following steps: S1. Determine that the first conveying side, the second conveying side, and the third conveying side form a triangular logistics loop. In the triangular logistics loop, the return material is conveyed to the vertex C via the first conveying side, and at the vertex C, it merges with the screened material and the bypass material to form the main material flow before fine crushing and is conveyed to the vertex B along the second conveying side to obtain the primary iron removal input material.

[0027] S1.1 Connect one end of the first conveying edge to the return material output end and the other end to vertex C. Connect one end of the second conveying edge to vertex C and the other end to vertex B. Set the third conveying edge as the return conveying path connecting vertex A and vertex B to form a triangular logistics loop.

[0028] It should be explained that one end of the first conveying edge is physically connected to the return material output end, and the other end is physically connected to vertex C, forming a fixed conveying path from the return material output end to vertex C; one end of the second conveying edge is physically connected to vertex C, and the other end is physically connected to vertex B, forming a main conveying path from vertex C to vertex B; the third conveying edge is set as a return conveying path that connects to the return material output end at vertex A and vertex B respectively, and is used to realize the return conveying of materials between the return material output ends at vertex B and vertex A; through the connection relationship between the above three conveying edges and vertices A, B, and C, a closed triangular logistics loop is constructed.

[0029] S1.2 Set a material converging node at vertex C. In the triangular logistics loop, the return material from the return output end is conveyed unidirectionally to vertex C along the first conveying side. The undersize material and bypass material from the screening end are conveyed together to vertex C to form the main material flow before fine crushing.

[0030] It should be noted that a fixed material confluence structure is set at vertex C, with at least three independent feed ports, respectively used to connect to the discharge end of the first conveying side, the discharge end of the screening undersize material, and the discharge end of the bypass material. A unified discharge port is set downstream of the material confluence structure to continuously output the confluenced material to the subsequent conveying path, thereby enabling vertex C to have the function of multiple material inputs and confluenced outputs. In the triangular logistics loop, the first conveying side is controlled to operate in a unidirectional conveying mode, and the return material from the return material output end is conveyed from the return material output end along the first conveying side to the material confluence node of vertex C. A screening undersize conveying path for conveying the screening undersize material to vertex C and a bypass conveying path for conveying the bypass material to vertex C are respectively set, so that the screening undersize material and the bypass material enter the material confluence node of vertex C respectively. At the material confluence node of vertex C, the return material, the screening undersize material, and the bypass material are combined and output to form the main material flow before fine crushing.

[0031] S1.3 Start the second conveyor side to transport the main material flow before fine crushing from vertex C to vertex B as the primary iron removal input material.

[0032] It should be explained that the second conveying side is started to enter the continuous operation state, and the main material flow before fine crushing output from the material confluence node of vertex C is stably dropped into the receiving section of the second conveying side; under the continuous conveying action of the second conveying side, the main material flow before fine crushing is conveyed along the second conveying side from vertex C to the discharge end of vertex B, and a continuous input material flow is obtained at vertex B, thereby defining the material reaching vertex B as the primary iron removal input material.

[0033] like Figure 4 As shown, under the control condition, when a metal detection event occurs in the main channel, the impact of iron removal on the main material flow is random due to the lack of time-window-based suspected batch identification and synchronous diversion processing, resulting in significant fluctuations in the main material flow during operation. However, under the method of this invention, by constructing a triangular material flow loop composed of the first, second, and third conveying sides, and implementing synchronous diversion and self-healing re-inspection processing for suspected metal-containing materials after metal detection, the main material flow can remain stable under continuous operation, with a significantly reduced overall fluctuation amplitude. The overview curve and magnified comparison results demonstrate that this invention completes the processing of suspected metal-containing materials without disrupting the continuity of the main material flow, verifying its effect on improving the overall operational stability of the system.

[0034] The control scenario employs a traditional pre-crushing iron removal operation, specifically as follows: A primary iron removal device and metal detection device are installed only on the main channel before crushing. When the metal detection device detects a metal signal, it only triggers an alarm or simple manual intervention; it does not perform batch positioning of suspected metal-containing materials based on time windows, nor does it synchronously divert the main material flow. Under this control scenario, metal-containing materials and normal materials are not accurately distinguished in the main channel. The impact of the iron removal process on the main material flow is random, easily causing short-term fluctuations or even local disturbances in the main material flow, thus reflecting the system's insufficient stability under continuous operating conditions.

[0035] S2. The primary iron removal input material is conveyed along the second conveyor side to the primary iron removal node, where iron parts are removed online and introduced into the iron part chute to obtain the primary iron removal output material.

[0036] S2.1. A primary iron removal node is set downstream of vertex B of the second conveying edge, and the primary iron removal input material of vertex B is continuously conveyed along the second conveying edge to the magnetic field action area of ​​the primary iron removal node. The iron parts in the primary iron removal input material are adsorbed onto the surface of the self-unloading belt by the electromagnetic field.

[0037] It should be noted that a primary iron removal node is installed downstream of vertex B of the second conveying side along the material conveying direction, and the magnetic field of the primary iron removal node covers the material passage section of the second conveying side. The second conveying side is kept running continuously, and the primary iron removal input material at vertex B is continuously conveyed into the magnetic field of the primary iron removal node. After the primary iron removal node is energized to generate an electromagnetic field, the iron parts entrained in the primary iron removal input material are attracted to the surface of the self-unloading belt of the primary iron removal node under the action of the electromagnetic field force, thus completing the online capture of the iron parts.

[0038] S2.2 The continuous operation of the self-unloading belt carries the adsorbed iron parts away from the magnetic field area and transports them to the iron removal end of the iron remover. At the iron removal end, the iron parts enter the iron part chute under the action of gravity. At the same time, the non-iron main material flow continues to pass through the first-stage iron removal node along the second conveying side and is output from the downstream end of the node, forming the first-stage iron removal output material.

[0039] It should be noted that the self-unloading conveyor runs continuously within the magnetic field zone formed by the energization of the primary iron removal node. This causes the iron parts in the primary iron removal input material to remain adsorbed on the surface of the self-unloading conveyor under the action of the electromagnetic field force, and to be carried away from the magnetic field zone as the self-unloading conveyor moves. The self-unloading conveyor continues to transport the iron parts to the iron removal device's unloading end. After reaching the iron removal device's unloading end, the iron parts detach from the surface of the self-unloading conveyor under the action of gravity and enter the iron part chute. The non-ferrous main material flow in the primary iron removal input material that is not adsorbed by the electromagnetic field is continuously transported on the second conveying side and passes through the primary iron removal node, and is output from the downstream end of the primary iron removal node to form the primary iron removal output material.

[0040] S3. The primary iron removal output material enters the metal detection node along the second conveyor side. When metal is detected at the metal detection node, the material in the corresponding time window is defined as suspected batch material. At the same time, a diversion action is performed to divert the suspected batch material from the second conveyor side to the re-inspection branch to obtain the suspected re-inspection material.

[0041] S3.1 The primary iron removal output material is continuously conveyed along the second conveyor side to the detection area of ​​the metal detection node, and the metal detection node synchronously acquires the corresponding belt speed signal and detection timestamp, and outputs the detection input stream.

[0042] It should be noted that the second conveyor side is kept in continuous operation, allowing the primary iron removal output material to enter the detection area of ​​the metal detection node at a stable conveying speed along the second conveyor side. During the process of the primary iron removal output material passing through the detection area of ​​the metal detection node, the metal detection node collects the belt speed signal of the second conveyor side in real time to characterize the actual conveying speed of the primary iron removal output material on the second conveyor side, and records the detection timestamp corresponding to the primary iron removal output material entering the detection area of ​​the metal detection node. The material passage status, belt speed signal and detection timestamp of the primary iron removal output material in the detection area of ​​the metal detection node are correlated one-to-one, and then organized in chronological order to form the detection input stream.

[0043] S3.2. The belt speed signal is fused and filtered using the Kalman filter algorithm to output the speed estimate.

[0044] It should be noted that the belt speed signal synchronously acquired by the metal detection node is continuously collected according to a preset sampling period, and the belt speed signal corresponding to each sampling moment is used as the observation input of the Kalman filter algorithm; the belt speed estimate at the previous sampling moment is used as the prediction input at the current sampling moment, and the state prediction step is performed through the Kalman filter algorithm to update the predicted value of the belt speed and the prediction error covariance; after obtaining the belt speed signal at the current sampling moment, the state update step is performed through the Kalman filter algorithm to correct the deviation between the predicted speed and the actual belt speed signal, and obtain the speed estimate used to characterize the belt running state at the current sampling moment, expressed as: ; in: It is the first The belt speed estimate obtained after fusion filtering using the Kalman filter algorithm at the sampling time point is expressed in meters per second and is used to characterize the belt speed at the sampling time point. The actual operating speed of the second transport side at each sampling time; It is in the Before the arrival of the sampling time, based on the first sampling time... The belt speed estimate at the nth sampling time is obtained through the state prediction step of the Kalman filter algorithm. The predicted velocity estimate at each sampling time, in meters per second; It is the first The Kalman gain at each sampling time is used to characterize the weighting coefficients of the predicted speed estimate and the belt speed signal in the fusion update process, and its dimension is dimensionless. It is the first The observed values ​​of the belt speed signal obtained by the metal detection node at each sampling time, with the dimension of meters per second; It is the sampling time sequence number of the belt speed signal, used to identify the sequential position of the belt speed signal in the time series.

[0045] It should also be noted that the sampling period is determined by matching the operating characteristics of the second conveying side with the signal output frequency of the metal detection node.

[0046] S3.3 Perform online metal detection on the input stream. When metal is detected, generate a metal detection event and calculate the suspected batch time window based on the event timestamp, the distance along the diversion path, and the speed estimate of the metal detection event.

[0047] It should be explained that the detection input stream is continuously fed into the detection area of ​​the metal detection node and online metal detection is performed. When the metal detection node detects metal in the detection input stream, a metal detection event is generated and the event timestamp of the metal detection event is recorded. Based on the combined speed estimate along the flow path, the flow path time of the material from the detection reference section of the metal detection node to the bifurcation point of the flow execution mechanism is calculated. Using the event timestamp of the metal detection event as the time reference point, the flow path time and the event timestamp of the metal detection event are superimposed to obtain the center time of the material arriving at the bifurcation point of the flow execution mechanism. Then, combined with the time expansion amount used to characterize the discrete range of the material in the time dimension, the center time is shifted forward and backward respectively to obtain the opening and closing times of the suspected batch time window, thus obtaining the suspected batch time window.

[0048] It should also be noted that the diversion distance is obtained by calibration between the detection reference section of the metal detection node and the bifurcation point of the diversion actuator.

[0049] S3.4 Map the suspected batch time window to the micro-batch queue of the primary iron removal output material to determine the covered material segment, which is defined as the suspected batch material.

[0050] It should be explained that the timestamp and location information corresponding to each micro-batch group in the micro-batch queue of the primary iron removal output material are obtained; the opening and closing times of the suspected batch time window are used as time boundaries, and compared one by one with the timestamps of each micro-batch group in the micro-batch queue of the primary iron removal output material to filter out micro-batch groups whose timestamps fall within the suspected batch time window range; the continuous segment of primary iron removal output material corresponding to the filtered micro-batch group is determined as the covered material segment, and the covered material segment is defined as the suspected batch material.

[0051] It should also be noted that the micro-batch queue of primary iron removal output material is formed by dividing the continuous primary iron removal output material into equal-distance conveying distances corresponding to the sampling period based on the belt speed estimate on the digital side by the edge computing terminal according to the belt speed and sampling period, generating micro-batch groups, and associating each micro-batch group with the corresponding timestamp and location information.

[0052] S3.5. Through the diversion orchestration logic, the suspected batch of materials is divided into two batches. The diversion execution mechanism is given opening diversion instructions and closing reset instructions according to the opening and closing times of the suspected batch time window, thus forming a diversion action sequence.

[0053] It should be explained that the opening and closing times of the suspected batch time window are read, and these times are converted into instruction trigger times for the diversion execution mechanism. An opening diversion instruction is generated and issued at the instruction trigger time of the diversion execution mechanism through diversion orchestration logic, causing the diversion execution mechanism to begin diversion actions at the opening time of the suspected batch time window. Simultaneously, a closing reset instruction is generated and issued at the closing time of the suspected batch time window through diversion orchestration logic, causing the diversion execution mechanism to end the diversion action and return to a non-diversion state at the closing time of the suspected batch time window. The opening diversion instructions and closing reset instructions, arranged in chronological order, are combined and output to form a diversion action sequence.

[0054] It should also be noted that the diversion orchestration logic is a time control logic used to convert suspected batch time windows into executable diversion actions. The diversion orchestration logic takes the opening and closing times of the suspected batch time windows as inputs, and determines when the diversion execution mechanism starts to execute the opening diversion action and when it executes the closing reset action through time sequence constraints and instruction generation rules. This ensures that suspected batch materials are accurately diverted when they pass through the branching point of the diversion execution mechanism, while non-suspected batch materials continue to be transported normally in other time periods.

[0055] The flow orchestration logic is achieved by using the opening moment of a suspected batch time window as the start trigger point for the flow executor's action on the time axis, and the closing moment of the suspected batch time window as the end trigger point for the flow executor's action, while keeping the flow executor in an open state between the two. The flow orchestration logic also incorporates the action response time of the flow executor for time alignment correction during the setting process, so that the opening flow executor command and the closing reset command can be accurately triggered at the corresponding time and executed in sequence.

[0056] It should also be noted that the window opening diversion command is a control command used to switch the diversion actuator from the non-diversion state to the diversion state. This command is triggered and issued at the opening moment of the suspected batch time window, and is used to drive the diversion actuator to open the diversion channel or change the material guiding direction, so that the material passing through the bifurcation point of the diversion actuator is transferred from the second conveying side to the re-inspection branch, thereby realizing the start of diversion of the suspected batch of materials. The window-closing reset command is a control command used to control the diversion actuator to return from the diversion state to the non-diversion state. This command is triggered and issued at the closing moment of the suspected batch time window. It is used to drive the diversion actuator to close the diversion channel or restore the original material guiding state, so that the non-suspected batch material passing through the bifurcation point of the diversion actuator can continue to be transported normally along the second conveying edge, thereby ending the diversion process of the suspected batch material.

[0057] S3.6. According to the diversion action sequence, divert the suspected batch materials within the suspected batch time window from the second conveyor side to the re-inspection branch, and record the actual window opening time, the actual window closing time and the execution receipt to obtain the suspected materials for re-inspection.

[0058] It should be explained that, according to the time sequence of the diversion action sequence, the diversion execution mechanism is executed with the window opening diversion command and the window closing reset command, so that the diversion execution mechanism enters the diversion state at the window opening time of the suspected batch time window and exits the diversion state at the window closing time of the suspected batch time window; during the diversion execution mechanism being in the diversion state, the suspected batch materials on the second conveyor side within the suspected batch time window range are diverted to the re-inspection branch through the branch point of the diversion execution mechanism, completing the diversion of the suspected batch materials from the second conveyor side to the re-inspection branch; when the diversion execution mechanism executes the window opening diversion command, the actual window opening time is recorded, and when the diversion execution mechanism executes the window closing reset command, the actual window closing time is recorded, and the execution receipt returned by the diversion execution mechanism is received. The actual window opening time, the actual window closing time, and the execution receipt are correlated with the suspected batch time window and then output to obtain the suspected materials for re-inspection.

[0059] It should also be noted that the re-inspection branch is an independent material conveying channel separated from the second conveying side by the diversion actuator, used to carry suspected batch materials. This channel forms a selective connection with the second conveying side at the bifurcation point of the diversion actuator, and is used to separate the suspected batch materials from the main conveying path and convey them separately within the suspected batch time window. The re-inspection branch is constructed by setting a diversion actuator on the second conveying side and leading out an independent conveying path at its bifurcation point. The receiving end of the re-inspection branch is connected to the diversion outlet of the diversion actuator, and its discharge end is connected to the receiving end of the third conveying side, so that the material guided when entering the diversion state can continuously and stably enter the subsequent return self-healing re-inspection section. The purpose of the re-inspection branch is to physically isolate suspected batch materials from normal materials, allowing suspected batch materials to leave the main logistics flow and enter a dedicated re-inspection and enhanced iron removal process, thereby avoiding interference with the continuous operation of the main logistics flow, and providing an independent and controllable processing channel for the low-speed enhanced iron removal and secondary metal detection confirmation of suspected batch materials. During the diversion process, when the diversion actuator enters the diversion state according to the diversion action sequence, suspected batch materials within the suspected batch time window are introduced into the re-inspection branch through the bifurcation point of the diversion actuator and transported along the re-inspection branch to the return self-healing re-inspection section connected to the third conveying side. After the diversion actuator returns to the non-diversion state, the re-inspection branch stops receiving materials and only performs subsequent processing on the imported suspected re-inspection materials.

[0060] S4. The suspected re-inspection material is transported to the return self-healing re-inspection section connected to the third conveyor side. It is confirmed by low-speed strong iron removal and secondary metal detection. If the secondary metal detection confirmation fails, the suspected re-inspection material is returned to vertex A via the third conveyor side. If the secondary metal detection confirmation passes, the suspected re-inspection material is returned to vertex C to obtain qualified pre-crushing material.

[0061] S4.1. The suspected re-inspection material is introduced from the re-inspection branch into the third conveyor side and conveyed to the return self-healing re-inspection section connected to the third conveyor side.

[0062] It should be explained that after the diversion actuator completes the diversion action, the discharge end of the re-inspection branch is kept connected to the receiving end of the third conveyor side, and the suspected re-inspection material output from the re-inspection branch is stably introduced into the third conveyor side; the third conveyor side is started and kept running continuously, so that the suspected re-inspection material entering the third conveyor side moves along the conveying direction of the third conveyor side until the suspected re-inspection material enters the return self-healing re-inspection section connected to the third conveyor side, thus completing the process of conveying the suspected re-inspection material from the re-inspection branch to the return self-healing re-inspection section.

[0063] S4.2 In the reflow self-healing re-inspection section, the suspected re-inspection material is switched to low-speed conveying through the PID closed-loop control algorithm, and the iron parts are enhanced to be adsorbed and removed through the strong iron removal node to form enhanced iron removal material.

[0064] It should be explained that after the suspected re-inspection material enters the recirculation self-healing re-inspection section, the current conveying speed of the third conveyor side in the recirculation self-healing re-inspection section is obtained, and the preset low-speed conveying target is used as the control target input to the PID closed-loop control algorithm. The drive output of the third conveyor side is continuously adjusted through the PID closed-loop control algorithm so that the actual conveying speed of the third conveyor side is stably switched to the low-speed conveying state. During the period when the suspected re-inspection material passes through the recirculation self-healing re-inspection section in the low-speed conveying state, the suspected re-inspection material enters the magnetic field action area of ​​the strong iron removal node. The high-intensity electromagnetic field generated by the strong iron removal node strengthens the adsorption and removal of iron parts entrained in the suspected re-inspection material, and the material after strengthening adsorption and removal is output to form strengthened iron removal material.

[0065] It should also be noted that the PID closed-loop control algorithm is a continuous control method based on error feedback, used to ensure that the actual output of the controlled object stably tracks the target setpoint. The PID closed-loop control algorithm uses the deviation between the target value and the actual measured value as the input, and generates the control output through the superposition of proportional control, integral control, and derivative control. Proportional control is used to quickly adjust based on the current deviation magnitude, integral control is used to accumulate historical deviations to eliminate steady-state deviations, and derivative control is used to make advance corrections based on the deviation trend. During closed-loop operation, the PID closed-loop control algorithm continuously acquires the actual output and compares it with the target value, repeatedly calculating and adjusting the control output to gradually converge and stabilize the output of the controlled object within the target setpoint range.

[0066] The low-speed conveying target is a target conveying speed set according to the process requirements of strong iron removal treatment and metal re-inspection confirmation in the recirculation self-healing re-inspection section. This target conveying speed is lower than the operating speed of the third conveying side under normal recirculation conveying conditions. It is used to extend the residence time of materials in the magnetic field area of ​​the strong iron removal node and increase the probability of iron parts being adsorbed and rejected. The low-speed conveying target can be set or calibrated according to the material characteristics, the magnetic field strength of the strong iron removal node, and the iron removal effect requirements.

[0067] The strong iron removal node is a high-intensity iron removal device set in the reflow self-healing re-inspection section. Its magnetic field strength is higher than that of the first-level iron removal node. It is used to strengthen the iron removal treatment of suspected materials in the re-inspection. The strong iron removal node includes an iron remover that can generate a high-intensity magnetic field during the material passage and its corresponding iron unloading structure. The role of the strong iron removal node is to further enhance the adsorption and removal of iron parts that may remain in the suspected re-inspection materials under low-speed conveying conditions. By increasing the magnetic field strength and extending the material residence time, the risk of iron parts remaining after the first-stage iron removal is reduced, providing a more reliable iron removal prerequisite for subsequent secondary metal detection confirmation.

[0068] S4.3. The material to be removed from iron is transported to the metal detection node and a second metal detection confirmation is performed. The metal re-inspection confirmation status is output.

[0069] It should be noted that the third conveying side is kept continuously conveyed within the return self-healing re-inspection section, so that the enhanced iron removal material output from the enhanced iron removal node is returned along the third conveying side and enters the detection area of ​​the metal detection node; the metal detection node performs secondary metal detection confirmation on the enhanced iron removal material entering the detection area, and generates a metal re-inspection confirmation status based on the detection result of the secondary metal detection confirmation. The metal re-inspection confirmation status is used to characterize whether metal is detected in the enhanced iron removal material during the secondary metal detection confirmation.

[0070] S4.4 When the metal re-inspection confirmation status is "failed", the corresponding suspected re-inspection material is returned to vertex A via the third conveyor side for a second iron removal process.

[0071] It should be noted that when the metal re-inspection confirmation status is determined to be unsuccessful, the suspected re-inspection material corresponding to the metal re-inspection confirmation status is identified, and the third conveying side is kept in a continuous operation state in the return conveying direction, so that the suspected re-inspection material is returned and conveyed along the third conveying side from the return self-healing re-inspection section to the vertex A direction; after the suspected re-inspection material reaches vertex A, the suspected re-inspection material is introduced into the first-level iron removal process starting from vertex A, so that the suspected re-inspection material is re-entered into the first-level iron removal process as a processing input.

[0072] S4.5 When the metal re-inspection confirmation status is "passed", the corresponding suspected re-inspection material is transported back to vertex C to merge with the material merging node to obtain qualified pre-crushing material.

[0073] It should be explained that when the metal re-inspection confirmation status is determined to be passed, the suspected re-inspection material corresponding to the metal re-inspection confirmation status is identified, and the third conveying side is controlled to maintain the continuous operation of the return conveying path, so that the suspected re-inspection material is conveyed from the return self-healing re-inspection section to the vertex C along the third conveying side; after the suspected re-inspection material reaches the vertex C, the suspected re-inspection material is introduced into the material confluence node set at the vertex C, so that the suspected re-inspection material, the return material from the first conveying side, the screened material from the screening end, and the bypass material are combined and output in the material confluence node, thereby obtaining qualified pre-crushing material.

[0074] like Figure 5As shown, under the control condition, since the metal detection signal was not correlated with a specific batch of material, there were a certain number of missed and incorrect processing cases during the iron removal process, indicating that the treatment of metal-containing materials under this condition lacked specificity. However, under the condition using the method of this invention, through suspected batch identification based on time windows, synchronous diversion, and low-speed strong iron removal and secondary metal detection confirmation in the reflow self-healing re-inspection section, metal-containing materials can be identified and processed more accurately, and the number of missed and incorrect processing cases is significantly reduced. The comparative results show that this invention effectively improves the reliability and specificity of iron removal treatment before fine crushing, providing a guarantee for the safe and stable operation of the subsequent crushing system.

[0075] In the comparative working condition, a common pre-crushing iron removal treatment scheme in existing technology is adopted, as follows: a primary iron removal device and a metal detection device are set up on the main channel. When the metal detection device detects a metal signal, the system does not locate the corresponding material within a time window, nor does it establish a suspected batch identification mechanism. Instead, it treats the metal detection signal as an overall abnormality in incoming materials. In this case, materials within a relatively long time range are uniformly processed, or only manual experience is relied upon for post-processing screening of metal-containing materials. Due to the lack of a synchronous diversion and recirculation self-healing re-inspection section, some genuine metal-containing materials may not be effectively processed and enter the subsequent process. On the other hand, normal materials may also be misjudged and participate in iron removal treatment, resulting in both missed and incorrect processing. The targeting and reliability of iron removal treatment are both low.

[0076] In summary, this invention constructs a triangular logistics loop consisting of the first, second, and third conveyor sides, enabling the return material, undersize material, and bypass material to form a unified main material flow before fine crushing. Primary iron removal and metal detection are then performed sequentially on the main channel. When metal is detected, suspected batch identification and synchronous diversion based on a time window are used to accurately guide the corresponding material into a re-inspection branch. The material then enters the return self-healing re-inspection section via the third conveyor side, where low-speed, high-intensity iron removal and secondary metal detection are used for confirmation. Based on the confirmation results, re-flow for rework or merging back into the main process is selected. This achieves closed-loop re-inspection and self-healing treatment of suspected metal-containing materials without disrupting the continuity of the main logistics flow, improving the reliability, specificity, and overall system stability of the iron removal process before fine crushing.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for removing iron before fine crushing in a triangularly arranged crushing system, characterized in that: include, The first conveying edge, the second conveying edge, and the third conveying edge are determined to form a triangular logistics loop. In the triangular logistics loop, the return material is conveyed to the vertex C via the first conveying edge, and at the vertex C, it merges with the screened material and the bypass material to form the main material flow before fine crushing and is conveyed to the vertex B along the second conveying edge to obtain the primary iron removal input material. The primary iron removal input material is conveyed along the second conveyor side to the primary iron removal node, where iron parts are removed online and introduced into the iron part chute to obtain the primary iron removal output material. The primary iron removal output material enters the metal detection node along the second conveyor side. When metal is detected at the metal detection node, the material in the corresponding time window is defined as suspected batch material, and a diversion action is simultaneously performed to divert the suspected batch material from the second conveyor side to the re-inspection branch to obtain the suspected material for re-inspection. The specific steps are as follows. The primary iron removal output material is continuously conveyed along the second conveyor edge to the detection area of ​​the metal detection node, and the metal detection node synchronously acquires the corresponding belt speed signal and detection timestamp, and outputs the detection input stream. The belt speed signal synchronously acquired by the metal detection node is continuously collected according to a preset sampling period, and the belt speed signal corresponding to each sampling moment is used as the observation input of the Kalman filter algorithm. Using the belt speed estimate from the previous sampling moment as the prediction input for the current sampling moment, a state prediction step is performed using the Kalman filter algorithm to update the predicted belt speed and the prediction error covariance. After obtaining the belt speed signal at the current sampling moment, a state update step is performed using the Kalman filter algorithm to correct the deviation between the predicted speed and the actual belt speed signal, thus obtaining the speed estimate, expressed as: ； in: It is the first The belt speed estimate obtained after fusion filtering using the Kalman filter algorithm at the sampling time point is expressed in meters per second and is used to characterize the belt speed at the sampling time point. The actual operating speed of the second transport side at each sampling time; It is in the Before the arrival of the sampling time, based on the first sampling time... The belt speed estimate at the nth sampling time is obtained through the state prediction step of the Kalman filter algorithm. The predicted velocity estimate at each sampling time, in meters per second; It is the first The Kalman gain at each sampling time is used to characterize the weighting coefficients of the predicted speed estimate and the belt speed signal in the fusion update process, and its dimension is dimensionless. It is the first The observed values ​​of the belt speed signal obtained by the metal detection node at each sampling time, with the dimension of meters per second; It is the sampling time sequence number of the belt speed signal, used to identify the sequential position of the belt speed signal in the time series; Online metal detection is performed on the input stream. When metal is detected, a metal detection event is generated, and the suspected batch time window is calculated based on the event timestamp of the metal detection event, the diversion distance, and the speed estimate. Map the suspected batch time window to the micro-batch queue of the primary iron removal output material to determine the covered material segment, which is defined as the suspected batch material; By using the diversion orchestration logic, suspected batch materials are divided into batches according to the opening and closing times of the suspected batch time window. The diversion execution mechanism is then issued opening diversion instructions and closing reset instructions to form a diversion action sequence. According to the diversion action sequence, the suspected batch materials within the suspected batch time window are diverted from the second conveyor side to the re-inspection branch, and the actual window opening time, actual window closing time and execution receipt are recorded to obtain the suspected re-inspection materials. The suspected re-inspection material is conveyed to the return self-healing re-inspection section connected to the third conveyor side. It is confirmed by low-speed strong iron removal and secondary metal detection. If the secondary metal detection confirmation fails, the suspected re-inspection material is returned to vertex A via the third conveyor side. If the secondary metal detection confirmation passes, the suspected re-inspection material is returned to vertex C to obtain qualified pre-crushing material.

2. The method for removing iron before fine crushing in a triangularly arranged crushing system as described in claim 1, characterized in that: The determination that the first conveying edge, the second conveying edge, and the third conveying edge form a triangular logistics loop means connecting one end of the first conveying edge to the return material output end and the other end to vertex C, connecting one end of the second conveying edge to vertex C and the other end to vertex B, and setting the third conveying edge as the return conveying path connecting the return material output end at vertex A and vertex B, thus forming a triangular logistics loop.

3. The method for removing iron before fine crushing in a triangularly arranged crushing system as described in claim 1, characterized in that: The specific steps for obtaining the primary iron-removing input material are as follows: A material confluence node is set at vertex C. In the triangular logistics loop, the return material from the return output end is conveyed unidirectionally to vertex C along the first conveying side. The undersize material and bypass material from the screening end are conveyed together to vertex C for confluence, forming the main material flow before fine crushing. Start the second conveyor side to transport the main material flow before fine crushing from vertex C to vertex B as the primary iron removal input material.

4. The method for removing iron before fine crushing in a triangularly arranged crushing system as described in claim 3, characterized in that: The process involves conveying the primary iron removal input material along the second conveyor edge to the primary iron removal node, where iron parts are removed online and guided into an iron part chute to obtain the primary iron removal output material. The specific steps are as follows: A primary iron removal node is set downstream of vertex B of the second conveying edge, and the primary iron removal input material at vertex B is continuously conveyed along the second conveying edge to the magnetic field action area of ​​the primary iron removal node. The iron parts in the primary iron removal input material are adsorbed onto the surface of the self-unloading belt by the electromagnetic field. The self-unloading conveyor belt continues to operate, carrying away the adsorbed iron parts from the magnetic field area and transporting them to the iron removal end of the iron separator. At the iron removal end, the iron parts enter the iron chute under the action of gravity. At the same time, the non-ferrous main material flow continues to flow along the second conveyor side and is output from the downstream end of the primary iron removal node, forming the primary iron removal output material.

5. The method for removing iron before fine crushing in a triangularly arranged crushing system as described in claim 1, characterized in that: The diversion distance is obtained by calibration between the detection reference section of the metal detection node and the bifurcation point of the diversion actuator.

6. The method for removing iron before fine crushing in a triangularly arranged crushing system as described in claim 1, characterized in that: The micro-batch queue of the primary iron removal output material is formed by dividing the continuous primary iron removal output material at equal intervals on the digital side according to the belt speed and sampling period through edge computing, generating micro-batch groups, and associating each micro-batch group with the corresponding timestamp and location information.

7. The method for removing iron before fine crushing in a triangularly arranged crushing system as described in claim 1, characterized in that: The process involves conveying suspected re-inspection materials to a reflux self-healing re-inspection section connected to the third conveyor side, where low-speed, high-intensity iron removal and secondary metal detection are used for confirmation. The specific steps are as follows. The suspected re-inspection material is introduced from the re-inspection branch into the third conveyor side and then conveyed to the return self-healing re-inspection section connected to the third conveyor side; In the reflow self-healing re-inspection section, the suspected re-inspection material is switched to low-speed conveying through the PID closed-loop control algorithm, and the iron parts are enhanced adsorption and removal through the strong iron removal node to form enhanced iron removal material. The iron-removed material is transported to the metal detection node for secondary transport and secondary metal detection confirmation is performed, and the metal re-inspection confirmation status is output.

8. The method for removing iron before fine crushing in a triangularly arranged crushing system as described in claim 1, characterized in that: If the secondary metal detection fails, the suspected material is returned to vertex A via the third conveyor edge. If the secondary metal detection passes, the suspected material is returned to vertex C to obtain qualified material before fine crushing. The specific steps are as follows. When the metal re-inspection confirms that the material has failed the re-inspection, the corresponding suspected material will be returned to vertex A via the third conveyor side to undergo the first-level iron removal process again. When the metal re-inspection confirms that the status is passed, the corresponding suspected re-inspection material is transported back to vertex C to merge with the material merging node, and qualified pre-crushing material is obtained.

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