A multi-modal jaw crusher adaptive swing control system and method

Abstract

The application discloses a kind of multi-modal jaw crusher adaptive swing control system and method, it is related to jaw crusher control technical field.The system includes multi-modal perception module, data preprocessing and fusion module, state evaluation module, adaptive control module, swing adjustment actuator, feedback closed loop module and jaw crusher ontology.Multi-modal perception module collects vision, vibration, acoustics, current or power, pressure and temperature signal;Data preprocessing and fusion module carries out time alignment, filtering denoising, feature extraction and fusion to the above-mentioned signal, forms equipment operating state vector;State evaluation module outputs material hardness index, particle size distribution parameter, crushing cavity fullness, equipment load rate and jam risk coefficient according to equipment operating state vector;Adaptive control module calculates target swing accordingly.The application can improve the adaptability of jaw crusher to different material conditions, reduce single signal misjudgment and jam, overload risk.

Description

Technical Field

[0001] This invention relates to the field of jaw crusher control technology, specifically to a multimodal jaw crusher adaptive swing amplitude control system and method. Background Technology

[0002] Jaw crushers are commonly used coarse crushing equipment in production lines for mining, sand and gravel aggregate processing, metallurgical raw material pretreatment, and construction solid waste crushing. They typically use an eccentric shaft or eccentric transmission mechanism to drive the movable jaw to periodically oscillate relative to the fixed jaw, causing the material entering the crushing chamber to be crushed by compression, splitting, and bending. The amplitude of the movable jaw's oscillation is one of the important operating parameters affecting crushing efficiency, equipment load, material throughput, and the risk of blockage.

[0003] In common jaw crushers, the swing amplitude of the moving jaw is mostly determined by the structural dimensions of the eccentric shaft, eccentric sleeve, linkage mechanism, or toggle plate mechanism. After the equipment is designed, assembled, or debugged on-site, its effective swing amplitude is usually maintained within a relatively fixed range. During production, operators typically intervene in the operating status by adjusting the feed rate, discharge port size, main motor speed, or by stopping the machine for inspection. These adjustment methods can meet the requirements of general operating conditions, but for continuous production scenarios with significant changes in material properties, their response speed and adjustment accuracy still have certain limitations.

[0004] In actual crushing operations, the particle size, hardness, moisture content, mud content, gradation, and feeding continuity of the material entering the crushing chamber frequently change. For example, when the proportion of large pieces increases or the material hardness rises, the impact load in the crushing chamber and the load on the main motor tend to increase. When the feeding is uneven or the material accumulates in the crushing chamber, the equipment may experience current fluctuations, increased vibration, abnormal crushing sounds, or poor discharge. If a large moving jaw swing amplitude is maintained under these conditions, the instantaneous impact load may increase further. Conversely, if a small swing amplitude is used for a long time under low load, fine particle size, or easily crushable material conditions, it may affect the material throughput and equipment processing efficiency.

[0005] Currently, some crusher control or monitoring solutions use signals such as current, power, pressure, displacement, vibration, or acoustics to determine equipment load, wear, blockage, or abnormal conditions. Other solutions improve the operational adaptability of jaw crushers through hydraulic adjustment, eccentric sleeve adjustment, or discharge port adjustment. For example, patent document CN110193397B discloses an intelligent control system for a jaw crusher and a jaw crusher thereof. While this solution can improve the control capability of the jaw crusher to some extent, its control focus is mainly on stroke adjustment, discharge port adjustment, and hydraulic support protection, and it does not comprehensively convert the material state, crushing chamber state, and equipment load state into a target swing amplitude control quantity. Patent document CN110193398A discloses a moving jaw stroke adjustment device and a jaw crusher thereof. This solution can achieve mechanical adjustment of the moving jaw stroke of the jaw crusher, but its adjustment method mainly relies on the keyway position selection, leaning towards installation adjustment or discrete adjustment, making it difficult to adjust the effective swing amplitude of the moving jaw in real time according to the continuous changes in material particle size, hardness, feeding state, equipment load, and blockage risk during production.

[0006] Chinese patent document CN116197037A discloses a crusher system and its automatic feeding and control methods. It utilizes signals from a hopper level sensor, a crusher motor power or current sensor, a pressure sensor, and a position sensor, combined with a control algorithm, to achieve automatic feeding and crusher operation control. While this scheme involves multi-sensor acquisition and closed-loop control, its primary control objects are the feeding process and the discharge port status, not the real-time adjustment of the effective swing amplitude of the jaw crusher's moving jaw. Furthermore, it does not fully disclose a control method based on multi-modal information fusion to identify blockage risks and adjust the jaw swing amplitude accordingly.

[0007] Therefore, while existing solutions offer some protection against overload, condition monitoring, and mechanical adjustment, they may still present the following problems in practical applications: First, single or limited signals are easily affected by installation location, environmental noise, material imbalance, sensor drift, or instantaneous disturbances, making it difficult to fully reflect the coupling relationship between material status, crushing chamber status, and equipment load. Second, some monitoring solutions are primarily used for alarms, feed adjustment, discharge port adjustment, or status indication, without forming a real-time closed-loop control with the moving jaw swing amplitude. Third, some stroke or swing amplitude adjustment methods rely on manual setting, installation adjustment, or discrete adjustment, making it difficult to adjust the effective swing amplitude of the moving jaw in a timely manner according to continuously changing working conditions. Fourth, some control solutions lack feedback correction between the actual swing amplitude, execution status, and target swing amplitude, making them susceptible to mechanical backlash, execution lag, or load fluctuations.

[0008] For jaw crushers, visual information reflects the feed particle size and packing morphology, vibration information reflects impact and structural response, acoustic information reflects changes in the crushing process, current or power information reflects the main drive load, and pressure and temperature information reflects the continuous operating status of hydraulics, lubrication, and key components. These pieces of information describe the equipment's operating condition from different perspectives. Relying on only one type of information for control and judgment can easily lead to judgment lag or malfunctions. However, if multiple types of information can be synchronized in time, feature extracted, and fused for evaluation, it is beneficial to more accurately determine the degree of material difficulty in crushing, the state of the crushing chamber, the equipment load level, and the risk of blockage.

[0009] Therefore, for jaw crushers with complex material sources, significant feed fluctuations, or high requirements for continuous operation, it is still necessary to propose a control scheme that can comprehensively utilize multimodal sensing information to identify crushing conditions and adjust the effective swing amplitude of the moving jaw based on the identification results. This scheme should be able to appropriately reduce the swing amplitude or enter de-blocking control when under high load or with increased blockage risk, and appropriately increase the swing amplitude when the load is low and the material passes through easily. Furthermore, it should use feedback from the actual swing amplitude and execution status to correct the control results, thereby improving the equipment's adaptability to different operating conditions. Summary of the Invention

[0010] The technical problem this invention aims to solve is to overcome the shortcomings of existing jaw crushers, such as relatively fixed moving jaw swing amplitude, insufficient adaptability to complex material conditions, susceptibility to misjudgment due to single signal recognition, delayed prediction of blockage risk, and lack of closed-loop feedback in swing amplitude adjustment. This invention provides a multimodal jaw crusher adaptive swing amplitude control system and method. By collecting and fusing multimodal information such as visual, vibration, acoustic, current or power, pressure, and temperature data, it comprehensively evaluates material hardness, particle size distribution, crushing chamber filling degree, equipment load rate, and blockage risk. Based on the evaluation results, it adjusts the effective swing amplitude of the moving jaw in real time, thereby improving the jaw crusher's adaptability to different crushing conditions, reducing overload and blockage risks, and effectively solving the problems in the background technology.

[0011] To achieve the above objectives, the present invention provides the following technical solution: a multimodal jaw crusher adaptive swing amplitude control system, comprising a multimodal sensing module (1), a data preprocessing and fusion module (2), a state evaluation module (3), an adaptive control module (4), a swing amplitude adjustment actuator (5), a feedback closed-loop module (6), and a jaw crusher body (7). The multimodal sensing module (1) includes a visual acquisition unit (8), a vibration acquisition unit (9), an acoustic acquisition unit (10), a current or power acquisition unit (11), a pressure acquisition unit (12), and a temperature acquisition unit (13). The data acquisition unit (9), acoustic acquisition unit (10), current or power acquisition unit (11), pressure acquisition unit (12) and temperature acquisition unit (13) are respectively connected to the data preprocessing and fusion module (2); the data preprocessing and fusion module (2) is connected to the state evaluation module (3) and is used to perform time alignment, filtering and noise reduction, feature extraction and feature fusion on the signals acquired by the multimodal sensing module (1) and output the device operating state vector (28) to the state evaluation module (3). The acquired signals include visual signals, vibration signals, acoustic signals, current or power signals, pressure signals and temperature signals;

[0012] The state assessment module (3) is connected to the adaptive control module (4) by signal, and is used to output the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L and blockage risk coefficient B to the adaptive control module (4) according to the equipment operating state vector (28).

[0013] The adaptive control module (4) is connected to the swing amplitude adjustment actuator (5) and is used to calculate the target swing amplitude A based on the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L, and blockage risk coefficient B. t (18), and output swing adjustment control command to the swing adjustment actuator (5);

[0014] The swing amplitude adjustment actuator (5) includes an outer eccentric sleeve (29), an inner eccentric sleeve (30), and a servo drive unit (31). The outer eccentric sleeve (29) and the inner eccentric sleeve (30) are disposed in the moving jaw drive mechanism of the jaw crusher body (7). The servo drive unit (31) is connected to the outer eccentric sleeve (29) and / or the inner eccentric sleeve (30) for adjusting the relative phase angle Δφ between the outer eccentric sleeve (29) and the inner eccentric sleeve (30) to change the combined eccentric distance e and adjust the effective swing amplitude of the moving jaw.

[0015] The feedback closed-loop module (6) is connected to the swing amplitude adjustment actuator (5), the jaw crusher body (7), and the adaptive control module (4) respectively, and is used to collect the actual swing amplitude value A. r Actual value of phase angle Δφ r And execute the response status, and set the actual value A of the swing amplitude. r Actual value of phase angle Δφ r And the execution response status is returned to the adaptive control module (4), so that the adaptive control module (4) adjusts the target swing amplitude A according to the target swing amplitude A. t (18) and the actual value of the swing amplitude A r The deviation between them is used to perform closed-loop correction of the swing amplitude adjustment control command.

[0016] Furthermore, the visual acquisition unit (8) is located above the feed port, on the side of the material channel, or at the entrance of the crushing chamber of the jaw crusher body (7) to acquire material images, material layer height, material block size, particle size distribution, and accumulation morphology; the vibration acquisition unit (9) is located on the frame, bearing seat, moving jaw support, toggle plate seat, or outer wall of the crushing chamber of the jaw crusher body (7) to acquire vibration impact signals; the acoustic acquisition unit (10) is located on the outer wall of the crushing chamber, around the frame, or inside the soundproof cover to acquire crushing acoustic signals; the current or power acquisition unit (11) is connected to the main drive motor circuit, frequency converter, or electrical control cabinet to acquire the current signal or power signal of the main drive motor; the pressure acquisition unit (12) is located in the hydraulic system, lubrication system, or discharge port adjustment mechanism to acquire pressure signals; the temperature acquisition unit (13) is located in the bearing, main bearing seat, lubrication oil circuit, motor winding, or preset key heating parts to acquire temperature signals.

[0017] Further, the data preprocessing and fusion module (2) includes a timestamp alignment unit (14), a filtering and denoising unit (15), a normalization and outlier removal unit (21), a feature extraction unit (16), and a feature fusion unit (17); the timestamp alignment unit (14) is used to synchronize multimodal signals with different sampling frequencies according to a unified time base or a sliding time window; the filtering and denoising unit (15) is used to perform one or more of the following processing on the synchronized multimodal signals: Kalman filtering, bandpass filtering, wavelet denoising, median filtering, and moving average filtering; the normalization and outlier removal unit (21) is used to perform scale normalization and outlier removal on the filtered and denoised multimodal signals; the feature extraction unit (16) is used to perform the following processing on the multimodal signals: Kalman filtering, bandpass filtering, wavelet denoising, median filtering, and moving average filtering; the normalization and outlier removal unit (21) is used to perform scale normalization and outlier removal on the filtered and denoised multimodal signals; the feature extraction unit (17) is used to perform the following processing on the multimodal signals: Kalman filtering, bandpass filtering, wavelet denoising, median filtering, and moving average filtering; the normalization and outlier removal unit (21 ... The extraction unit (16) is used to extract particle size / packing features (22) from visual signals, time-domain / frequency-domain vibration features (23) from vibration signals, acoustic energy features (24) from acoustic signals, current fluctuation features (25) from current or power signals, pressure fluctuation features (26) from pressure signals, and temperature change features (27) from temperature signals; the feature fusion unit (17) is used to map the particle size / packing features (22), time-domain / frequency-domain vibration features (23), acoustic energy features (24), current fluctuation features (25), pressure fluctuation features (26) and temperature change features (27) to a unified feature space to form the device operating state vector (28).

[0018] Furthermore, the status assessment module (3) determines the equipment load rate L according to one of the following methods:

[0019] L = P t / P n Or: L = I t / I n

[0020] Among them, P t P represents the instantaneous power of the equipment. n For the rated power of the equipment, I t I is the instantaneous current of the device. n The rated current of the equipment;

[0021] The state assessment module (3) is based on the vibration fluctuation amount σ v Current fluctuation σ i Acoustic energy density E s The congestion risk coefficient B is determined by a weighted average of at least two factors in the visual occlusion rate (Focc), satisfying the following:

[0022] B = β1σ v + β2σ i + β3E s + β4Focc

[0023] Among them, β1, β2, β3 and β4 are preset weight coefficients, and at least two preset weight coefficients are not zero.

[0024] Furthermore, the adaptive control module (4) calculates the target swing amplitude A according to the following relationship. t (18):

[0025]

[0026] Where A0 is the reference swing amplitude, H is the material hardness index, G is the particle size distribution parameter, L is the equipment load rate, B is the blockage risk coefficient, H0, G0, L0 and B0 are the corresponding reference values, k1, k2, k3 and k4 are the control gain, and sat[ ] is the limiting function. The output range of the limiting function is between the preset minimum swing amplitude Amin and the preset maximum swing amplitude Amax.

[0027] When the material hardness index H increases, the equipment load rate L increases, or the blockage risk coefficient B increases, the adaptive control module (4) reduces the target swing amplitude A. t (18);

[0028] When the particle size distribution parameter G characterizes a material with fine particle size, uniform feeding, or easy passage through the crushing chamber, the adaptive control module (4) increases the target swing amplitude A. t (18).

[0029] Furthermore, the outer eccentric sleeve (29) has an outer eccentric distance e1, the inner eccentric sleeve (30) has an inner eccentric distance e2, and the relative phase angle between the outer eccentric sleeve (29) and the inner eccentric sleeve (30) is Δφ;

[0030] The combined eccentricity e satisfies:

[0031] e = √(e1 2 + e2 2 + 2e1e2cosΔφ)

[0032] The effective swing amplitude A of the moving jaw of the jaw crusher body (7) and the combined eccentricity e satisfy the following:

[0033] A = 2e

[0034] The adaptive control module (4) according to the target swing amplitude A t (18) Determine the target composite eccentricity, and calculate the target relative phase angle Δφ based on the target composite eccentricity. t The servo drive unit (31) drives the outer eccentric sleeve (29) and the inner eccentric sleeve (30) to rotate relative to each other.

[0035] When the feedback closed-loop module (6) detects the target swing A t (18) and the actual value of the swing amplitude A r When the absolute deviation between them is greater than the preset error threshold ε, the adaptive control module (4) compensates and corrects the target relative phase angle according to the following relationship:

[0036]

[0037] Where, Δφ t ′ represents the compensated target relative phase angle, Δφ t Kc is the target relative phase angle before compensation, and Kc is the conversion coefficient from swing deviation to phase angle compensation.

[0038] Furthermore, the control system also includes a variable frequency drive unit (32), which is connected to the adaptive control module (4) and to the main drive motor of the jaw crusher body (7).

[0039] The adaptive control module (4) is also used to generate a target rotational speed n based on the material hardness index H, the degree of filling the crushing chamber F, the equipment load rate L, and the blockage risk coefficient B. t (20);

[0040] The variable frequency drive unit (32) is used to adjust the target speed n according to the target speed n. t (20) Adjust the operating speed or operating frequency of the main drive motor;

[0041] When the material hardness index H is higher than the preset hardness threshold or the equipment load rate L is higher than the preset load threshold, the adaptive control module (4) reduces the target swing amplitude A. t (18) and reduce or limit the target rotational speed n t (20);

[0042] When the equipment load rate L is lower than the preset low load threshold and the blockage risk coefficient B is lower than the preset blockage risk threshold, the adaptive control module (4) increases the target swing amplitude A. t (18) and increase or allow an increase in the target rotational speed n t (20).

[0043] Furthermore, when the blockage risk coefficient B is higher than the preset blockage risk threshold, the adaptive control module (4) switches to the high-frequency small-amplitude blockage relief mode;

[0044] In the high-frequency small-amplitude blockage relief mode, the adaptive control module (4) will target the swing amplitude A. t(18) Adjust to the preset unblocking swing range and adjust the speed or operating frequency of the main drive motor to the preset unblocking frequency range to loosen and discharge the blockage material in the crushing chamber;

[0045] When the blockage risk coefficient B is lower than the release threshold, and the equipment load rate L, vibration fluctuation and current fluctuation return to the corresponding normal range, the adaptive control module (4) gradually exits the high-frequency small swing blockage relief mode.

[0046] Before performing amplitude adjustment, the adaptive control module (4) performs consistency verification on the state evaluation results corresponding to visual signals, vibration signals, acoustic signals, current or power signals, pressure signals and temperature signals.

[0047] When at least two types of modal signals simultaneously meet the preset abnormal conditions, the adaptive control module (4) triggers swing amplitude adjustment, blockage control or protection control;

[0048] When only a single modal signal meets the preset abnormal condition and other modal signals do not meet the corresponding abnormal condition, the adaptive control module (4) delays triggering a large swing adjustment or reduces the swing adjustment amplitude.

[0049] Furthermore, an adaptive swing amplitude control method for a multimodal jaw crusher includes the following steps:

[0050] S1, collect visual signals, vibration signals, acoustic signals, current or power signals, pressure signals and temperature signals during the operation of the jaw crusher body (7);

[0051] S2, perform time alignment, filtering and noise reduction, feature extraction and feature fusion on the visual signal, vibration signal, acoustic signal, current or power signal, pressure signal and temperature signal to form the equipment operating state vector (28).

[0052] S3, evaluate the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L and blockage risk coefficient B based on the equipment operating state vector (28);

[0053] S4, calculate the target swing amplitude A based on the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L, and blockage risk coefficient B. t (18);

[0054] S5, according to the target swing amplitude A t (18) Determine the target relative phase angle Δφ between the outer eccentric sleeve (29) and the inner eccentric sleeve (30). t And drive the swing amplitude adjustment actuator (5) to adjust the effective swing amplitude of the moving jaw;

[0055] S6, Collect the actual swing amplitude value A r Actual value of phase angle Δφ r And the execution response status;

[0056] S7, based on the actual value A of the swing amplitude r Actual value of phase angle Δφ r And perform closed-loop correction of the swing adjustment results based on the execution response status.

[0057] Further, in step S4, the target swing amplitude A is calculated according to the following relationship. t (18):

[0058]

[0059] Where A0 is the reference swing, H0, G0, L0 and B0 are the corresponding reference values, k1, k2, k3 and k4 are the control gains, and sat[ ] is the limiting function;

[0060] In step S7, when the target swing amplitude A t (18) and the actual value of the swing amplitude A r When the absolute deviation between them is greater than the preset error threshold ε, the relative phase angle of the target is compensated and corrected according to the following relationship:

[0061]

[0062] Where, Δφ t ′ represents the compensated target relative phase angle, and Kc is the conversion coefficient from swing deviation to phase angle compensation.

[0063] When the congestion risk coefficient B is higher than the preset congestion risk threshold, switch to the high-frequency small-amplitude congestion relief mode and set the target amplitude A. t (18) Adjust to the preset unblocking swing range and adjust the main drive motor speed or operating frequency to the preset unblocking frequency range;

[0064] When the blockage risk coefficient B is lower than the release threshold, and the equipment load rate L, vibration fluctuation and current fluctuation return to the corresponding normal range, the system gradually returns to the normal adaptive control mode.

[0065] Compared with the prior art, the beneficial effects of the present invention are:

[0066] 1. This invention simultaneously collects multiple types of operational information, such as visual, vibration, acoustic, current or power, pressure, and temperature data, and performs synchronization, noise reduction, feature extraction, and fusion processing on signals from different sources and sampling frequencies. This allows the invention to reflect the operating status of the jaw crusher from multiple aspects, including feeding status, crushing impact, crushing sound, main drive load, hydraulic or lubrication status, and temperature rise of key components. Compared to relying solely on a single current, vibration signal, or human experience for judgment, this invention can reduce the impact of environmental noise, material off-center loading, and local sensor disturbances on the results of the condition judgment.

[0067] 2. This invention further evaluates the fused operating information into material hardness index, particle size distribution parameters, crushing chamber filling degree, equipment load rate, and blockage risk coefficient, enabling the crushing condition to be described by multiple state variables. After calculating the target swing amplitude based on these state variables, the system can adjust the effective swing amplitude of the moving jaw according to the actual operating conditions: appropriately reducing the swing amplitude when the material is hard, the load is high, or the blockage risk is high, in order to reduce impact load and overload risk; appropriately increasing the swing amplitude when the material is fine, the feed is more uniform, or the load is low, in order to improve material throughput. This can alleviate the problem that a fixed swing amplitude is difficult to balance between operational stability and processing efficiency.

[0068] 3. This invention changes the synthetic eccentricity by adjusting the relative phase angle between the inner and outer eccentric sleeves, thereby changing the effective swing amplitude of the moving jaw. This method can directly convert the working condition identification results into mechanical execution actions. Compared with manual setting, machine stop adjustment or discrete adjustment methods, it is more suitable for production processes where material properties and load conditions change continuously. At the same time, the system collects the actual swing amplitude, actual phase angle and execution response status, and performs closed-loop correction based on the deviation between the target swing amplitude and the actual swing amplitude, which can reduce the impact of actuator lag, mechanical backlash and load fluctuation on the adjustment results.

[0069] 4. When the risk of blockage increases, this invention can switch to a high-frequency, small-amplitude unblocking mode, adjusting the swing amplitude of the moving jaw to a smaller range suitable for unblocking, and coordinating with the adjustment of the main drive motor speed or operating frequency, so that the blockage material in the crushing chamber is continuously disturbed and gradually loosened and discharged; this method avoids the problem of increased impact that may be caused by simply maintaining the original swing amplitude or blindly increasing the swing amplitude under the trend of blockage, which helps to reduce the risk of overload shutdown, poor material discharge and impact damage to components.

[0070] 5. This invention can also achieve coordinated control of swing amplitude and main drive speed, and perform consistency verification of multiple modal signals before performing large-amplitude swing amplitude adjustments; swing amplitude adjustment, blockage control, or protection control are triggered only when multiple status signals indicate an anomaly; when only a single signal is abnormal, the triggering can be delayed or the adjustment amplitude can be reduced, thereby reducing malfunctions; overall, this invention can provide a complete improvement solution for problems such as insufficient adaptability of fixed swing amplitude, incomplete judgment of single signals, delayed blockage handling, and lack of feedback correction in swing amplitude adjustment, and the threshold, weight, and control parameters can be adjusted according to different equipment specifications and different material conditions. Attached Figure Description

[0071] Figure 1 This is a schematic diagram of the overall structure of the control system of the present invention;

[0072] Figure 2 This is a schematic diagram of the multimodal data acquisition, preprocessing, and fusion process of the present invention;

[0073] Figure 3 This is a schematic diagram illustrating the principle of the adjustable eccentric mechanism of the present invention in changing the combined eccentricity.

[0074] Figure 4 This is a schematic diagram of the adaptive swing amplitude control method of the present invention;

[0075] Figure 5 This is a schematic diagram of the high-frequency small-amplitude blockage-clearing mode control process of the present invention;

[0076] Figure 6 This is a schematic diagram of the coordinated control logic of swing amplitude and rotation speed of the present invention;

[0077] Figure 7 This is a schematic diagram of the sensor arrangement and actuator installation of the jaw crusher according to the present invention.

[0078] In the figure: 1 Multimodal sensing module (1), 2 Data preprocessing and fusion module (2), 3 State assessment module (3), 4 Adaptive control module (4), 5 Swing adjustment actuator (5), 6 Feedback closed loop module (6), 7 Jaw crusher body (7), 8 Visual acquisition unit (8), 9 Vibration acquisition unit (9), 10 Acoustic acquisition unit (10), 11 Current or power acquisition unit (11), 12 Pressure acquisition unit (12), 13 Temperature acquisition unit (13), 14 Timestamp alignment unit (14), 15 Filtering and noise reduction unit (15), 16 Feature extraction unit ( 16), 17 Feature Fusion Unit (17), 18 Target Swing Amplitude (18), 20 Target Rotation Speed ​​(20), 21 Normalization and Outlier Removal Unit (21), 22 Particle Size / Accumulation Features (22), 23 Time Domain / Frequency Domain Vibration Features (23), 24 Acoustic Energy Features (24), 25 Current Fluctuation Features (25), 26 Pressure Fluctuation Features (26), 27 Temperature Change Features (27), 28 Equipment Operating State Vector (28), 29 Outer Eccentric Sleeve (29), 30 Inner Eccentric Sleeve (30), 31 Servo Drive Unit (31), 32 Variable Frequency Drive Unit (32). Detailed Implementation

[0079] The embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be understood that the following embodiments are used to illustrate the technical solutions of the present invention, enabling those skilled in the art to implement them, and are not intended to limit the scope of protection of the present invention. Without departing from the technical concept of the present invention, equivalent substitutions or conventional adjustments can be made to the sensor model, installation location, data fusion method, controller type, actuator transmission form, and parameter values, all of which can be selected according to the actual equipment specifications and on-site working conditions.

[0080] like Figure 1As shown, this embodiment provides a multimodal jaw crusher adaptive swing amplitude control system, including a multimodal sensing module 1, a data preprocessing and fusion module 2, a state evaluation module 3, an adaptive control module 4, a swing amplitude adjustment actuator 5, a feedback closed-loop module 6, and a jaw crusher body 7. The jaw crusher body 7 includes a frame, a feed inlet, a crushing chamber, a fixed jaw, a moving jaw, a discharge inlet, a main drive motor, and a moving jaw drive mechanism. The multimodal sensing module 1 is signal-connected to the data preprocessing and fusion module 2, the data preprocessing and fusion module 2 is signal-connected to the state evaluation module 3, the state evaluation module 3 is signal-connected to the adaptive control module 4, the adaptive control module 4 is control-connected to the swing amplitude adjustment actuator 5, the swing amplitude adjustment actuator 5 is connected to the moving jaw drive mechanism of the jaw crusher body 7, and the feedback closed-loop module 6 is signal-connected to the swing amplitude adjustment actuator 5, the jaw crusher body 7, and the adaptive control module 4. The above modules can transmit data and control commands through industrial Ethernet, CAN bus, RS485 bus, analog input / output, digital input / output, or wireless communication.

[0081] During operation, the multimodal sensing module 1 collects visual signals, vibration signals, acoustic signals, current or power signals, pressure signals, and temperature signals from the jaw crusher body 7 during operation; the data preprocessing and fusion module 2 performs time alignment, filtering and noise reduction, feature extraction, and feature fusion on the above-mentioned multiple signals, and forms an equipment operating state vector 28; the state assessment module 3 outputs the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L, and blockage risk coefficient B based on the equipment operating state vector 28; the adaptive control module 4 calculates the target swing amplitude A based on the above state variables. t The actuator 5 outputs an amplitude adjustment control command to the amplitude adjustment actuator 5; the amplitude adjustment actuator 5 adjusts the effective amplitude of the moving jaw according to the control command; the feedback closed-loop module 6 collects the actual amplitude value A. r Actual value of phase angle Δφ r The system also executes the response status and sends the collected results back to the adaptive control module 4, enabling the adaptive control module 4 to correct the swing amplitude adjustment control command based on the actual execution results.

[0082] like Figure 7As shown, the multimodal sensing module 1 includes a visual acquisition unit 8, a vibration acquisition unit 9, an acoustic acquisition unit 10, a current or power acquisition unit 11, a pressure acquisition unit 12, and a temperature acquisition unit 13. The visual acquisition unit 8 can be an industrial camera, a depth camera, or an image acquisition device with a dustproof protective cover. It is set above the feed port of the jaw crusher body 7, on the side of the material channel, or near the inlet of the crushing chamber, with the lens facing the feeding area. It is used to acquire material images, material layer height, material block size, particle size distribution, accumulation morphology, and feeding continuity. To adapt to the working environment with high dust levels, the visual acquisition unit 8 can be equipped with a transparent protective window, an air curtain blowing structure, a supplementary lighting device, or a timed cleaning device.

[0083] Vibration acquisition unit 9 can be an accelerometer, installed on the frame, bearing housing, moving jaw support, toggle plate seat, or outer wall of the crushing chamber of the jaw crusher body 7, to collect frame vibration, crushing impact, and abnormal vibration response; acoustic acquisition unit 10 can be a microphone, sound pressure sensor, or contact acoustic sensor, installed on the outer wall of the crushing chamber, around the frame, or inside the soundproof enclosure, to collect sound signals during the crushing process; current or power acquisition unit 11 is connected to the main drive motor circuit, frequency converter, or electrical control cabinet, to collect the current, voltage, power, or power change rate of the main drive motor; pressure acquisition unit 12 is installed in the hydraulic system, lubrication system, or discharge port adjustment mechanism, to collect hydraulic pressure, lubrication pressure, or related pressure fluctuations; temperature acquisition unit 13 is installed in the bearing, main bearing housing, lubrication oil circuit, motor winding, or other key heat-generating parts, to collect the temperature and temperature rise changes of key parts.

[0084] like Figure 2 As shown, the data preprocessing and fusion module 2 includes a timestamp alignment unit 14, a filtering and noise reduction unit 15, a normalization and outlier removal unit 21, a feature extraction unit 16, and a feature fusion unit 17. Since different types of sensors have different sampling frequencies, visual signals are usually acquired in the form of image frames, vibration, acoustic, and current signals are usually acquired at higher frequencies, and pressure and temperature signals are usually acquired at lower frequencies. Therefore, the timestamp alignment unit 14 synchronizes various signals using a unified time reference or a sliding time window. For example, a control window of 0.5 seconds, 1 second, 2 seconds, or several spindle rotation cycles can be used to divide the visual frames, vibration data, acoustic data, current or power data, pressure data, and temperature data acquired within the same window into the same group of data to be processed. The specific window length can be set according to the crusher specifications, spindle speed, control response requirements, and on-site interference conditions.

[0085] The filtering and noise reduction unit 15 is used to perform noise reduction processing on the synchronized multimodal data. For vibration signals and acoustic signals, bandpass filtering, wavelet denoising, moving average filtering, or median filtering can be used to reduce environmental noise and random mechanical disturbances. For current or power signals, moving average filtering, Kalman filtering, or amplitude limiting filtering can be used to reduce electromagnetic interference and instantaneous spikes. For visual images, image enhancement, dust occlusion removal, background correction, edge enhancement, or median filtering can be used to improve the quality of material images. The normalization and outlier removal unit 21 is used to convert signals or features of different dimensions to a uniform scale and remove outliers that are significantly beyond the sensor's range, have lost sampling, or are caused by instantaneous interference. Outlier removal can be performed using thresholding, three-standard-deviation method, median absolute deviation method, or deviation judgment method based on historical windows.

[0086] The feature extraction unit 16 extracts features from various types of signals. For visual signals, it can use edge detection, target segmentation, grayscale statistics, depth map analysis, convolutional neural networks, or other image recognition models to extract particle size / packaging features 22, which include the proportion of large pieces, the proportion of fine pieces, the height of the material layer, the angle of repose, the continuity of feeding, the uniformity of material distribution, and the visual occlusion rate. For vibration signals, it can extract time-domain / frequency-domain vibration features 23, which include the root mean square value, peak value, peak-to-peak value, kurtosis, number of impacts, dominant frequency, frequency band energy, and dominant frequency drift. For acoustic signals, it can extract acoustic energy features 2. 4. Acoustic energy characteristics 24 include short-time energy, sound pressure level, low-frequency energy ratio, spectral centroid, spectral entropy, and characteristic frequency band amplitude; for current or power signals, current fluctuation characteristics 25 can be extracted, including average current, peak current, current fluctuation, average power, power fluctuation, and transient rate of change; for pressure signals, pressure fluctuation characteristics 26 can be extracted, including average pressure, peak pressure, pressure drop amplitude, pressure fluctuation, and abnormal duration; for temperature signals, temperature change characteristics 27 can be extracted, including real-time temperature, temperature rise rate, temperature deviation, and temperature abnormal duration.

[0087] Feature fusion unit 17 maps the features of the different modalities mentioned above to a unified feature space to form a device operating state vector 28; the device operating state vector 28 can be represented as:

[0088] x t = Wf·[fv(t), fa(t), fs(t), fi(t), fp(t), fT(t)] T + bf

[0089] Where, x tThe device operating state vector 28 is defined as follows: fv(t) is the visual feature vector, fa(t) is the vibration feature vector, fs(t) is the acoustic feature vector, fi(t) is the current or power feature vector, fp(t) is the pressure feature vector, fT(t) is the temperature feature vector, Wf is the fusion weight matrix, and bf is the bias term. Wf and bf can be determined from the device trial operation data, historical operation data, manual calibration data, or training samples. In practical applications, the feature fusion unit 17 can also adopt weighted fusion, rule fusion, attention mechanism fusion, shallow neural network fusion, or multi-model fusion, as long as it can unify the different modal features into a state input for use by the state evaluation module 3.

[0090] The status assessment module 3 outputs the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L, and blockage risk coefficient B based on the equipment operating status vector 28. Among them, the material hardness index H is used to characterize the degree of material difficulty in crushing, the particle size distribution parameter G is used to characterize the particle size composition of the material, the uniformity of feeding, and the ease with which the material passes through the crushing chamber, the crushing chamber filling degree F is used to characterize the material filling state in the crushing chamber, the equipment load rate L is used to characterize the equipment load level, and the blockage risk coefficient B is used to characterize the risk of the crushing chamber being blocked or close to being blocked.

[0091] For ease of implementation, the material hardness index H, particle size distribution parameter G, and crushing chamber filling degree F can be determined by normalized feature weighting, rule tables, lookup tables, training models, or a combination of the above methods. In one optional implementation, each feature is normalized to between 0 and 1, and the material hardness index H can be estimated according to the following formula:

[0092] H = satH[α1Rlarge + α2Vrms + α3L + α4Eslow]

[0093] Where Rlarge is the proportion of large pieces, Vrms is the root mean square value of vibration or normalized impact intensity, L is the equipment load rate, Eslow is the proportion of low-frequency acoustic energy, α1, α2, α3 and α4 are the hardness assessment weights, and satH[ ] is the hardness index limiting function; this formula is used to reflect that when the proportion of large pieces increases, the crushing impact is enhanced, the load increases or the low-frequency crushing sound is enhanced, the degree of material difficulty in crushing increases accordingly.

[0094] The particle size distribution parameter G can be estimated using the following formula:

[0095]

[0096] Where Rfine is the proportion of fine material, Ufeed is the feeding uniformity, Rlarge is the proportion of large material, γ1, γ2 and γ3 are the particle size evaluation weights, and satG[ ] is the particle size distribution parameter limiting function; this formula is used to make G take a higher value when the material particle size is fine, the feeding is more uniform and the proportion of large material is low, so as to be consistent with the control logic of "increasing G can improve the target swing amplitude" in the subsequent target swing amplitude calculation.

[0097] The degree of filling of the rupture chamber, F, can be estimated using the following formula:

[0098] F = satF[δ1Focc + δ2Hlayer + δ3Ls + δ4Ehold]

[0099] Wherein, Focc is the visual occlusion rate, Hlayer is the material layer height, Ls is the degree of continuous load increase, Ehold is the acoustic continuous accumulation characteristic, δ1, δ2, δ3 and δ4 are the weights for evaluating the degree of fullness, and satF[ ] is the degree of fullness limiting function; this formula is used to reflect that when the occlusion at the crushing chamber inlet increases, the material layer rises, the load is continuously high, or the crushing sound shows a continuous accumulation characteristic, the degree of fullness of the crushing chamber increases accordingly; the above calculation formulas for H, G and F are preferred implementation methods, and in practical applications, the corresponding state quantities can also be output through rule tables or training models; for example, during the trial operation phase, typical working condition samples such as "no load, normal feeding, large pieces of material, high load, blockage precursor, blockage recovery" are collected, and the weights, thresholds and rule parameters are calibrated according to manual annotation or historical operation results;

[0100] The equipment load rate L can be calculated in one of the following ways:

[0101] L = P t / P n

[0102] or:

[0103] L = I t / I n

[0104] Among them, P t P represents the instantaneous power of the equipment. n For the rated power of the equipment, I t I is the instantaneous current of the device. n The rated current of the equipment; when both current and power acquisition conditions are available, the current load rate and power load rate can be weighted and averaged to improve the stability of load judgment.

[0105] The blockage risk coefficient B can be determined by the vibration fluctuation amount σ. v Current fluctuation σ i Acoustic energy density Es And at least two weighted values ​​in the visual occlusion rate (Focc) are determined, preferably satisfying:

[0106] B = β1σ v + β2σ i + β3E s + β4Focc

[0107] Among them, β1, β2, β3 and β4 are preset weight coefficients, and at least two preset weight coefficients are not zero; for scenarios with heavy dust and significant obstruction of visual signals, β4 can be appropriately reduced; for scenarios with high environmental noise, β3 can be appropriately reduced; for scenarios where the motor load can stably reflect the crushing state, β2 can be appropriately increased; each weight coefficient can be calibrated based on on-site data during the equipment installation, commissioning or trial operation phase.

[0108] The adaptive control module 4 can be implemented by an industrial computer, PLC, embedded controller, edge computing controller, or a dedicated controller with real-time control capabilities; this module receives H, G, F, L, and B output from the state evaluation module 3 and calculates the target swing amplitude A. t In a preferred embodiment, the target swing amplitude A t Determined according to the following relationship:

[0109]

[0110] Where A0 is the reference swing amplitude, H0, G0, L0 and B0 are the corresponding reference values, k1, k2, k3 and k4 are the control gains, and sat[ ] is the limiting function; the output range of the limiting function is from the preset minimum swing amplitude Amin to the preset maximum swing amplitude Amax, so as to avoid the target swing amplitude from exceeding the mechanical allowable range; the reference value, control gain and swing amplitude limit value can be set according to the rated power of the equipment, the size of the crushing chamber, the maximum allowable swing amplitude, the minimum allowable swing amplitude, the material type and the results of on-site trial operation.

[0111] Under normal crushing conditions, the adaptive control module 4 operates according to a fixed control cycle, for example, updating the target swing amplitude A every 0.5 seconds, 1 second, or several spindle rotation cycles. t When the material hardness index H increases, the equipment load rate L increases, or the blockage risk coefficient B increases, the adaptive control module 4 reduces the target swing amplitude A. t To reduce the single stroke of the moving jaw and lower the risk of impact load and continuous overload; when the particle size distribution parameter G indicates that the material particle size is fine, the feeding is uniform, or the material can easily pass through the crushing chamber, and the blockage risk coefficient B is at a low level, the adaptive control module 4 increases the target swing amplitude A. tTo improve material throughput; to avoid frequent large movements of the actuator, the adaptive control module 4 can adjust the target swing amplitude A. t Set a rate of change limit to ensure that the change in the target swing amplitude between adjacent control cycles does not exceed the preset change amount.

[0112] like Figure 3 As shown, the swing amplitude adjustment actuator 5 includes an outer eccentric sleeve 29, an inner eccentric sleeve 30, and a servo drive unit 31. The outer eccentric sleeve 29 and the inner eccentric sleeve 30 are disposed in the moving jaw drive mechanism of the jaw crusher body 7, and are coaxially sleeved or nested together. The outer eccentric sleeve 29 has an outer eccentricity e1, and the inner eccentric sleeve 30 has an inner eccentricity e2. The servo drive unit 31 is connected to the outer eccentric sleeve 29 and / or the inner eccentric sleeve 30 for driving the outer eccentric sleeve 29 and the inner eccentric sleeve 30 to generate relative rotation, thereby changing the relative phase angle Δφ between them. The servo drive unit 31 can be connected to the outer eccentric sleeve 29 and / or the inner eccentric sleeve 30 through gears, synchronous belts, worm gears, spline sleeves, hydraulic servo mechanisms, electric push rod mechanisms, or other equivalent transmission structures that can achieve phase adjustment. The specific transmission form can be determined according to the structural space, adjustment torque, and maintenance requirements of the jaw crusher. The above transmission structure is only an optional implementation method and does not require the use of a certain fixed transmission structure.

[0113] The combined eccentricity e of the outer eccentric sleeve 29 and the inner eccentric sleeve 30 satisfies:

[0114] e = √(e1 2 + e2 2 + 2e1e2cosΔφ)

[0115] The effective swing amplitude A of the moving jaw of the jaw crusher body 7 and the combined eccentricity e satisfy the following:

[0116] A = 2e

[0117] When Δφ approaches 0°, the eccentric directions of the outer eccentric sleeve 29 and the inner eccentric sleeve 30 are basically the same, the combined eccentricity e is large, and the corresponding effective swing amplitude of the moving jaw is large; when Δφ approaches 180°, the eccentric directions of the outer eccentric sleeve 29 and the inner eccentric sleeve 30 are basically opposite, the combined eccentricity e is small, and the corresponding effective swing amplitude of the moving jaw is small; the adaptive control module 4 adjusts the target swing amplitude A according to the target swing amplitude A. t Determine the target composite eccentricity e t And e t =A t / 2; Further, the adaptive control module 4, based on the outer eccentricity e1, the inner eccentricity e2, and the target synthesized eccentricity e... t Inverse calculation of the target relative phase angle Δφ t :

[0118]

[0119] When the calculated value exceeds the achievable range, the adaptive control module 4 will synthesize the target eccentricity e. t Within the structural limits, the corresponding target relative phase angle Δφ is then output. t Servo drive unit 31 receives the target relative phase angle Δφ t Then, the outer eccentric sleeve 29 and the inner eccentric sleeve 30 are driven to rotate relative to each other to the target position, and the actual value of the phase angle Δφ is detected by the phase angle encoder, displacement sensor, angle sensor or servo drive feedback device. r .

[0120] Feedback closed-loop module 6 may include a swing amplitude detection unit, a phase angle detection unit, an actuator status acquisition unit, and a communication interface; the swing amplitude detection unit may use a displacement sensor, angle sensor, laser rangefinder, encoder conversion method, or visual measurement method to obtain the actual swing amplitude value A. r The phase angle detection unit is used to obtain the actual phase angle value Δφ. r The actuator status acquisition unit is used to acquire servo drive current, drive torque, response time, positioning status, and fault status; when the feedback closed-loop module 6 detects the target swing A... t Compared with the actual value A r When the absolute deviation between them is greater than the preset error threshold ε, the adaptive control module 4 compensates and corrects the target relative phase angle according to the following relationship:

[0121]

[0122] Where, Δφ t ′ represents the compensated target relative phase angle, Δφ t The target relative phase angle before compensation is Kc, which is the conversion coefficient from amplitude deviation to phase angle compensation; the target relative phase angle after compensation is Δφ. t The output continues to the servo drive unit 31, making the actual swing value A... r Gradually approaching the target swing amplitude A t To avoid oscillations during the compensation process, you can set the maximum compensation amount, compensation dead zone, compensation number limit, or compensation change rate limit.

[0123] like Figure 6 As shown, in one embodiment, the control system further includes a variable frequency drive unit 32; the variable frequency drive unit 32 is connected to the adaptive control module 4 and to the main drive motor of the jaw crusher body 7; the adaptive control module 4 generates the target swing amplitude A t In addition, the target rotational speed n can be generated based on the material hardness index H, the degree of filling of the crushing chamber F, the equipment load rate L, and the blockage risk coefficient B. tThe variable frequency drive unit 32 adjusts the frequency according to the target speed n. t Adjust the operating speed or operating frequency of the main drive motor;

[0124] When the material hardness index H is higher than the preset hardness threshold or the equipment load rate L is higher than the preset load threshold, the adaptive control module 4 reduces the target swing amplitude A. t and reduce or limit the target rotational speed n t To reduce the risk of peak impact and continuous overload; when the equipment load rate L is lower than the preset low load threshold, the blockage risk coefficient B is lower than the preset blockage risk threshold, and the particle size distribution parameter G indicates that the feed is finer or more uniform, the adaptive control module 4 can increase the target swing amplitude A. t And increase or allow an increase in the target rotational speed n t To improve material throughput; target rotational speed n t Upper limits, lower limits, and rate of change limits can be set to ensure the smooth operation of the main drive motor and mechanical transmission system.

[0125] like Figure 5 As shown, when the congestion risk coefficient B output by the state assessment module 3 is higher than the preset congestion risk threshold, the adaptive control module 4 switches to the high-frequency small-amplitude congestion relief mode; in this mode, the adaptive control module 4 will adjust the target amplitude A. t Adjust the swing amplitude to the preset unblocking range and adjust the speed or frequency of the main drive motor to the preset unblocking frequency range, so that the moving jaw can disturb the material in the crushing chamber with a smaller stroke and a suitable unblocking frequency. This control method is used to loosen and discharge the blocked material and reduce the impact that may be aggravated by continuing to use a larger swing amplitude under the trend of blockage. The preset unblocking swing amplitude range and the preset unblocking frequency range can be determined according to the allowable swing amplitude range of the equipment, the allowable speed range of the main drive motor, the size of the crushing chamber and the material type.

[0126] During the blockage relief mode, the system continuously monitors the blockage risk coefficient B, equipment load rate L, vibration fluctuation, and current fluctuation. When the blockage risk coefficient B is lower than the relief threshold, and the equipment load rate L, vibration fluctuation, and current fluctuation return to their corresponding normal ranges, the adaptive control module 4 gradually exits the high-frequency small-amplitude blockage relief mode and returns to the normal adaptive control state in a ramp transition manner. If the blockage risk is not relieved within the preset duration, or the equipment load rate continues to exceed the limit, the adaptive control module 4 can enter protection control, reduce the swing amplitude, limit the speed, and output alarm, shutdown, or manual intervention prompts.

[0127] To reduce malfunctions, the adaptive control module 4 can perform a consistency check on the multimodal state assessment results before executing a large swing adjustment. Specifically, when the visual signal shows an increase in the proportion of large material pieces or an increase in visual occlusion, and at least one of the vibration fluctuation, current fluctuation, or acoustic energy density also exceeds the corresponding threshold, the system considers the anomaly judgment to be highly reliable and can trigger swing adjustment, blockage control, or protection control. When only the current signal or only a certain type of sensor signal shows a short-term anomaly, while other modes such as vision, vibration, acoustics, pressure, and temperature do not show corresponding anomalies, the system can delay triggering a large swing adjustment or use a smaller adjustment amplitude for trial correction. This consistency check method can reduce the probability of malfunctions caused by single sensor failure, local noise, or instantaneous impact.

[0128] like Figure 4 As shown in the figure, this embodiment also provides an adaptive swing amplitude control method for a multimodal jaw crusher, including the following steps:

[0129] S1 collects visual signals, vibration signals, acoustic signals, current or power signals, pressure signals, and temperature signals during the operation of the jaw crusher body 7. Visual signals are used to reflect the feed particle size and accumulation morphology, vibration signals are used to reflect the crushing impact, acoustic signals are used to reflect changes in the crushing process, current or power signals are used to reflect the main drive load, and pressure and temperature signals are used to reflect the hydraulic, lubrication, and critical component operating status.

[0130] S2, performs time alignment, filtering and noise reduction, feature extraction and feature fusion on visual signals, vibration signals, acoustic signals, current or power signals, pressure signals and temperature signals to form a device operating state vector 28; in this step, various signals are first synchronized according to a unified time window, then noise reduction and outlier removal are completed, and then particle size / packaging features 22, time domain / frequency domain vibration features 23, acoustic energy features 24, current fluctuation features 25, pressure fluctuation features 26 and temperature change features 27 are extracted, and finally fused into a unified device operating state vector 28;

[0131] S3, based on the equipment operating status vector 28, evaluates the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L, and blockage risk coefficient B; if the visual signal shows an increase in the proportion of large pieces, enhanced vibration and impact, continuous increase in current or power, and increase in acoustic low-frequency energy, then the status evaluation module 3 increases the material hardness index H and equipment load rate L; if the visual obstruction rate increases, the current fluctuation and vibration fluctuation increase simultaneously, accompanied by an increase in acoustic energy density, then the status evaluation module 3 increases the blockage risk coefficient B;

[0132] S4. Calculate the target swing amplitude A based on the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L, and blockage risk coefficient B. t Target swing amplitude A t It can be determined according to the aforementioned target swing amplitude calculation relationship, and constrained by the amplitude function to make it between the preset minimum swing amplitude Amin and the preset maximum swing amplitude Amax;

[0133] S5, based on the target swing amplitude A t Determine the target relative phase angle Δφ between the outer eccentric sleeve 29 and the inner eccentric sleeve 30. t And drive the swing amplitude adjustment actuator 5 to adjust the effective swing amplitude of the moving jaw; specifically, according to the target swing amplitude A t Calculate the target composite eccentricity e t Then, the outer eccentricity e1, the inner eccentricity e2, and the target are combined to form the eccentricity e. t Determine the target relative phase angle Δφ t The servo drive unit 31 adjusts the relative positions of the outer eccentric sleeve 29 and the inner eccentric sleeve 30 accordingly.

[0134] S6, Collect the actual swing amplitude value A r Actual value of phase angle Δφ r And the execution response status; the execution response status includes the position status of the servo drive unit 31, response time, drive current, drive torque, fault status, and the operating status of the frequency converter drive unit 32;

[0135] S7, based on the actual swing amplitude value A r Actual value of phase angle Δφ r And perform closed-loop correction of the swing adjustment result based on the execution response status; when the target swing A t Compared with the actual value A r When the absolute deviation between the two exceeds the preset error threshold ε, the relative phase angle of the target is compensated and corrected according to the deviation amount; when the deviation is within the allowable range, the system enters the next control cycle.

[0136] In a specific operating example, the jaw crusher is in a continuous feeding state; the vision acquisition unit 8 detects an increase in the proportion of large pieces entering the feed inlet, the vibration acquisition unit 9 detects an increase in the peak impact of the frame, the current or power acquisition unit 11 detects an increase in the load rate of the main drive motor, and the acoustic acquisition unit 10 detects an increase in low-frequency energy; based on this, the condition assessment module 3 increases the material hardness index H, the equipment load rate L, and the blockage risk coefficient B; the adaptive control module 4 reduces the target swing amplitude A according to the target swing amplitude calculation relationship. tThe servo drive unit 31 is controlled to adjust the relative phase angle between the outer eccentric sleeve 29 and the inner eccentric sleeve 30, so that the composite eccentricity e is reduced, thereby reducing the effective swing amplitude of the moving jaw; if the feedback closed-loop module 6 detects that the actual swing amplitude has not yet reached the target swing amplitude, the phase angle compensation is continued.

[0137] In another specific operating example, the vision acquisition unit 8 detects that the feed particle size is fine and the material flow is relatively uniform, the current or power acquisition unit 11 shows that the equipment load rate is lower than the preset low load threshold, the vibration signal and acoustic signal are both within a stable range, and the blockage risk factor B is low; at this time, the adaptive control module 4 increases the target swing amplitude A. t It allows the variable frequency drive unit 32 to increase the speed or operating frequency of the main drive motor to improve the material throughput capacity; to avoid sudden changes in swing amplitude and speed, the system gradually adjusts to the target value according to the preset rate of change.

[0138] In another specific operational example, the visual acquisition unit 8 detected an increase in the obstruction rate at the inlet area of ​​the crushing chamber, a simultaneous increase in vibration and current fluctuations, and a continuous increase in acoustic energy density. The state assessment module 3 determined that the blockage risk coefficient B was higher than the preset blockage risk threshold. The adaptive control module 4 switched to the high-frequency small-amplitude blockage relief mode, adjusting the target amplitude A. t Adjust to the preset unblocking swing range and adjust the speed or operating frequency of the main drive motor to the preset unblocking frequency range; after several control cycles, if the blockage risk coefficient B decreases and the equipment load rate, vibration fluctuation and current fluctuation return to normal, the adaptive control module 4 gradually exits the unblocking mode and resumes normal adaptive swing control; if the blockage risk is not eliminated, the system continues to maintain unblocking control, and if necessary, enters protection control and issues a manual intervention prompt.

[0139] In this embodiment, the thresholds, weight coefficients, control gains, control cycles, swing amplitude ranges, and speed ranges can all be set according to equipment specifications and material characteristics. For example, during the equipment installation and commissioning phase, typical operating condition data such as no-load, normal feeding, high load, large material, blockage precursors, and blockage recovery can be collected to establish corresponding benchmark values, thresholds, and weight parameters. Alternatively, some parameters can be periodically corrected based on historical operating data during production. The above parameter setting methods are routine calibration content during on-site implementation and do not affect the basic technical solution of this invention to achieve adaptive control of the effective swing amplitude of the moving jaw through multimodal operating condition identification.

[0140] The above are merely preferred embodiments of the present invention; those skilled in the art will understand that, without changing the core concept of the present invention, the visual acquisition unit 8, vibration acquisition unit 9, acoustic acquisition unit 10, current or power acquisition unit 11, pressure acquisition unit 12, and temperature acquisition unit 13 may employ different types or equivalent sensors; the data fusion method may employ rule fusion, weighted fusion, machine learning fusion, or other fusion methods capable of forming the device operating state vector 28; the adaptive control module 4 may employ rule control, fuzzy PID control, model predictive control, reinforcement learning control, or a combination of the above control methods; the swing amplitude adjustment actuator 5 may also employ an equivalent adjustment mechanism capable of changing the effective swing amplitude of the moving jaw; these substitutions and modifications, as long as they can achieve multimodal working condition recognition, target swing amplitude determination, swing amplitude execution adjustment, and closed-loop feedback correction, all fall within the reasonable implementation scope of the technical solution of the present invention.

Claims

1. A multimodal jaw crusher adaptive swing amplitude control system, comprising a multimodal sensing module (1), a data preprocessing and fusion module (2), a state evaluation module (3), an adaptive control module (4), a swing amplitude adjustment actuator (5), a feedback closed-loop module (6), and a jaw crusher body (7), characterized in that: The multimodal sensing module (1) includes a visual acquisition unit (8), a vibration acquisition unit (9), an acoustic acquisition unit (10), a current or power acquisition unit (11), a pressure acquisition unit (12), and a temperature acquisition unit (13). The visual acquisition unit (8), vibration acquisition unit (9), acoustic acquisition unit (10), current or power acquisition unit (11), pressure acquisition unit (12), and temperature acquisition unit (13) are respectively connected to the data preprocessing and fusion module (2). The data preprocessing and fusion module (2) is connected to the state evaluation module (3) and is used to perform time alignment, filtering and noise reduction, feature extraction and feature fusion on the signals acquired by the multimodal sensing module (1) and output the device operating state vector (28) to the state evaluation module (3). The status assessment module (3) is connected to the adaptive control module (4) by signal, and is used to output the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L and blockage risk coefficient B to the adaptive control module (4) according to the equipment operating status vector (28). The adaptive control module (4) is connected to the swing amplitude adjustment actuator (5) for calculating the target swing amplitude A based on the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L, and blockage risk coefficient B. t (18), and output swing adjustment control command to swing adjustment actuator (5); The swing amplitude adjustment actuator (5) includes an outer eccentric sleeve (29), an inner eccentric sleeve (30), and a servo drive unit (31). The outer eccentric sleeve (29) and the inner eccentric sleeve (30) are installed in the moving jaw drive mechanism of the jaw crusher body (7). The servo drive unit (31) is connected to the outer eccentric sleeve (29) and / or the inner eccentric sleeve (30) for adjusting the relative phase angle Δφ between the outer eccentric sleeve (29) and the inner eccentric sleeve (30) to change the combined eccentric distance e and adjust the effective swing amplitude of the moving jaw. The feedback closed-loop module (6) is connected to the swing amplitude adjustment actuator (5), the jaw crusher body (7), and the adaptive control module (4) respectively, and is used to collect the actual swing amplitude value A. r Actual value of phase angle Δφ r And execute the response status, and set the actual swing value A r Actual value of phase angle Δφ r And the execution response status is fed back to the adaptive control module (4), so that the adaptive control module (4) can adjust the target swing amplitude A according to the target swing amplitude A. t (18) and the actual value of the swing amplitude A r The deviation between them is used to perform closed-loop correction of the swing amplitude adjustment control command.

2. The adaptive swing amplitude control system for a multimodal jaw crusher according to claim 1, characterized in that: The visual acquisition unit (8) is located above the feed port, on the side of the material channel, or at the entrance of the crushing chamber of the jaw crusher body (7). The vibration acquisition unit (9) is located on the frame, bearing seat, moving jaw support, toggle plate seat, or outer wall of the crushing chamber of the jaw crusher body (7). The acoustic acquisition unit (10) is located on the outer wall of the crushing chamber, around the frame, or inside the soundproof cover. The current or power acquisition unit (11) is connected to the main drive motor circuit, frequency converter, or electrical control cabinet. The pressure acquisition unit (12) is located in the hydraulic system, lubrication system, or discharge port adjustment mechanism. The temperature acquisition unit (13) is located in the bearing, main bearing seat, lubrication oil circuit, motor winding, or preset key heating parts.

3. The adaptive swing amplitude control system for a multimodal jaw crusher according to claim 1, characterized in that: The data preprocessing and fusion module (2) includes a timestamp alignment unit (14), a filtering and noise reduction unit (15), a normalization and outlier removal unit (21), a feature extraction unit (16), and a feature fusion unit (17). The timestamp alignment unit (14) is used to synchronize multimodal signals with different sampling frequencies according to a unified time base or a sliding time window. The filtering and noise reduction unit (15) is used to perform one or more of the following processing on the synchronized multimodal signals: Kalman filtering, bandpass filtering, wavelet denoising, median filtering, and moving average filtering. The normalization and outlier removal unit (21) is used to perform scale normalization and outlier removal on the filtered and denoised multimodal signal; the feature extraction unit (16) is used to extract granularity / packing features (22) from visual signals, time-domain / frequency-domain vibration features (23) from vibration signals, acoustic energy features (24) from acoustic signals, current fluctuation features (25) from current or power signals, pressure fluctuation features (26) from pressure signals, and temperature change features (27) from temperature signals; the feature fusion unit (17) is used to map the granularity / packing features (22), time-domain / frequency-domain vibration features (23), acoustic energy features (24), current fluctuation features (25), pressure fluctuation features (26), and temperature change features (27) to a unified feature space to form a device operating state vector (28).

4. The adaptive swing amplitude control system for a multimodal jaw crusher according to claim 1, characterized in that: The status assessment module (3) determines the equipment load rate L in one of the following ways: L = P t / P n Or: L = I t / I n Among them, P t P represents the instantaneous power of the equipment. n For the rated power of the equipment, I t I is the instantaneous current of the device. n The rated current of the equipment; The state assessment module (3) is based on the vibration fluctuation amount σ. v Current fluctuation σ i Acoustic energy density E s The congestion risk coefficient B is determined by a weighted average of at least two factors in the visual occlusion rate (Focc), and the following conditions are met: B = β1σ v + β2σ i + β3E s + β4Focc Among them, β1, β2, β3 and β4 are preset weight coefficients, and at least two preset weight coefficients are not zero.

5. The adaptive swing amplitude control system for a multimodal jaw crusher according to claim 1, characterized in that: The adaptive control module (4) calculates the target swing amplitude A according to the following relationship. t (18): Where A0 is the reference swing amplitude, H is the material hardness index, G is the particle size distribution parameter, L is the equipment load rate, B is the blockage risk coefficient, H0, G0, L0 and B0 are the corresponding reference values, k1, k2, k3 and k4 are the control gain, sat[ ] is the limiting function, and the output range of the limiting function is between the preset minimum swing amplitude Amin and the preset maximum swing amplitude Amax; When the material hardness index H increases, the equipment load rate L increases, or the blockage risk coefficient B increases, the adaptive control module (4) reduces the target swing amplitude A. t (18); When the particle size distribution parameter G characterizes the material as having a fine particle size, a relatively uniform feed, or a material that is easy to pass through the crushing chamber, the adaptive control module (4) increases the target swing amplitude A. t (18).

6. The adaptive swing amplitude control system for a multimodal jaw crusher according to claim 1, characterized in that: The outer eccentric sleeve (29) has an outer eccentricity e1, the inner eccentric sleeve (30) has an inner eccentricity e2, and the relative phase angle between the outer eccentric sleeve (29) and the inner eccentric sleeve (30) is Δφ. The combined eccentricity e satisfies: e = √(e1 2 + e2 2 + 2e1e2cosΔφ) The effective swing amplitude A of the moving jaw of the jaw crusher body (7) and the combined eccentricity e satisfy the following: A = 2e The adaptive control module (4) adjusts the target swing amplitude A according to the target swing amplitude A. t (18) Determine the target composite eccentricity and calculate the target relative phase angle Δφ based on the target composite eccentricity. t This causes the servo drive unit (31) to drive the outer eccentric sleeve (29) and the inner eccentric sleeve (30) to rotate relative to each other; When the feedback closed-loop module (6) detects the target swing A t (18) and the actual value of the swing amplitude A r When the absolute deviation between them is greater than the preset error threshold ε, the adaptive control module (4) compensates and corrects the relative phase angle of the target according to the following relationship: Where, Δφ t ' is the compensated target relative phase angle, Δφ t Kc is the target relative phase angle before compensation, and Kc is the conversion coefficient from swing deviation to phase angle compensation.

7. The adaptive swing amplitude control system for a multimodal jaw crusher according to claim 1, characterized in that: The control system also includes a variable frequency drive unit (32), which is connected to the adaptive control module (4) and connected to the main drive motor of the jaw crusher body (7). The adaptive control module (4) is also used to generate the target rotational speed n based on the material hardness index H, the degree of filling of the crushing chamber F, the equipment load rate L, and the blockage risk coefficient B. t (20); The variable frequency drive unit (32) is used to adjust the speed according to the target speed n. t (20) Adjust the operating speed or operating frequency of the main drive motor; When the material hardness index H is higher than the preset hardness threshold or the equipment load rate L is higher than the preset load threshold, the adaptive control module (4) reduces the target swing amplitude A. t (18) and reduce or limit the target rotational speed n t (20); When the equipment load rate L is lower than the preset low load threshold and the congestion risk coefficient B is lower than the preset congestion risk threshold, the adaptive control module (4) increases the target swing A. t (18) and increase or allow an increase in the target rotational speed n t (20).

8. The adaptive swing amplitude control system for a multimodal jaw crusher according to claim 1, characterized in that: When the blockage risk coefficient B is higher than the preset blockage risk threshold, the adaptive control module (4) switches to the high-frequency small swing blockage relief mode; In the high-frequency small-amplitude blockage relief mode, the adaptive control module (4) will adjust the target swing amplitude A. t (18) Adjust to the preset unblocking swing range and adjust the speed or operating frequency of the main drive motor to the preset unblocking frequency range to loosen and discharge the blockage material in the crushing chamber; When the blockage risk coefficient B is lower than the release threshold, and the equipment load rate L, vibration fluctuation and current fluctuation return to the corresponding normal range, the adaptive control module (4) gradually exits the high-frequency small-amplitude blockage relief mode. Before performing swing adjustment, the adaptive control module (4) performs consistency verification on the state evaluation results corresponding to visual signals, vibration signals, acoustic signals, current or power signals, pressure signals and temperature signals; When at least two types of modal signals simultaneously meet the preset abnormal conditions, the adaptive control module (4) triggers swing adjustment, blockage control or protection control; When only a single modal signal meets the preset abnormal condition and other modal signals do not meet the corresponding abnormal condition, the adaptive control module (4) delays triggering a large swing adjustment or reduces the swing adjustment amplitude.

9. A method for adaptive swing amplitude control of a multimodal jaw crusher, characterized in that, The method, employing the multimodal jaw crusher adaptive swing amplitude control system according to any one of claims 1 to 8, comprises the following steps: S1, collect visual signals, vibration signals, acoustic signals, current or power signals, pressure signals and temperature signals during the operation of the jaw crusher body (7); S2 performs time alignment, filtering and noise reduction, feature extraction and feature fusion on visual signals, vibration signals, acoustic signals, current or power signals, pressure signals and temperature signals to form a device operating state vector (28). S3, evaluate the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L and blockage risk coefficient B based on the equipment operating status vector (28); S4. Calculate the target swing amplitude A based on the material hardness index H, particle size distribution parameter G, crushing chamber filling degree F, equipment load rate L, and blockage risk coefficient B. t (18); S5, based on the target swing amplitude A t (18) Determine the target relative phase angle Δφ between the outer eccentric sleeve (29) and the inner eccentric sleeve (30). t And drive the swing amplitude adjustment actuator (5) to adjust the effective swing amplitude of the moving jaw; S6, Collect the actual swing amplitude value A r Actual value of phase angle Δφ r And the execution response status; S7, based on the actual swing amplitude value A r Actual value of phase angle Δφ r And perform closed-loop correction of the swing adjustment results based on the execution response status.

10. The method according to claim 9, characterized in that: In step S4, the target swing amplitude A is calculated according to the following relationship. t (18): Where A0 is the reference swing, H0, G0, L0 and B0 are the corresponding reference values, k1, k2, k3 and k4 are the control gains, and sat[ ] is the limiting function; In step S7, when the target swing amplitude A t (18) and the actual value of the swing amplitude A r When the absolute deviation between them is greater than the preset error threshold ε, the relative phase angle of the target is compensated and corrected according to the following relationship: Where, Δφ t ′ represents the compensated target relative phase angle, and Kc is the conversion coefficient from swing deviation to phase angle compensation. When the congestion risk coefficient B is higher than the preset congestion risk threshold, switch to the high-frequency small-amplitude congestion relief mode and set the target amplitude A. t (18) Adjust to the preset unblocking swing range and adjust the main drive motor speed or operating frequency to the preset unblocking frequency range; When the blockage risk coefficient B is lower than the release threshold, and the equipment load rate L, vibration fluctuation and current fluctuation return to the corresponding normal range, the system gradually returns to the normal adaptive control mode.

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