Lateral line based bionic control of vibration screen amplitude modulation mechanism and collaborative control method

Abstract

The application discloses a kind of based on fish lateral line bionics regulation and control vibration screen amplitude modulation mechanism and collaborative control method, belong to agricultural harvesting machinery cleaning technical field, this mechanism is by amplitude automatic adjustment eccentric module, multimodal sensor group and controller constitute, eccentric mechanism adopts screw block type structure, and through screw-nut pair double locking of self-locking and motor brake. Sensor group draws lessons from fish lateral line perception principle, screen body bilateral symmetrical arrangement wind pressure / speed sensor array, combined with laser line scanning profile, piezoelectric collision, double-mode visual sensor, synchronous acquisition material layer thickness, distribution uniformity, airflow disturbance, loss rate and the multi-source data of impurity rate. Controller built-in normalization weighted score control model, fusion multi-source data realizes the collaborative closed-loop control of screen amplitude and fan speed. The application can effectively adapt to feeding amount, material humidity and other working condition fluctuation, stabilize cleaning quality, give consideration to operation efficiency and energy consumption, applicable to a variety of granular material cleaning scene.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting machinery cleaning technology, and in particular to a vibrating screen amplitude adjustment mechanism and a collaborative control method based on fish lateral line biomimetic control. Background Technology

[0002] The air-screen cleaning device is the core equipment for separating agricultural materials. Its working principle is to use the airflow field generated by the fan and the reciprocating motion of the vibrating screen to make the mixture to be cleaned spread, layered, pass through the screen and remove impurities on the screen surface, and finally achieve the separation of components such as grains, short stems, light impurities and heavy impurities. The cleaning quality is usually evaluated by indicators such as loss rate, impurity rate, cleanliness rate and processing capacity per unit time.

[0003] Most current mainstream air-screen cleaning devices use fixed eccentric wheels or fixed-length linkage mechanisms to drive the screen body vibration. The amplitude is fixed at the factory and cannot be adjusted in real time during operation. In actual operation, factors such as fluctuations in feed rate, changes in material moisture content, differences in impurity ratio, uneven lateral distribution of material, and changes in environmental conditions can all cause the operating conditions to deviate from the optimal design state. The configuration of fixed amplitude and fixed air volume is difficult to match the dynamically changing cleaning requirements, which can easily lead to problems such as local accumulation of material, uneven screen surface load, delayed screening, impurity entrainment of grains, and increased loss of clean material, ultimately reducing cleaning quality and operating efficiency.

[0004] Although some improved cleaning equipment has been equipped with loss sensors, wind speed sensors, or image detection devices, it still has obvious shortcomings: First, the sensing dimension is single, lacking multi-dimensional detection of process parameters such as material layer thickness, lateral distribution uniformity, and local wind field disturbances, especially unable to identify working conditions that affect cleaning uniformity, such as lateral material agglomeration; Second, the actuator is missing, lacking an amplitude adjustment mechanism that can change the screen body motion parameters in real time without stopping the machine, and cannot convert the sensed data into active control; Third, the control logic is fragmented, with result indicators such as loss rate and impurity content lacking correlation with the process state, and the fan speed and screen body amplitude being controlled independently, which easily leads to contradictions such as "increasing the wind speed leads to grain loss, and increasing the amplitude leads to excessive energy consumption".

[0005] Therefore, there is an urgent need to develop a vibrating screen amplitude adjustment mechanism that has multi-dimensional process perception, online amplitude adjustment, and coordinated control of amplitude and air volume, so as to improve the adaptability of the cleaning device to complex working conditions. Summary of the Invention

[0006] The purpose of this invention is to provide a vibrating screen amplitude adjustment mechanism and a collaborative control method based on fish lateral line biomimetic control, which solves the problem that the amplitude of existing cleaning devices is fixed and cannot be adjusted in real time according to the material working conditions; at the same time, it solves the technical problems of insufficient state perception dimension in the cleaning process, difficulty in identifying lateral material agglomeration, and inability to coordinate the control of fan and screen parameters.

[0007] To achieve the above objectives, the present invention provides a vibrating screen amplitude adjustment mechanism based on fish lateral line biomimetic control, including a frame, an automatic amplitude adjustment eccentric module, a controller, a vibrating screen, a screen body fixing assembly, and a multimodal sensor group; The automatic amplitude adjustment eccentric module is installed on the frame and is used to adjust the eccentric radius of the vibrating screen online during operation to change the amplitude of the screen body. The vibrating screen is fixed on the screen body fixing assembly, and one side of the screen body fixing assembly is connected to the amplitude automatic adjustment eccentric module; The multimodal sensor group is installed on one side of the vibrating screen to collect information on material layer thickness, material lateral distribution, local airflow disturbance, clean material loss rate, and clean material impurity content in real time during the cleaning process. The controller is electrically connected to the amplitude automatic adjustment eccentric module, the multimodal sensor group, and the external fan.

[0008] Preferably, the automatic amplitude adjustment eccentricity module includes a drive motor and a hollow rotating shaft mounted on the frame. The drive motor and the hollow rotating shaft are connected by a coupling. The outer end of the hollow rotating shaft is fixedly connected to the eccentricity adjustment component, and the outer side of the eccentricity adjustment component is connected to the screen body fixing component. A five-wire slip ring is installed on the hollow rotating shaft. The electrical equipment on the eccentricity adjustment component is electrically connected to the controller through the five-wire slip ring and control wires passing through the hollow rotating shaft.

[0009] Preferably, the adjustment assembly includes a rotary table fixedly connected to the outer end of the hollow rotating shaft, an adjustment motor is installed at the edge of the rotary table, and a motor brake is installed at the end of the adjustment motor; A fixed base is installed on the opposite side of the adjusting motor and fixed on the rotary table. The output end of the adjusting motor is connected to a lead screw whose other end is inserted into the fixed base. A lead screw nut is installed on the lead screw. A limit slider is fixedly connected to the inner side of the lead screw nut. A groove is opened on the rotary table and is parallel to the lead screw. The limit slider is slidably connected in the groove. An eccentric shaft is connected to the outer side of the lead screw nut. The eccentric shaft is rotatably connected to the screen body fixing assembly.

[0010] Preferably, the screen body fixing assembly includes a connecting rod rotatably connected to the eccentric shaft, and a guide slider is connected to the other end of the connecting rod. The guide slider is slidably connected to the slide rail. The vibrating screen is inserted and fixed to the connecting rod.

[0011] Preferably, the multimodal sensor group includes a laser line scan contour sensor array, a wind pressure / wind speed sensor array, a piezoelectric collision sensor array, and a dual-modal vision sensor; The laser line scan profile sensor array is disposed above the screen surface of the vibrating screen and is used to detect the thickness of the material layer and the degree of unevenness of the material layer distribution in the front, middle and rear sections of the screen. The wind pressure / wind speed sensor array includes miniature wind pressure / wind speed sensors arranged longitudinally on both sides of the vibrating screen body, forming a fish-like lateral line multi-point sensing structure, which is used to sense the intensity and distribution differences of local airflow disturbance in the cleaning chamber and identify the lateral aggregation state of materials. The piezoelectric collision sensor array is located below the screen tail discharge port of the vibrating screen to detect the amount of clean material discharged with the impurities and calculate the clean material loss rate. The dual-modal vision sensor is positioned in front of the feed inlet of the vibrating screen to identify the proportion of impurities in the clean material and calculate the impurity content.

[0012] Preferably, the hierarchical control logic of the controller is as follows: When the thickness of the material layer and / or the coefficient of uneven distribution increases, the controller controls the eccentric module to automatically adjust the amplitude, increase the eccentric radius, improve the amplitude of the screen body, and promote the spreading and screening of materials. When the impurity content increases and the loss rate does not exceed a preset threshold, the controller prioritizes increasing the fan speed to enhance the airflow's impurity removal capability. When the loss rate increases and the impurity content is lower than the preset threshold, the controller prioritizes reducing the fan speed and synchronously adjusts the screen body amplitude according to the material layer thickness to reduce the carry-out of clean material. When the difference in the detected values ​​of the wind pressure / wind speed sensor array exceeds a preset threshold, the controller determines that the material has lateral agglomeration. It improves the lateral movement of the material by adjusting the amplitude of the screen body and, in conjunction with the fine adjustment of the fan speed, restores the material distribution to a uniform state.

[0013] This invention also provides a vibrating screen amplitude modulation coordinated control method based on fish lateral line biomimetic regulation, comprising the following steps: S1. System initialization: The controller collects the sensor reference data under the empty screen state and controls the fan and vibrating screen to enter the initial working parameter state. S2. During the cleaning process, the multimodal sensor group collects data on material layer thickness, material distribution, airflow disturbance, loss rate, and impurity content in real time and transmits it to the controller. S3. The controller uses a normalized weighted scoring control model to fuse and calculate multi-source data to obtain the target amplitude and the target wind turbine speed. S4. The controller outputs an adjustment command to the amplitude automatic adjustment eccentric module to adjust the eccentricity to change the amplitude of the screen body; at the same time, it outputs a speed adjustment command to the blower to achieve coordinated adjustment of amplitude and air volume. S5. After adjustment, lock the eccentricity and fan speed, continuously collect sensor data for closed-loop monitoring, and repeat S2-S4 when the operating parameters deviate from the target range again.

[0014] Preferably, in S3, the control steps of the normalized weighted scoring control model executed by the controller are as follows: S31, Preset ideal material layer thickness Permissible degree of uneven distribution Allowable loss rate Permissible impurity content As a target benchmark value; S32, Real-time collected material layer thickness Uneven distribution Loss rate Impurity content The thickness deviation of the material layer is obtained by normalizing the values ​​with the corresponding reference values. Uneven distribution deviation Loss rate deviation Impurity deviation ; S33, Based on the material layer thickness deviation Uneven distribution deviation Loss rate deviation Calculate amplitude adjustment amount The target amplitude is obtained. Based on impurity content deviation Loss rate deviation Calculate the fan speed adjustment amount The target fan speed was obtained. ; S34. The controller automatically adjusts the eccentricity of the eccentric module according to the target amplitude and adjusts the fan speed according to the target fan speed.

[0015] Preferably, in S32, the calculation formula for each normalization deviation is: ; ; ; ; A deviation value greater than 0 indicates that the corresponding parameter exceeds the target benchmark value.

[0016] Preferably, in S33, the amplitude adjustment amount With target amplitude The calculation formula is: ; ; In the formula, The current amplitude, , , This is the amplitude adjustment gain coefficient, and > > ; Fan speed adjustment With the target fan speed The calculation formula is: ; ; In the formula, This is the current fan speed. , This is the proportional coefficient for adjusting the fan speed.

[0017] Therefore, the beneficial effects of the above-mentioned vibrating screen amplitude adjustment mechanism and collaborative control method based on fish lateral line biomimetic regulation are as follows: (1) This invention breaks through the limitations of traditional methods that only monitor result indicators. By integrating four types of sensors, it simultaneously obtains process parameters such as material layer thickness, distribution uniformity, and local airflow disturbance, as well as result parameters such as loss rate and impurity content, providing complete data support for accurate judgment of cleaning status.

[0018] (2) This invention draws on the principle of fish sensing water flow disturbances by lateral line and uses a double-sided symmetrical array of wind pressure / wind speed sensors to indirectly identify the lateral agglomeration of materials by the spatial difference of airflow disturbance, thus solving the industry problem of the difficulty in online detection of lateral material distribution in cleaning devices.

[0019] (3) The eccentricity adjustment component of the present invention can continuously change the eccentricity radius without stopping the machine, realize stepless amplitude adjustment, and make the screen body motion state match the dynamic changes in feed amount, humidity, impurity ratio and other working conditions in real time; the screw-nut pair mechanical self-locking and motor brake double cooperation ensure the positional stability of the eccentricity under high-speed rotation and strong vibration working conditions, and improve the service life and operational reliability of the mechanism.

[0020] (4) This invention achieves coordinated adjustment of amplitude and air volume through a multivariable fusion control model, avoiding the problems of grain run-off caused by simply increasing the air speed and excessive energy consumption caused by simply increasing the amplitude, thus taking into account cleaning quality, operation efficiency and energy consumption level.

[0021] (5) This invention is highly versatile and applicable to a wide range of scenarios. It can calibrate parameters for the physical properties of different materials such as wheat, rice, corn, and rapeseed. It can be used in conjunction with combine harvesters for field operations or applied to fixed grain cleaning equipment, and is suitable for various particle material cleaning scenarios.

[0022] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the vibrating screen amplitude adjustment mechanism based on fish lateral line biomimetic control of the present invention; Figure 2 This is a front view schematic diagram of an embodiment of the vibrating screen amplitude adjustment mechanism based on fish lateral line biomimetic control of the present invention; Figure 3 This is a schematic diagram of the structure of the alignment component of the present invention; Figure 4 This is a top view schematic diagram of the arrangement of the multimodal sensor group of the present invention; Figure 5 This is a flowchart of the "perception-decision-regulation" closed-loop control method of the present invention.

[0024] Figure Labels 1. Frame; 2. Drive motor; 3. Coupling; 4. Hollow shaft; 5. Five-wire slip ring; 6. Controller; 7. Alignment assembly; 71. Rotary table; 72. Adjustment motor; 73. Motor brake; 74. Lead screw; 75. Fixed base; 76. Nut; 77. Eccentric shaft; 78. Limit slider; 79. Slide groove; 81. Connecting rod; 82. Guide slider; 83. Slide rail; 9. Vibrating screen; 101. Laser line scan profile sensor array; 102. Wind pressure / wind speed sensor array; 103. Piezoelectric collision sensor array; 104. Dual-modal vision sensor. Detailed Implementation

[0025] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0027] Example 1: like Figure 1 As shown, the present invention provides a vibrating screen amplitude adjustment mechanism based on fish lateral line biomimetic control, including a frame 1, an automatic amplitude adjustment eccentric module, a controller 6, a vibrating screen 9, a screen body fixing component and a multi-modal sensor group, which is used in conjunction with an air-screen cleaning device (including a fan and an air duct).

[0028] like Figure 2 As shown, the automatic amplitude adjustment eccentric module includes a drive motor 2 and a hollow rotating shaft 4 mounted on the frame 1. The drive motor 2 and the hollow rotating shaft 4 are connected by a coupling 3. The outer end of the hollow rotating shaft 4 is fixedly connected to the eccentric adjustment component, and the outer side of the eccentric adjustment component is connected to the screen body fixing component.

[0029] Among them, such as Figure 3 As shown, the alignment assembly includes a rotary disk 71 fixedly connected to the outer end of the hollow shaft 4. The rotary disk 71 can be driven by a drive motor 2 to rotate uniformly around the hollow shaft 4. An adjustment motor 72 is installed at the edge of the rotary disk 71, and a fixed seat 75 fixed on the rotary disk 71 is installed on the opposite side of the adjustment motor 72. The output end of the adjustment motor 72 is connected to a lead screw 74 whose other end is inserted into the fixed seat 75. The lead screw 74 is arranged radially along the rotary disk 71, and a nut 76 is installed on the lead screw 74 to form a threaded transmission pair.

[0030] A limiting slider 78 is fixedly connected to the inner side of the lead screw 76. A groove 79 parallel to the lead screw 74 is provided on the rotary table 71. The limiting slider 78 is slidably connected in the groove 79, allowing it to move back and forth on the lead screw 74. A motor brake 73 is installed at the end of the adjusting motor 72 to lock the motor shaft after adjustment. A five-wire slip ring 5 is fitted on the hollow rotating shaft 4. The fixed end is connected to the controller 6, and the rotating end leads out three motor control lines and two brake control lines, which are respectively connected to the adjusting motor 72 and the motor brake 73 to realize the transmission of power and control signals during rotation.

[0031] An eccentric shaft 77 is connected to the outer side of the nut 76, and the eccentric shaft 77 is rotatably connected to the screen body fixing assembly. The screen body fixing assembly includes a connecting rod 81 rotatably connected to the eccentric shaft 77, and a guide slider 82 is connected to the other end of the connecting rod 81. The guide slider 82 is slidably connected to the slide rail 83, and the vibrating screen 9 is inserted and fixed to the connecting rod 81.

[0032] Amplitude adjustment process: When controller 6 outputs a forward rotation command to adjusting motor 72, lead screw 74 rotates clockwise, and lead screw nut 76 drives limit slider 78 and eccentric shaft 77 to move away from adjusting motor 72, increasing the eccentricity and thus increasing the screen body amplitude; when controller 6 outputs a reverse rotation command, eccentric shaft 77 moves closer to adjusting motor 72, decreasing the eccentricity and thus decreasing the screen body amplitude. After adjusting to the target amplitude, controller 6 controls motor brake 73 to engage the brake, and the threaded pair of lead screw 74 and lead screw nut 76 has a self-locking characteristic, with double locking ensuring that the eccentricity does not shift under vibration conditions.

[0033] The overall layout of the multimodal sensor array is as follows: Figure 4 As shown, the four types of sensors are used to collect cleaning status data from different dimensions: Laser line scanning profile sensor array 101: Three sets of laser line scanning profile sensors, H1, H2, and H3, are arranged sequentially along the longitudinal direction of the vibrating screen 9, corresponding to the front, middle, and rear sections of the screen, respectively. Each sensor emits a laser line into the screen surface, detecting the material layer thickness at the corresponding position through profile scanning. The controller 6 calculates the degree of unevenness in material layer distribution based on the maximum, minimum, and average thicknesses of the three sections. .

[0034] Wind pressure / velocity sensor array 102: A total of 8 miniature wind pressure / velocity sensors P1-P8 are arranged longitudinally on the left side wall of the screen body (P1-P4) and on the right side wall (P5-P8). The sensors on the left and right sides correspond one-to-one, forming a symmetrical multi-point sensing structure mimicking the lateral line of a fish. During normal, uniform material distribution, the wind pressure / velocity values ​​at corresponding positions on the left and right sides deviate by less than 5%. When the material concentrates to the left, the airflow resistance on the left increases, causing the wind pressure at P1-P4 to rise and the wind speed to decrease, creating a significant difference with P5-P8 on the right. The controller 6 determines the degree of concentration based on the magnitude of the difference and the direction of the concentration based on the direction of the difference.

[0035] Piezoelectric impact sensor array 103: Three piezoelectric impact sensors, L1, L2, and L3, are installed side-by-side below the screen tail discharge port. When clean grains discharged with impurities fall, they collide with the sensor surfaces, generating piezoelectric impact signals. The controller 6 calculates the amount of clean grains discharged based on the quantity and amplitude of these impact signals, and combines this with the total feed rate to determine the clean material loss rate. .

[0036] Dual-modal vision sensor 104: Located in front of the feed inlet of vibrating screen 9, specifically installed at the inlet of the grain elevator, it can acquire real-time images of the falling clean material flow. Through near-infrared + visible light dual-modal imaging and machine vision recognition algorithms, it distinguishes clean grains from impurities such as stems and shriveled shells, calculates the impurity percentage, and obtains the impurity content. .

[0037] The biomimetic principle is as follows: Fish rely on their symmetrical lateral line system to sense the flow velocity, pressure difference, and disturbance distribution in the flow field. When encountering a non-uniform flow field, they autonomously adjust their body sway and posture to counteract the flow field disturbance and maintain their own steady state of motion. In the corresponding device, the wind pressure / speed sensor array 102, which is longitudinally symmetrically arranged on both sides of the vibrating screen 9, replicates the distributed sensing structure of the fish's lateral line. Combined with the laser line scan profile sensor array 101, the piezoelectric collision sensor array 103, and the dual-modal vision sensor 104, it synchronously collects working parameters such as material layer thickness, distribution uniformity, loss rate, and impurity content. The controller 6 simulates the fish's central decision-making logic through a normalized weighted scoring model to calculate the target amplitude and fan speed. Finally, the amplitude automatic adjustment eccentric module and the fan work together to perform adjustment, actively counteracting working disturbances such as material agglomeration and feed fluctuations, so that the cleaning process maintains the optimal working steady state in the long term, realizing biomimetic adaptive control.

[0038] Based on the above-mentioned amplitude modulation coordinated control method of the vibrating screen amplitude modulation mechanism, such as Figure 5 As shown, it includes the following steps: S1. System initialization: After the equipment is started, the controller 6 first collects the reference data of all sensors in the empty screen state and completes the zero point calibration; then it controls the fan and vibrating screen 9 to start and enter the preset initial working state. The initial amplitude and fan speed are set according to the calibration parameters of the material to be cleaned.

[0039] S2. Real-time data acquisition: After the material to be cleaned enters the cleaning chamber from the feed end, it moves along the screen surface under the combined action of airflow and vibration, gradually completing the spreading, stratification, screening, and impurity removal. During the operation, the multi-modal sensor group collects data at a fixed frequency and transmits it to the controller 6, updating the material layer thickness, distribution non-uniformity coefficient, loss rate, impurity content, and wind pressure / velocity data on both sides in real time.

[0040] S3. Fusion Calculation and Decision-Making: Controller 6 compares real-time parameters with preset target benchmark values, calculates the target amplitude and target wind turbine speed through a normalized weighted scoring control model, and determines the final adjustment strategy by combining hierarchical control logic. This includes the following steps: S31, Preset ideal material layer thickness Permissible degree of uneven distribution Allowable loss rate Permissible impurity content As the target benchmark value.

[0041] S32, Real-time collected material layer thickness Uneven distribution Loss rate Impurity content The thickness deviation of the material layer is obtained by normalizing the values ​​with the corresponding reference values. Uneven distribution deviation Loss rate deviation Impurity deviation .

[0042] The formulas for calculating each normalization bias are as follows: A deviation value greater than 0 indicates that the corresponding parameter exceeds the target benchmark value.

[0043] S33, Based on the material layer thickness deviation Uneven distribution deviation Loss rate deviation Calculate amplitude adjustment amount The target amplitude is obtained. Based on impurity content deviation Loss rate deviation Calculate the fan speed adjustment amount The target fan speed was obtained. .

[0044] Among them, amplitude adjustment amount With target amplitude The calculation formula is: In the formula, The current amplitude, , , This is the amplitude adjustment gain coefficient, and > > .

[0045] Fan speed adjustment With the target fan speed The calculation formula is: In the formula, This is the current fan speed. , This is the proportional coefficient for adjusting the fan speed.

[0046] The above coefficients , , , , Before the control system is put into operation, it is calibrated through a test bench calibration and the results are pre-stored in controller 6. Based on the test bench calibration results, the amplitude adjustment gain coefficients are respectively taken as follows: , , The proportional coefficient for fan speed regulation is taken as follows: , .

[0047] S34. The controller automatically adjusts the eccentricity of the eccentric module according to the target amplitude and adjusts the fan speed according to the target fan speed.

[0048] S4. Coordinated Adjustment Execution: Controller 6 outputs an adjustment command to the eccentricity adjustment component 7, driving the adjustment motor 72 to rotate to the target eccentricity; simultaneously, it outputs a speed command to the fan frequency converter module, adjusting the fan to the target speed. After adjustment, the motor brake 73 engages to lock the eccentricity, and the system enters steady-state monitoring.

[0049] S5. Closed-loop stabilization control: The controller 6 continuously monitors various parameters. When fluctuations in feed volume, changes in humidity, etc. cause the cleaning state to deviate from the target range, the data collection-calculation-adjustment process is repeated to achieve continuous closed-loop control and ensure stable cleaning quality.

[0050] Based on the above method, this embodiment sets the system target benchmark value for a specific wheat cleaning process: ideal material layer thickness. =30mm, allowable uneven distribution =0.2, allowable loss rate =1.0%, permissible impurity content =2.0%.

[0051] Current operational detection value: Material layer thickness =36mm, uneven distribution =0.3, loss rate =1.2%, impurity content =3.0%; Current amplitude =18mm, current fan speed =1200r / min.

[0052] Step 1: Calculate the normalized bias: Step 2: Calculate the amplitude adjustment amount and the target amplitude using a preset weighting coefficient. =0.66mm, therefore the target amplitude is: mm. The material layer is too thick and unevenly distributed. The system should appropriately increase the amplitude of vibration to promote material spreading and screening.

[0053] Step 3: Computerized fan speed adjustment and target speed: The fan speed adjustment amount is calculated according to the preset proportional coefficient. =30r / min, therefore the target fan speed is: r / min. The impurity content is high, but the loss rate has also increased slightly. Therefore, the fan speed is only slightly increased to balance the impurity removal capacity and the need to prevent grain loss.

[0054] Therefore, the present invention adopts a vibrating screen amplitude adjustment mechanism and collaborative control method based on the biomimetic control of fish lateral line, which solves the problem that traditional fixed amplitude cleaning devices cannot adapt to dynamic material working conditions and have large fluctuations in cleaning quality. It can maintain a stable cleaning effect under different feed rates, material humidity and impurity ratios, and is suitable for cleaning operations of various particulate materials.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A vibrating screen amplitude adjustment mechanism based on fish lateral line biomimetic control, characterized in that: Includes a frame, an automatic amplitude adjustment eccentric module, a controller, a vibrating screen, a screen body fixing assembly, and a multimodal sensor group; The automatic amplitude adjustment eccentric module is installed on the frame and is used to adjust the eccentric radius of the vibrating screen online during operation to change the amplitude of the screen body. The vibrating screen is fixed on the screen body fixing assembly, and one side of the screen body fixing assembly is connected to the amplitude automatic adjustment eccentric module; The multimodal sensor group is installed on one side of the vibrating screen to collect information on material layer thickness, material lateral distribution, local airflow disturbance, clean material loss rate, and clean material impurity content in real time during the cleaning process. The controller is electrically connected to the amplitude automatic adjustment eccentric module, the multimodal sensor group, and the external fan.

2. The vibration screen amplitude adjustment mechanism based on fish lateral line biomimetic control according to claim 1, characterized in that: The automatic amplitude adjustment eccentricity module includes a drive motor and a hollow rotating shaft mounted on the frame. The drive motor and the hollow rotating shaft are connected by a coupling. The outer end of the hollow rotating shaft is fixedly connected to the eccentricity adjustment component. The outer side of the eccentricity adjustment component is connected to the screen body fixing component. A five-wire slip ring is installed on the hollow rotating shaft. The electrical equipment on the eccentricity adjustment component is electrically connected to the controller through the five-wire slip ring and control wires passing through the hollow rotating shaft.

3. The vibration screen amplitude adjustment mechanism based on fish lateral line biomimetic control according to claim 2, characterized in that: The alignment assembly includes a rotary table fixedly connected to the outer end of the hollow rotating shaft, an adjustment motor is installed at the edge of the rotary table, and a motor brake is installed at the end of the adjustment motor. A fixed base is installed on the opposite side of the adjusting motor and fixed on the rotary table. The output end of the adjusting motor is connected to a lead screw whose other end is inserted into the fixed base. A lead screw nut is installed on the lead screw. A limit slider is fixedly connected to the inner side of the lead screw nut. A groove is opened on the rotary table and is parallel to the lead screw. The limit slider is slidably connected in the groove. An eccentric shaft is connected to the outer side of the lead screw nut. The eccentric shaft is rotatably connected to the screen body fixing assembly.

4. The vibrating screen amplitude adjustment mechanism based on fish lateral line biomimetic control according to claim 3, characterized in that: The screen body fixing assembly includes a connecting rod rotatably connected to the eccentric shaft, and a guide slider is connected to the other end of the connecting rod. The guide slider is slidably connected to the slide rail. The vibrating screen is inserted and fixed to the connecting rod.

5. The vibrating screen amplitude adjustment mechanism based on fish lateral line biomimetic control according to claim 1, characterized in that: The multimodal sensor group includes a laser line scan profile sensor array, a wind pressure / wind speed sensor array, a piezoelectric collision sensor array, and a dual-modal vision sensor. The laser line scan profile sensor array is disposed above the screen surface of the vibrating screen and is used to detect the thickness of the material layer and the degree of unevenness of the material layer distribution in the front, middle and rear sections of the screen. The wind pressure / wind speed sensor array includes miniature wind pressure / wind speed sensors arranged longitudinally on both sides of the vibrating screen body, forming a fish-like lateral line multi-point sensing structure, which is used to sense the intensity and distribution differences of local airflow disturbance in the cleaning chamber and identify the lateral aggregation state of materials. The piezoelectric collision sensor array is located below the screen tail discharge port of the vibrating screen to detect the amount of clean material discharged with the impurities and calculate the clean material loss rate. The dual-modal vision sensor is positioned in front of the feed inlet of the vibrating screen to identify the proportion of impurities in the clean material and calculate the impurity content.

6. The vibrating screen amplitude adjustment mechanism based on fish lateral line biomimetic control according to claim 5, characterized in that: The hierarchical control logic of the controller is as follows: When the thickness of the material layer and / or the coefficient of uneven distribution increases, the controller controls the eccentric module to automatically adjust the amplitude, increase the eccentric radius, improve the amplitude of the screen body, and promote the spreading and screening of materials. When the impurity content increases and the loss rate does not exceed a preset threshold, the controller prioritizes increasing the fan speed to enhance the airflow's impurity removal capability. When the loss rate increases and the impurity content is lower than the preset threshold, the controller prioritizes reducing the fan speed and synchronously adjusts the screen body amplitude according to the material layer thickness to reduce the carry-out of clean material. When the difference in the detected values ​​of the wind pressure / wind speed sensor array exceeds a preset threshold, the controller determines that the material has lateral agglomeration. It improves the lateral movement of the material by adjusting the amplitude of the screen body and, in conjunction with the fine adjustment of the fan speed, restores the material distribution to a uniform state.

7. A vibrating screen amplitude modulation coordinated control method based on fish lateral line biomimetic regulation, applied to the amplitude modulation mechanism described in any one of claims 1-6, characterized in that, Includes the following steps: S1. System initialization: The controller collects the sensor reference data under the empty screen state and controls the fan and vibrating screen to enter the initial working parameter state. S2. During the cleaning process, the multimodal sensor group collects data on material layer thickness, material distribution, airflow disturbance, loss rate, and impurity content in real time and transmits it to the controller. S3. The controller uses a normalized weighted scoring control model to fuse and calculate multi-source data to obtain the target amplitude and the target wind turbine speed. S4. The controller outputs an adjustment command to the amplitude automatic adjustment eccentric module to adjust the eccentricity to change the amplitude of the screen body; at the same time, it outputs a speed adjustment command to the blower to achieve coordinated adjustment of amplitude and air volume. S5. After adjustment, lock the eccentricity and fan speed, continuously collect sensor data for closed-loop monitoring, and repeat S2-S4 when the operating parameters deviate from the target range again.

8. The vibrating screen amplitude modulation coordinated control method based on fish lateral line biomimetic regulation according to claim 7, characterized in that: In S3, the control steps of the normalized weighted score control model executed by the controller are as follows: S31, Preset ideal material layer thickness Permissible degree of uneven distribution Allowable loss rate Permissible impurity content As a target benchmark value; S32, Real-time collected material layer thickness Uneven distribution Loss rate Impurity content The thickness deviation of the material layer is obtained by normalizing the values ​​with the corresponding reference values. Uneven distribution deviation Loss rate deviation Impurity deviation ; S33, Based on the material layer thickness deviation Uneven distribution deviation Loss rate deviation Calculate amplitude adjustment amount The target amplitude is obtained. Based on impurity content deviation Loss rate deviation Calculate the fan speed adjustment amount The target fan speed was obtained. ; S34. The controller automatically adjusts the eccentricity of the eccentric module according to the target amplitude and adjusts the fan speed according to the target fan speed.

9. The vibrating screen amplitude modulation coordinated control method based on fish lateral line biomimetic regulation according to claim 8, characterized in that: In S32, the formulas for calculating each normalized deviation are as follows: ； ； ； ； A deviation value greater than 0 indicates that the corresponding parameter exceeds the target benchmark value.

10. The vibrating screen amplitude modulation coordinated control method based on fish lateral line biomimetic regulation according to claim 8, characterized in that: In S33, the amplitude adjustment amount With target amplitude The calculation formula is: ； ； In the formula, The current amplitude, , , This is the amplitude adjustment gain coefficient, and > > ; Fan speed adjustment With the target fan speed The calculation formula is: ； ； In the formula, This is the current fan speed. , This is the proportional coefficient for adjusting the fan speed.

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