Grass pulverizer with self-adjusting function

Abstract

The application discloses a pasture grinder with a self-adjusting function, relates to the technical field of grinder regulation and control, and can solve the technical problems of low grinding efficiency, easy blockage and poor uniformity of finished products caused by the fixed cutting angle of a grinding mechanism during the grinding process, and comprises a filtering mechanism including multiple layers of screen meshes arranged from top to bottom, the aperture of each layer of screen meshes decreases from top to bottom, and each layer of screen meshes is connected with a tension sensor for detecting a load; the pasture grinder further comprises a control unit, the control unit is configured to: determine a raw material accumulation evaluation value of each layer of screen meshes according to load data detected by each tension sensor in real time; determine a response time between adjacent screen meshes according to the raw material accumulation evaluation value of each layer of screen meshes; determine a current grinding efficiency of the grinding mechanism according to the raw material accumulation evaluation value and the response time between adjacent screen meshes; and determine a target adjustment angle according to the current grinding efficiency and the raw material accumulation evaluation value of each layer of screen meshes.

Description

Technical Field

[0001] This invention relates to the field of crusher control technology, specifically to a forage crusher with self-adjusting function. Background Technology

[0002] Hay shredders are key equipment in livestock and agricultural production, primarily used to shred fibrous materials such as hay and straw for subsequent storage, transportation, or use as feed. Their efficiency and finished product quality directly impact the overall production efficiency. Existing hay shredders typically consist of a shredding mechanism and a filtration mechanism. The shredding mechanism usually uses fixed-angle cutting blades to cut the raw material, while the filtration mechanism relies on a single-layer screen to sieve the shredded material to control the finished particle size. However, in practical applications, due to limitations in structure and working principle, the overall shredding efficiency and adaptability of such equipment often fall short of ideal performance when dealing with raw materials of varying moisture content, type, and feed volume. Summary of the Invention

[0003] To address the technical problems of low grinding efficiency, easy clogging, and poor uniformity of finished products caused by the fixed cutting angle of the grinding mechanism, which prevents dynamic adaptation to changes in raw material particle size during grinding, the present invention aims to provide a forage grinder with a self-adjusting function. The specific technical solution adopted is as follows: In a first aspect, the present invention provides a forage shredder with a self-adjusting function, comprising: a shredding chamber, a shredding mechanism disposed within the shredding chamber, and a filtering mechanism disposed at the bottom of the shredding chamber. The shredding mechanism includes angle-adjustable cutting blades, and the filtering mechanism includes multiple layers of screens arranged from top to bottom, with the aperture of each layer of screens decreasing from top to bottom. Each layer of screens is connected to a tension sensor for detecting load. The forage shredder also includes a control unit configured to: determine a raw material accumulation assessment value for each layer of screens based on load data detected in real time by each tension sensor; wherein the raw material accumulation assessment value is used to characterize the probability of raw material blockage occurring on the screens; determine the response time between adjacent screens based on the raw material accumulation assessment value for each layer of screens; wherein the response time is used to characterize the speed at which raw material falls between adjacent screens; determine the current shredding efficiency of the shredding mechanism based on the raw material accumulation assessment value and the response time between adjacent screens; and determine a target adjustment angle based on the current shredding efficiency and the raw material accumulation assessment value for each layer of screens; wherein the target adjustment angle is used to generate a control signal for adjusting the angle of the cutting blades.

[0004] In one possible implementation, when determining the raw material accumulation assessment value for each screen layer based on the load data detected in real time by each tension sensor, the control unit is specifically configured to: acquire the average value of the load data change trend within a preset time period for each screen layer; determine the degree of dispersion of the load data with respect to the average value of the change trend within the preset time period; and determine the raw material accumulation assessment value based on the average value of the change trend and the degree of dispersion.

[0005] In one possible implementation, when determining the response time between adjacent screens based on the raw material accumulation assessment value of each screen layer, the control unit is specifically configured to: acquire a data sequence of the raw material accumulation assessment value of each screen layer changing over time; for each pair of adjacent screens, translate the data sequence of the upper screen layer one by one along the time axis, and calculate the cumulative value of the difference between the assessment values ​​of the translated upper screen layer data sequence and the lower screen layer data sequence at each corresponding time point; and determine the translation time corresponding to the minimum cumulative value as the response time between adjacent screens.

[0006] In one possible implementation, when determining the current crushing efficiency of the crushing mechanism based on the raw material accumulation assessment value and the response time between adjacent screens, the control unit is specifically configured to: calculate the overall load distribution parameters of the multi-layer screens based on the raw material accumulation assessment value of each screen layer; and determine the current crushing efficiency based on the overall load distribution parameters and the response time.

[0007] In one possible implementation, when determining the target adjustment angle based on the current crushing efficiency and the raw material accumulation assessment value of each screen layer, the control unit is specifically configured to: calculate the overall accumulation urgency based on the raw material accumulation assessment value and layer sequence of each screen layer; wherein the overall accumulation urgency is used to characterize the severity of the overall accumulation of raw materials on multiple screen layers; determine the necessity assessment value of angle adjustment based on the overall accumulation urgency and the current crushing efficiency; and determine the target adjustment angle based on the comparison result of the necessity assessment value and a preset threshold, as well as the current angle of the cutting blade.

[0008] In one possible implementation, when determining the target adjustment angle based on the comparison between the necessity assessment value and a preset threshold, and the current angle of the cutting blade, the control unit is specifically configured to: when the necessity assessment value is less than the preset threshold, calculate the increased angle value based on the difference between the maximum angle limit and the current angle, and the difference between the necessity assessment value and the preset threshold; when the necessity assessment value is greater than or equal to the preset threshold, calculate the decreased angle value based on the difference between the current angle and the minimum angle limit, and the necessity assessment value.

[0009] In one possible implementation, the screens of the filtration mechanism are connected to a drive shaft and driven by a drive motor to rotate periodically in both directions.

[0010] In one possible implementation, the crushing mechanism includes a main shaft and at least one secondary shaft, both of which are provided with multiple sets of cutting blades, and the cutting blades on the main shaft and the secondary shaft are spatially staggered.

[0011] In one possible implementation, the number of cutting blade groups set on the lower shaft along the direction of raw material descent is greater than the number of cutting blade groups set on the upper shaft.

[0012] In one possible implementation, the initial reference angle of the cutting blade is defined as the radial direction of the plane on which the cutting blade is located, perpendicular to the axis on which it is located; the adjustment angle of the cutting blade is the angle by which the plane on which the cutting blade is located deflects counterclockwise from the initial reference angle; the uniform adjustment range of the cutting blade angle includes 0 degrees to 45 degrees.

[0013] Secondly, the present invention provides a method for self-adjusting the cutting blade angle of a forage shredder, comprising: determining a raw material accumulation assessment value for each screen layer based on load data detected in real time by each tension sensor; wherein the raw material accumulation assessment value is used to characterize the probability of raw material blockage occurring on the screen; determining the response time between adjacent screens based on the raw material accumulation assessment value for each screen layer; wherein the response time is used to characterize the speed at which raw material falls between adjacent screens; determining the current shredding efficiency of the shredding mechanism based on the raw material accumulation assessment value and the response time between adjacent screens; determining a target adjustment angle based on the current shredding efficiency and the raw material accumulation assessment value for each screen layer; wherein the target adjustment angle is used to generate a control signal for adjusting the cutting blade angle.

[0014] In one possible implementation, the raw material accumulation assessment value for each screen layer is determined based on the load data detected in real time by each tension sensor. Specifically, this includes: for each screen layer, obtaining the average value of the load data change trend within a preset time period; determining the degree of dispersion of the load data with respect to the average value of the change trend within the preset time period; and determining the raw material accumulation assessment value based on the average value of the change trend and the degree of dispersion.

[0015] In one possible implementation, the response time between adjacent screens is determined based on the raw material accumulation assessment value of each screen layer. Specifically, this includes: acquiring a data sequence of the raw material accumulation assessment value of each screen layer changing over time; for each pair of adjacent screens, shifting the data sequence of the upper screen layer one by one along the time axis, and calculating the cumulative value of the difference between the assessment values ​​of the shifted data sequence of the upper screen layer and the data sequence of the lower screen layer at each corresponding time point; and determining the shift time corresponding to the minimum cumulative value as the response time between adjacent screens.

[0016] In one possible implementation, the current crushing efficiency of the crushing mechanism is determined based on the raw material accumulation assessment value and the response time between adjacent screens. Specifically, this includes: calculating the overall load distribution parameters of the multi-layer screens based on the raw material accumulation assessment value of each screen layer; and determining the current crushing efficiency based on the overall load distribution parameters and the response time.

[0017] In one possible implementation, the target adjustment angle is determined based on the current crushing efficiency and the raw material accumulation assessment value of each screen layer. Specifically, this includes: calculating the overall accumulation urgency based on the raw material accumulation assessment value and layer sequence of each screen layer; wherein the overall accumulation urgency is used to characterize the severity of the overall accumulation of raw materials on multiple screen layers; determining the necessity assessment value of angle adjustment based on the overall accumulation urgency and the current crushing efficiency; and determining the target adjustment angle based on the comparison result of the necessity assessment value and a preset threshold, as well as the current angle of the cutting blade.

[0018] In one possible implementation, the target adjustment angle is determined based on the comparison between the necessity assessment value and a preset threshold, as well as the current angle of the cutting blade. Specifically, this includes: when the necessity assessment value is greater than or equal to the preset threshold, calculating the increased angle value based on the difference between the maximum angle limit and the current angle, and the difference between the necessity assessment value and the preset threshold; when the necessity assessment value is less than the preset threshold, calculating the decreased angle value based on the difference between the current angle and the minimum angle limit, and the necessity assessment value.

[0019] Thirdly, the present invention provides an electronic device, comprising: a processor and a memory; wherein the memory is used to store one or more programs, the one or more programs including computer-executable instructions, and when the electronic device is running, the processor executes the computer-executable instructions stored in the memory to cause the electronic device to perform the self-adjusting method for the cutting blade angle of a hay shredder as described in the first aspect and any possible implementation thereof.

[0020] Fourthly, the present invention provides a computer-readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by an electronic device of the present invention, cause the electronic device to perform a self-adjusting method for the cutting blade angle of a hay shredder as described in the first aspect and any possible implementation thereof.

[0021] Fifthly, the present invention provides a computer program product containing instructions that, when executed on a computer, cause the electronic device of the present invention to perform the self-adjusting method for the cutting blade angle of a hay shredder as described in the first aspect and any possible implementation thereof.

[0022] In a sixth aspect, the present invention provides a chip system applied to a forage shredder with a self-adjusting function; the chip system includes one or more interface circuits and one or more processors. The interface circuits and the processors are interconnected via circuitry; the interface circuits are configured to receive signals from a memory of the forage shredder with the self-adjusting function and send the signals to the processors, the signals including computer instructions stored in the memory. When the processor executes the computer instructions, the forage shredder with the self-adjusting function performs a blade angle self-adjustment method as described in the first aspect and any possible design of the forage shredder.

[0023] The present invention has the following beneficial effects: by monitoring the load data of the multi-layer screen in real time, the accumulation state of the raw material in each screening stage is dynamically perceived, and the cutting blade angle is intelligently adjusted accordingly, so as to achieve precise matching between crushing parameters and raw material state, effectively improving crushing efficiency and product uniformity, while significantly reducing the risk of screen blockage and equipment energy consumption. Attached Figure Description

[0024] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. 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.

[0025] Figure 1 A front view of a forage shredder with self-adjusting function provided in an embodiment of the present invention; Figure 2 A top view of a forage shredder with self-adjusting function provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a partial gear transmission and cutting blade connection of a crushing mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram showing the connection between the main shaft, cutting blade, and anti-fouling shell in a crushing mechanism according to an embodiment of the present invention. Figure 5 This is a partial three-dimensional structural schematic diagram of a crushing mechanism provided in one embodiment of the present invention; Figure 6 This is a flowchart illustrating a method for self-adjusting the cutting blade angle of a hay shredder according to an embodiment of the present invention. The above-mentioned figures include the following reference numerals: feed trough 1, baffle 2, ventilation pipe 3, filter screen 4, guide plate 5, discharge port 6, motor 7, transmission gear 8, main shaft 9, secondary shaft 10, cutting blade 11, crushing chamber 12, anti-fouling shell 13, bracket 14, coaxial gear 15, fixed shaft 16, off-axis gear 17, angle control gear set 18, transmission shaft 19, screen 20, drive motor 21, servo motor 22, drive shaft 23, crusher housing 24. Detailed Implementation

[0026] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the specific implementation methods, structures, features, and effects of the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0028] In all division and logarithmic operations involved in this invention, a smoothing mechanism is employed to prevent computer program crashes or invalid values ​​from being generated due to a zero denominator or zero input. Specifically, a correction factor ε, which is a very small positive number, is superimposed on the denominator term of the division operation or the argument term of the logarithmic function, for example, a value of 10 to the power of negative 5, thereby ensuring the robustness and feasibility of the algorithm under extreme conditions.

[0029] The following is in conjunction with the appendix Figure 1-5 Specifically, this invention provides a specific solution for a forage shredder with a self-adjusting function. Figure 1 This is a front view of a forage shredder with self-adjusting function according to an embodiment of the present invention. Figure 2 This is a top view of a forage shredder with self-adjusting function according to an embodiment of the present invention. Figure 3 This is a schematic diagram of a partial gear transmission and cutting blade connection of a crushing mechanism according to an embodiment of the present invention. Figure 4 This is a schematic diagram illustrating the connection between the main shaft, cutting blade, and anti-fouling shell in a crushing mechanism according to an embodiment of the present invention. Figure 5 This is a partial three-dimensional structural diagram of a crushing mechanism provided in one embodiment of the present invention.

[0030] For example, in combination Figures 1 to 5The forage shredder with self-adjusting function (hereinafter referred to as the forage shredder) includes: feed trough 1, baffle 2, ventilation pipe 3, filter screen 4, guide plate 5, discharge port 6, motor 7, transmission gear 8, main shaft 9, secondary shaft 10, cutting blade 11, shredding chamber 12, anti-fouling shell 13, bracket 14, coaxial gear 15, fixed shaft 16, off-axis gear 17, angle control gear set 18, transmission shaft 19, screen 20, drive motor 21, servo motor 22, drive shaft 23, and shredder shell 24.

[0031] Specifically, the hay shredder can be divided into four main structures: a feeding mechanism, a shredding mechanism, a filtering mechanism, and a feedback mechanism. The hay shredder involved in this invention will be described below based on these four main structures: (1) Material conveying mechanism.

[0032] The material conveying mechanism includes a feed trough 1, a baffle 2, a guide plate 5, a discharge port 6, and a crusher shell 24.

[0033] The feed trough 1 is used to introduce dry raw materials such as hay and straw. The feed trough 1 is installed on the top of the crusher housing 24 and is connected to the crushing chamber 12. Optionally, an opening and closing baffle 2 can be installed on the feed trough 1 to prevent the raw materials or dust from spreading during the operation of the crushing chamber 12.

[0034] Baffle 2 is an openable structure installed on the feed trough 1. Its core function is to close the feed channel to prevent raw materials from splashing or dust from leaking out during the crushing process, thus ensuring a clean and safe operating environment.

[0035] The guide plate 5, a smooth funnel-shaped structure, is installed at the bottom of the crushing chamber 12 to receive and discharge the crushed and filtered raw materials. Its funnel-shaped design prevents raw materials from adhering and accumulating in dead corners, while also facilitating equipment cleaning and improving overall crushing efficiency.

[0036] The discharge port 6 is installed at the bottom of the guide plate 5 and is an openable structure. It is used to receive the crushed raw materials discharged from the guide plate 5, so as to realize the centralized collection and transfer of raw materials.

[0037] The crusher housing 24 serves as the external protective and supporting shell for the entire hay crusher. It is used to fix core components such as the feed trough 1 and the crushing chamber 12, protect the internal mechanisms from external interference, and form a closed crushing space. The crusher housing 24, together with the support frame 14, constitutes the main frame of the equipment.

[0038] (2) Crushing mechanism. The crushing mechanism includes a ventilation pipe 3, a filter screen 4, a motor 7, a transmission gear 8, a main shaft 9, a secondary shaft 10, a cutting blade 11, a crushing chamber 12, a dirt-proof shell 13, a bracket 14, a coaxial gear 15, a fixed shaft 16, an off-axis gear 17, an angle control gear set 18, a servo motor 22, and a drive shaft 23.

[0039] The ventilation pipe 3 is installed at the top of the crushing chamber 12 to ensure air circulation inside the crushing chamber 12. Since the rotation of the cutting blade 11 will drive the air flow in the chamber, the ventilation pipe 3 can balance the air pressure in the chamber and prevent airflow turbulence from affecting the crushing and falling of raw materials.

[0040] The filter screen 4 is installed in the pipe trench at the junction of the ventilation pipe 3 and the crushing chamber 12. It is used to filter raw material debris in the air, prevent the ventilation pipe 3 from being blocked, and ensure the continuous and stable ventilation function.

[0041] Motor 7, connected to main shaft 9, provides power to the entire crushing mechanism and drives main shaft 9 to rotate.

[0042] The transmission gear 8 is fixed on the main shaft 9 and is connected to the two secondary shafts 10. It can transmit the power of the motor 7 to the secondary shafts 10 and control the two secondary shafts 10 to rotate synchronously.

[0043] The main shaft 9 is installed inside the crushing chamber 12 and is the core drive shaft of the crushing mechanism. Four sets of cutting blades 11 are installed on it (each set contains four symmetrically distributed cutting blades 11), and the secondary shaft 10 is driven to rotate through the transmission gear 8.

[0044] There are two secondary shafts 10, installed parallel to the main shaft 9 inside the crushing chamber 12. Optionally, both the main shaft 9 and the secondary shafts are equipped with multiple sets of cutting blades, and the cutting blades on the main shaft 9 and the secondary shafts 10 are spatially staggered. Specifically, the upper shaft has 5 sets of cutting blades 11, and the lower shaft has 9 sets of cutting blades 11; the cutting blades 11 on the upper shaft are staggered with the cutting blades 11 on the main shaft 9, and among the cutting blades 11 on the lower shaft, 5 sets are staggered with the cutting blades 11 on the main shaft 9, and 4 sets are aligned with the cutting blades 11 on the main shaft 9 (the blade positions are staggered), ensuring that no collision occurs during rotation.

[0045] Cutting blade 11: All cutting blades 11 have the same length and width. The front section of the blade along the rotation direction is designed to be serrated, which can improve crushing and cutting efficiency. The cutting blade 11 is fixed on the off-axis gear 17. Its initial 0-degree position is when the plane is perpendicular to the corresponding main shaft 9 or secondary shaft 10. The maximum adjustment angle is 45 degrees counterclockwise.

[0046] Optionally, the initial reference angle of the cutting blade 11 is defined as the radial direction of the plane on which the cutting blade 11 is located, perpendicular to the axis on which it is located; the adjustment angle of the cutting blade 11 is the angle at which the plane on which the cutting blade 11 is located deflects counterclockwise from the initial reference angle; the uniform adjustment range of the angle of the cutting blade 11 includes 0 degrees to 45 degrees.

[0047] The anti-fouling shell 13 is made of metal and is installed at the connection between the cutting blade 11 and the off-axis gear 17 to prevent raw material debris from seeping into the gear mechanism and avoid gear failure.

[0048] The bracket 14 is a supporting component for the entire hay shredder, used to fix the core mechanisms such as the shredding chamber 12 and the motor 7, ensuring the overall structural stability of the equipment.

[0049] The coaxial gear 15 is connected to the drive shaft 23 and fixed shaft 16 in the main shaft 9 and secondary shaft 10, and meshes perpendicularly with the off-axis gear 17. It can transmit the power of the drive shaft 23 to the cutting blade 11 to achieve the angle adjustment of the cutting blade 11.

[0050] The fixed shaft 16 has 6 shafts in the shaft body of each main shaft 9 or secondary shaft 10, which cooperate with one drive shaft 23 to connect to the coaxial gear 15, providing fixed support for gear transmission and ensuring the stability of angle adjustment.

[0051] The off-axis gear 17 is perpendicular to and meshes with the two coaxial gears 15. It is directly connected to the cutting blade 11 and can drive the cutting blade 11 to rotate counterclockwise under the drive of the coaxial gears 15, thereby achieving angle adjustment.

[0052] Angle control gear set 18 is installed on the opposite side of motor 7 and connected to drive shaft 23 and fixed shaft 16 in the main shaft 9 and secondary shaft 10. It is driven by servo motor 22 and can control all cutting blades 11 on the three axes to adjust their angles in the same direction and with the same amplitude at the same time.

[0053] The drive shaft 23 is provided in the shaft body of each main shaft 9 or secondary shaft 10 and is connected to the coaxial gear 15. It rotates under the drive of the angle control gear set 18, and then drives the cutting blade 11 to adjust the angle through the coaxial gear 15 and the off-axis gear 17.

[0054] The servo motor 22 is connected to the angle control gear set 18 and provides power to the angle control gear set 18. It can not only drive the cutting blade 11 to adjust the angle, but also work continuously when the angle is fixed to ensure that the angle of the cutting blade 11 does not change during the rotation process.

[0055] (3) Filtering mechanism.

[0056] The filtration mechanism includes a drive shaft 19, a screen 20, and a drive motor 21.

[0057] The drive shaft 19 is a cylindrical structure, and there are two of them. They are installed parallel to each other at different heights at the bottom of the crushing chamber 12 to fix the screen 20 and drive its movement.

[0058] Screen 20, with multiple layers ( Figure 1The example diagram shows four layers of screens made of elastic fabric. The spacing between each layer of screen is the same, and they are parallel to each other. The aperture of the screens 20 decreases uniformly from top to bottom (the highest layer has the largest aperture, and the lowest layer has the smallest aperture). The specific aperture can be replaced according to user needs. It should be noted that in practical applications, the number of screens can be determined according to requirements, and this embodiment of the invention does not impose a specific limitation.

[0059] Optionally, each layer of screen 20 in the filtration mechanism is connected to the drive shaft 19 and driven by a drive motor to rotate periodically in both directions. Specifically, one end of the screen 20 is fixed to the drive shaft 19, and the other end is fixed to a tension sensor, used to screen raw materials of different particle sizes.

[0060] The drive motor 21 is installed perpendicular to the transmission shaft 19, which drives the two transmission shafts 19 on the outside of the crusher to rotate rapidly in a periodic cycle (first rotate 90 degrees clockwise, then rotate 90 degrees counterclockwise), which drives the screen 20 to move and causes the accumulated raw materials to fall.

[0061] (4) Feedback mechanism.

[0062] The feedback mechanism includes a tension sensor and a control unit.

[0063] A tension sensor, installed around the filtration mechanism, such as around the drive shaft 19, and connected to the other end of each of the four screen layers 20, is used to detect the tension data generated by the raw material load on each screen layer 20 in real time, providing feedback signals for the angle adjustment of the cutting blade 11. A control unit, installed on the angle control gear set 18, is used to analyze and process the tension data acquired by the tension sensor, calculate parameters such as raw material accumulation assessment value, response time, and crushing efficiency, and transmit the feedback adjustment parameters to the servo motor 22, thereby achieving precise adjustment of the cutting blade 11 angle through the angle control gear set 18. It should be noted that the specific functions of the control unit are described in S601-S604 below.

[0064] Alternatively, the control unit can be implemented as a high-speed central processing unit, a programmable logic controller, an embedded microcontroller system, a distributed control unit, or an edge computing gateway in conjunction with cloud-based collaborative control.

[0065] In the aforementioned crushing mechanism, when the angle of the cutting blade 11 is too large, the falling speed of the cut material is slow, resulting in low crushing efficiency; while if the angle is too small, some uncrushed material will enter the filtering mechanism prematurely, causing blockage. Therefore, it is necessary to adjust the actual angle of the cutting blade 11 in real time during the process. The following section discusses... Figure 6 The present invention describes a method for self-adjusting the cutting blade angle of the above-mentioned hay shredder, wherein the execution subject of the method is the control unit in the hay shredder.

[0066] S601. Based on the load data detected in real time by each tension sensor, determine the raw material accumulation assessment value for each layer of screen. The raw material accumulation assessment value characterizes the probability of raw material blockage occurring on the screen.

[0067] For example, when the control unit determines the raw material accumulation assessment value for each layer of screen based on the load data detected in real time by each tension sensor, it does so by following these steps: (1) For each layer of screen, obtain the average value of the load data change trend within a preset time period.

[0068] Specifically, the control unit first acquires the load data detected in real time by each tension sensor, and defines the load data as the tension value of the i-th layer of screen at the t-th sampling time, denoted as... Where i is the screen layer identifier, which takes a value from 1 to N (N is the total number of screens, in this embodiment N=4, that is, 4 screen layers, and i=1 corresponds to the highest screen layer, i=4 corresponds to the lowest screen layer); t is the sampling time identifier, which takes a positive integer value (such as t=1, t=2, ..., the time interval Δt of each sampling time is preset to 1 second, that is, the load data is sampled once every 1 second).

[0069] It should be noted that the specific method for determining the preset time period is as follows: For any layer of screen at the t-th sampling time, the control unit obtains the load data of the 10 sampling times before that time (i.e., t-10, t-9...t-1) and the load data of the t-th sampling time, for a total of D=11 consecutive sampling points, which constitute the local time period (i.e., the preset time period) corresponding to the t-th sampling time of that layer of screen, and is used for subsequent calculations.

[0070] Furthermore, the control unit calculates the instantaneous slope between each adjacent sampling time for the load data within a preset time period (the number of load data points corresponds to the number of sampling times), and then takes the average of all instantaneous slopes to obtain the average trend of the load data change of this layer of screen at the t-th sampling time, denoted as . It should be noted that the instantaneous slope between each adjacent sampling moment is obtained by calculating the ratio of the difference in load data between adjacent sampling moments to the time interval between those adjacent sampling moments. The calculation process of this instantaneous slope is existing technology, and the specific process will not be described in detail here.

[0071] (2) Determine the degree of dispersion of the load data with respect to the mean of the trend within the preset time period.

[0072] In this step, the control unit uses the average of the above-mentioned trends. Using the corresponding straight line as a baseline, the intercept of this line is adjusted to minimize the vertical distance from the line to each load data point within a local time period. The sum of the vertical distances at all time points is then obtained, and this sum is defined as the dispersion of the load data, denoted as [missing information]. .

[0073] It should be noted that the baseline line is constructed with the sampling time as the horizontal axis and the load data as the vertical axis. The slope of the line is used to ensure that the vertical distance from all load data points to the line is minimized within a local time period by adjusting the intercept of the line (to avoid excessive distance deviation of some data points due to a single intercept).

[0074] (3) Determine the raw material accumulation assessment value based on the mean and dispersion of the trend.

[0075] For example, the control unit will change the average trend. With degree of dispersion Perform fractional operations to obtain the raw material accumulation assessment value of the i-th layer of screen at the t-th sampling time. The specific calculation formula is as follows: in, The time interval representing the sampling time can be set to 1 second, as described above. In the above formula, the numerator... Positively correlated with raw material accumulation trends: The larger the denominator, the stronger the tendency for raw materials to accumulate on the screen. Negatively correlated with the probability of raw material accumulation: The smaller the value, the smoother the fluctuation of the raw material on the screen, and the higher the possibility of accumulation. The larger the value, the higher the probability that the i-th layer of the screen will experience material blockage at the t-th sampling time; for example, when Larger (load continues to rise) and When the load is relatively small (with gentle load fluctuations), A significant increase in the value indicates that there is a clear risk of accumulation in this layer of screen.

[0076] as well as, This indicates that the larger value within the parentheses is used to truncate the calculation result to non-negative values. Its purpose is twofold: when the ratio is positive, it indicates an accumulation trend, and the positive value is directly output as the evaluation result; when the ratio is zero or negative, it indicates no accumulation trend or a cleared state, and the evaluation result is corrected to zero. This process ensures the accuracy of the raw material accumulation evaluation value. The value is always non-negative, consistent with its physical meaning of characterizing blockage probability, and avoids ambiguity that negative values ​​might cause in subsequent logic. It should be noted that the raw material accumulation assessment value is a relative assessment parameter based on load data and the time dimension. Its core function is to reflect the changing trend, rather than an absolute physical quantity. The dimension design aims to adapt to the feedback adjustment logic.

[0077] S602. Based on the raw material accumulation assessment value of each screen layer, determine the response time between adjacent screens. The response time characterizes the speed at which the raw material falls between adjacent screens.

[0078] For example, when the control unit determines the response time between adjacent screens based on the raw material accumulation assessment value of each screen layer, it does so by following these steps: (1) Obtain the data sequence of the raw material accumulation assessment value of each screen layer changing over time.

[0079] In this step, the control unit first calls the raw material accumulation assessment values ​​of each screen layer, calculated by S601 and arranged in chronological order of sampling time. Based on the correspondence between the number of screen layers and the sampling time, a data sequence of the raw material accumulation assessment value of each screen layer as a function of time was obtained. That is, for the i-th screen layer, its data sequence is the data corresponding to all sampling times from the start of the crusher operation to the current sampling time. A set of.

[0080] It should be noted that each of the data sequences All data are calculated independently based on the load data within a preset time period (D=11 consecutive sampling points) prior to the corresponding sampling time t. For the initial D-1 sampling times after the crusher starts (i.e., the first 10 times), since they cannot constitute a complete preset time period, the corresponding raw material accumulation assessment values ​​are not calculated and are not included in the data sequence of this step.

[0081] (2) For each pair of adjacent screens, the data sequence of the upper screen is translated one by one along the time axis, and the cumulative value of the difference between the data sequence of the upper screen and the data sequence of the lower screen at each corresponding time point is calculated.

[0082] For example, the control unit performs the following operations for each pair of adjacent screens (i.e., the i-th layer screen and the (i+1)-th layer screen, where i takes values ​​from 1 to N-1, the i-th layer is the upper layer screen, and the (i+1)-th layer is the lower layer screen): a. Shift the upper data sequence along the time axis: Using the data sequence of the lower screen as a fixed reference, shift the data sequence of the upper screen one by one along the positive direction of the time axis. Each shift corresponds to a shift time (i.e., the time difference between the upper data sequence and the original sequence after shift, with the unit consistent with the sampling interval). b. Calculate the difference in evaluation values ​​at corresponding time points: After each shift, extract the data from the upper and lower data sequences that correspond exactly to the time points. (The upper-level evaluation value after translation) and (Lower-level evaluation value), and calculate the absolute value of the difference between the two at each corresponding time point; c. Calculate the cumulative value of the assessment value difference: sum up the absolute values ​​of the assessment value differences that correspond to all time points to obtain the cumulative value of the assessment value difference corresponding to this shift; d. Data matching rules: For data sequences where there are no corresponding time points in the upper and lower layers after translation... or That is, when one sequence has data while another sequence has no data, that part of the data is ignored and not included in the cumulative value calculation.

[0083] Thus, the control unit obtains the cumulative value of the difference between the evaluation values ​​of the data sequence of the upper screen and the data sequence of the lower screen at each corresponding time point after translation.

[0084] (3) The translation time corresponding to the minimum cumulative value is determined as the response time between adjacent screens.

[0085] Optionally, for each pair of adjacent screens, the control unit compares the cumulative difference of the evaluation values ​​corresponding to all translation operations, finds the translation operation with the smallest cumulative difference, and determines the translation time corresponding to this translation operation as the response time between the i-th layer screen and the (i+1)-th layer screen, denoted as . ;in, The larger the value, the slower the material accumulates and falls between the two adjacent screen layers, and the longer the material stays in the cavity due to the current cutting blade angle; the smaller the value, the faster the material falls between the two adjacent screen layers, and the shorter the material stays in the cavity.

[0086] S603. Determine the current crushing efficiency of the crushing mechanism based on the raw material accumulation assessment value and the response time between adjacent screens.

[0087] For example, when the control unit determines the current grinding efficiency of the grinding mechanism based on the raw material accumulation assessment value and the response time between adjacent screens, it does so by specifically following these steps: (1) Calculate the overall load distribution parameters of the multi-layer screen based on the raw material accumulation assessment value of each layer of screen.

[0088] For example, the control unit determines the overall load distribution parameters of the multi-layer screen according to the following formula: In the above formula, This represents the overall load distribution parameter of the multi-layer screen; N represents the total number of screens, which is consistent with the actual design quantity of the multi-layer screen; i represents the iterative variable of the number of screen layers, with values ​​ranging from 1 to N-1; This represents the raw material accumulation assessment value of the i-th layer of screen at the current sampling time t; This represents the raw material accumulation assessment value of the (i+1)th layer of screen at the current sampling time t.

[0089] It should be noted that in the numerator of the formula It represents the sum of the material accumulation assessment values ​​of all layers, directly reflecting the overall absolute level of the load on the multi-layer screen; This represents the absolute value of the sum of differences between adjacent layers, reflecting the overall directional consistency of changes between layers (i.e., whether there is an overall top-down trend). The denominator in the formula... Same as the first part of the molecule, used to normalize the overall load amplitude; This ratio represents the sum of the absolute values ​​of the differences between adjacent layers, reflecting the total fluctuation range of the interlayer changes. The closer this ratio is to 1, the higher the overall load and the more consistent the interlayer change trend (i.e., there is continuous accumulation or steep increase from top to bottom), and the stronger the authenticity and severity of the raw material accumulation; the closer the ratio is to 0, the lower the overall load and the more gradual the interlayer changes.

[0090] (2) Determine the current crushing efficiency based on the overall load distribution parameters and response time.

[0091] In this step, before the control unit determines the current grinding efficiency, it first considers the response time between each pair of adjacent screens. Calculate the average response time at the current moment. That is, the response time between all adjacent screens. Take the arithmetic mean. Mean response time This reflects the overall average level of the falling and accumulating speed of raw materials between adjacent screens. The larger the value, the longer the raw materials stay between adjacent screens and the slower the falling speed.

[0092] For example, the control unit calculates the current grinding efficiency according to the following formula: In the above formula, This indicates the current grinding efficiency. When evaluating grinding efficiency, a higher overall load on the multi-layer screen (corresponding to...) is considered higher. The larger the screen size, the shorter the time for material to fall and accumulate between adjacent screens (corresponding to...). The smaller the value, the better the crushing effect. The higher the current cutting blade angle, the greater the crushing efficiency of the raw material. and The fractional operation directly reflects the current grinding efficiency. It should be noted that the current grinding efficiency is a relative evaluation parameter based on load data and the time dimension. Its core function is to reflect efficiency changes, rather than an absolute physical quantity. The dimension design aims to adapt to the feedback adjustment logic.

[0093] S604. Determine the target adjustment angle based on the current crushing efficiency and the raw material accumulation assessment value of each screen layer; wherein, the target adjustment angle is used to generate a control signal for adjusting the cutting blade angle.

[0094] For example, when the control unit determines the target adjustment angle based on the current crushing efficiency and the raw material accumulation assessment value of each screen layer, it does so by following these steps: (1) Calculate the overall urgency of material accumulation based on the material accumulation assessment value and sequence of each screen layer. The overall urgency of material accumulation is used to characterize the severity of the overall accumulation of material on multiple screen layers.

[0095] For example, the control unit calculates the overall stacking urgency using the following formula: In the above formula, This indicates the overall urgency of the current accumulation; N represents the total number of screens, consistent with the actual design quantity of multi-layer screens; i represents the number of screen layers. This represents the raw material accumulation assessment value of the i-th layer of screen at the current sampling time t.

[0096] It should be noted that in the formula This indicates that the raw material accumulation assessment values ​​of each layer of screens are weighted and summed according to the layer order weights, highlighting the impact of the accumulation of lower-layer screens on the overall state; This indicates that the weighted sum is averaged, so that... It better matches the overall stacking level.

[0097] thus, The larger the value, the more urgent the overall accumulation state of the multi-layer screen at the current moment, and the greater the need to reduce the angle of the cutting blade to accelerate the falling of raw materials and alleviate blockage.

[0098] (2) Determine the necessity assessment value of angle adjustment based on the overall urgency of the accumulation and the current crushing efficiency.

[0099] For example, the control unit calculates the necessity assessment value of angle adjustment using the following formula: In the above formula, The value represents the assessment of the necessity of angle adjustment; This represents the normalization function, used to normalize... The result is normalized to a specific range [0,1], which facilitates subsequent comparison with the preset threshold.

[0100] Optionally, the above normalization function is specifically a minimum-maximum normalization. Specifically, it can be set... The minimum reference value is 0, corresponding to the ideal unobstructed state without raw material accumulation; and its maximum reference value is set to the critical blockage threshold preset by the system. This threshold can be measured by historical experiments and represents the limit ratio when the equipment is about to be blocked.

[0101] It should be noted that in the formula This represents the ratio of the overall urgency of the buildup to the current crushing efficiency. If the numerator... Larger denominator The small size indicates severe accumulation and poor crushing effect, strongly suggesting a need to adjust the angle.

[0102] thus, The larger the value, the more raw material is piled up and the worse the crushing effect, the greater the need to reduce the cutting blade angle; the smaller the value, the less piled up and the better the crushing effect, the greater the need to increase the cutting blade angle.

[0103] (3) Determine the target adjustment angle based on the comparison results of the necessity assessment value and the preset threshold, as well as the current angle of the cutting blade.

[0104] In this step, the control unit first determines a preset threshold c, which ranges from 0.4 to 0.6. Specifically, the threshold can be selected by analyzing the historical control data of the hay shredder, choosing a value that achieves the optimal balance between shredding efficiency and clogging probability; as an example implementation, c=0.5 can be set.

[0105] For example, the control unit calculates the target adjustment angle using the following formula: In the above formula, Indicates the target adjustment angle, the control unit is based on A control signal is generated and transmitted to the servo motor, which then adjusts the angle of the cutting blade through the angle control gear set, completing one self-adjustment of the angle. Indicates the current angle of the cutting blade. This represents the difference between the maximum angle limit and the current angle. This represents the difference between the current angle of the cutting disc and the minimum angle limit. This indicates a preset threshold.

[0106] It is understandable that the above formula calculates the target adjustment angle in two cases: Scenario 1: When the necessity assessment value is less than the preset threshold, the increased angle value is calculated based on the difference between the maximum angle limit and the current angle, and the difference between the necessity assessment value and the preset threshold.

[0107] In this case, First, calculate the difference between the maximum angle limit (45 degrees) and the current angle, and denot it as... (Right now =45°- ), then according to the formula section Calculate the target adjustment angle. Among them, The absolute value of the difference between the necessity assessment value and the threshold is used to determine the magnitude of the angle increase, so as to achieve a small increase in the angle, which conforms to the logic of a small increase in the angle when the necessity assessment value is less than the preset threshold.

[0108] Scenario 2: When the necessity assessment value is greater than or equal to the preset threshold, the reduced angle value is calculated based on the difference between the current angle and the minimum angle limit, as well as the necessity assessment value.

[0109] In this case, First, calculate the difference between the current angle and the minimum angle limit, and denot it as... (Right now = -0= ), then according to the formula section Calculate the target adjustment angle. Among them, This is used to determine the magnitude of the angle reduction, enabling a small reduction in the angle, and implementing a logic that allows for a small reduction in the angle when the necessity assessment value is greater than or equal to a preset threshold.

[0110] Therefore, the control unit generates a control signal to adjust the cutting blade angle based on the determined target adjustment angle, and adjusts the cutting blade angle based on this control signal. Specifically, the angle adjustment adopts an intermittent nonlinear adjustment method, executing the adjustment logic once at a fixed preset interval to ensure adjustment stability and avoid frequent fluctuations. For example, the preset interval can be set to 1 minute, or it can be determined according to the needs of actual applications.

[0111] Based on the above technical solution, the embodiments of the present invention dynamically sense the accumulation state of raw materials in each screening stage by real-time monitoring of the load data of multi-layer screens, and intelligently adjust the cutting blade angle accordingly, thereby achieving precise matching between crushing parameters and raw material state, effectively improving crushing efficiency and product uniformity, while significantly reducing the risk of screen blockage and equipment energy consumption.

[0112] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0113] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A forage shredder with self-adjusting function, comprising a shredding chamber, a shredding mechanism disposed within the shredding chamber, and a filtering mechanism disposed at the bottom of the shredding chamber, wherein the shredding mechanism includes angle-adjustable cutting blades, characterized in that, The filtration mechanism includes multiple layers of screens arranged from top to bottom, with the aperture of each screen decreasing from top to bottom, and each screen is connected to a tension sensor for detecting the load. The forage shredder also includes a control unit configured to: determine the raw material accumulation assessment value of each screen layer based on the load data detected in real time by each of the tension sensors; wherein the raw material accumulation assessment value is used to characterize the probability of raw material blockage occurring on the screen. Based on the raw material accumulation assessment value of each screen layer, the response time between adjacent screens is determined; wherein, the response time is used to characterize the speed at which the raw material falls between adjacent screens; The current crushing efficiency of the crushing mechanism is determined based on the raw material accumulation assessment value and the response time between adjacent screens. A target adjustment angle is determined based on the current crushing efficiency and the raw material accumulation assessment value of each screen layer; wherein the target adjustment angle is used to generate a control signal for adjusting the angle of the cutting blade.

2. The forage shredder with self-adjusting function according to claim 1, characterized in that, When determining the raw material accumulation assessment value for each layer of screen based on the load data detected in real time by each of the tension sensors, the control unit is specifically configured as follows: For each layer of screen, the average value of the load data change trend within a preset time period is obtained; Determine the degree of dispersion of the load data with respect to the mean of the trend within the preset time period; The raw material accumulation assessment value is determined based on the mean of the changing trend and the degree of dispersion.

3. The forage shredder with self-adjusting function according to claim 1, characterized in that, When determining the response time between adjacent screens based on the raw material accumulation assessment value of each screen layer, the control unit is specifically configured as follows: Obtain the data sequence of the raw material accumulation assessment value of each screen layer as a function of time; For each pair of adjacent screens, the data sequence of the upper screen is translated one by one along the time axis, and the cumulative difference between the data sequence of the upper screen and the data sequence of the lower screen at each corresponding time point is calculated. The translation time corresponding to the minimum cumulative value is determined as the response time between the adjacent screens.

4. The forage shredder with self-adjusting function according to claim 1, characterized in that, When determining the current crushing efficiency of the crushing mechanism based on the raw material accumulation assessment value and the response time between adjacent screens, the control unit is specifically configured as follows: Based on the raw material accumulation assessment value of each layer of screen, calculate the overall load distribution parameters of the multi-layer screen; The current crushing efficiency is determined based on the overall load distribution parameters and the response time.

5. The forage shredder with self-adjusting function according to claim 4, characterized in that, When determining the target adjustment angle based on the current crushing efficiency and the raw material accumulation assessment value of each screen layer, the control unit is specifically configured as follows: The overall urgency of material accumulation is calculated based on the material accumulation assessment value and layer sequence of each screen layer; wherein, the overall urgency of material accumulation is used to characterize the severity of material accumulation on multiple screen layers. Based on the overall urgency of the accumulation and the current crushing efficiency, determine the necessity assessment value for angle adjustment; The target adjustment angle is determined based on the comparison between the necessity assessment value and the preset threshold, and the current angle of the cutting disc.

6. The forage shredder with self-adjusting function according to claim 5, characterized in that, When determining the target adjustment angle based on the comparison result between the necessity assessment value and the preset threshold, and the current angle of the cutting blade, the control unit is specifically configured as follows: When the necessity assessment value is less than the preset threshold, the increased angle value is calculated based on the difference between the maximum angle limit and the current angle, and the difference between the necessity assessment value and the preset threshold. When the necessity assessment value is greater than or equal to the preset threshold, the reduced angle value is calculated based on the difference between the current angle and the minimum angle limit, and the necessity assessment value.

7. The forage shredder with self-adjusting function according to claim 1, characterized in that, Each layer of screen in the filtration mechanism is connected to the drive shaft and is driven by a drive motor to rotate periodically in both directions.

8. The forage shredder with self-adjusting function according to claim 1, characterized in that, The crushing mechanism includes a main shaft and at least one secondary shaft. Both the main shaft and the secondary shaft are provided with multiple sets of cutting blades, and the cutting blades on the main shaft and the secondary shaft are spatially staggered.

9. The forage shredder with self-adjusting function according to claim 8, characterized in that, Along the direction of raw material descent, the number of cutting blade sets installed on the lower layer of the shaft is greater than the number of cutting blade sets installed on the upper layer of the shaft.

10. The forage shredder with self-adjusting function according to any one of claims 1-9, characterized in that, The initial reference angle of the cutting blade is defined as the radial direction of the plane on which the cutting blade is located, perpendicular to the axis on which it is located; the adjustment angle of the cutting blade is the angle at which the plane on which the cutting blade is located deflects counterclockwise from the initial reference angle; the uniform adjustment range of the cutting blade angle includes 0 degrees to 45 degrees.

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