crusher

Abstract

To provide a crusher capable of controlling an object to be crushed in a crushing chamber to be in a constantly filling state by reducing the rotation speed of the crushing chamber when a filling rate of the object in the crushing chamber is low.SOLUTION: A crusher 1 for crushing stones by rotating a crushing unit comprises: a sensor 50 that measures a raw stone 2 thrown into a crushing chamber 11b; a crushing state determination unit 42 that determines a filling stage of the raw stone 2 in the crushing chamber 11b on the basis of measurement information of the measured raw stone 2; and a control unit 40 that controls an IP motor 20 so as to reduce the rotation speed of the crushing unit when it is determined that the filling state of the raw stone 2 is an unfilling state.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a crushing device that crushes stones by rotating a crushing unit. [Background technology]

[0002] Due to recent technological advances in crushers, small, efficient machines have become available, and when such machines are incorporated into a plant, it has become important to balance the amount of raw ore used as raw material and the amount of aggregate produced in the entire plant. However, when viewed from the perspective of the entire plant, it can be extremely difficult to arbitrarily adjust the amount of raw ore supplied to the crusher and the amount of aggregate produced. For example, even if a large amount of raw ore can be supplied to the crusher, if the processing of the downstream granulator or belt conveyor is delayed, the supply of raw ore may be stopped and the crusher may be operated without load. If operation is continued under such conditions, damage such as seizure and oil leakage may occur when the rotation balance is lost.

[0003] On the other hand, among crushers, for example, jaw crushers and cone crushers, choke feed operation is recommended in which the crushing chamber into which the rocks or concrete to be crushed are put is filled with the object to be crushed and crushing work is performed. If choke feed operation is not performed, scattering of raw stones and their fragments, uneven wear of parts, abnormal vibration, overcurrent of the motor, etc. will occur, which will affect the machine life and the uniformity of the produced aggregate will be deteriorated. In large industrial equipment such as crushers, it is extremely difficult to maintain the above-mentioned choke feed operation by automatic control using sensors, so the reality is that operation control is performed at the discretion of skilled workers. Therefore, in addition to securing highly skilled personnel, there is a problem of high operating costs.

[0004] In relation to the above-mentioned problems, for example, the techniques shown in Patent Documents 1 and 2 are disclosed. The technique shown in Patent Document 1 includes a step of measuring a load index directly or indirectly indicating a crushing load while the operation object is operating at a certain operation amount by using at least one of a supply device and a set adjustment device as an operation object, a step of determining a new operation amount of the operation object based on a deviation between a predetermined target value and a measured value of the load index using a predetermined control algorithm when the load index is out of the steady range, a step of operating the operation object in response to the new operation amount, a step of generating a response evaluation index of the load index generated by the operation of the operation object, and a step of evaluating the quality of the response based on the response evaluation index, and adjusting at least one of the control parameters of the control algorithm when the response is not good.

[0005] In addition, the technology shown in Patent Document 2 includes a load response acquisition unit that acquires, as an unprocessed load response, a crushing load obtained as a response to a certain command value output to a certain control object of the crusher; a pre-processing unit that pre-processes the unprocessed load response to obtain a load response; a feedback control unit that generates a new command value based on the deviation between the load response and a predetermined load target value; and a control parameter adjustment unit that adjusts the control parameters of the feedback control unit based on the load response, and the pre-processing unit has a steady-state characteristic extraction filter that damps crushing vibrations specific to the crusher and included in the unprocessed load response. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2019-202245 A [Patent Document 2] Patent Publication No. 2022-070156 Summary of the Invention [Problem to be solved by the invention]

[0007] However, the techniques disclosed in Patent Documents 1 and 2 each control at least one of the amount of raw ore supplied by the supply device and the amount of raw ore set at the outlet by the set adjustment device in accordance with the load index.

[0008] Here, in Patent Documents 1 and 2, when controlling the outlet set amount, the processing amount becomes unstable depending on the size, hardness, amount of powder, etc. of the raw material, which affects the supply amount to the downstream side. In other words, making the outlet set amount variable causes the supply amount to the downstream side to become unstable, which may result in poor efficiency of the entire system.

[0009] In addition, when controlling the supply amount using the supply device, if the size and hardness of the raw materials are uneven, it is very difficult to adjust the supply amount so that the raw materials are filled into the hopper. In addition, if the raw materials exceed the capacity of the hopper, dust and debris will become clogged in the cylinder and threads, requiring a great deal of maintenance work, and there is a risk of serious accidents due to rocks falling from the hopper.

[0010] The present invention has been made to solve the above-mentioned problems, and aims to provide a crushing device that, when the filling ratio of the material to be crushed in the crushing chamber is low, controls the crushing chamber to always contain the material to be crushed by reducing the rotation speed of the crushing section. [Means for solving the problem]

[0011] The crushing device of the present invention is a crushing device that crushes stones by rotating a crushing section, and is equipped with a measuring means for measuring the object to be crushed that is fed into the crushing chamber, a filling determination means for determining the filling state of the object to be crushed in the crushing chamber based on the measurement information of the measured object to be crushed, and a control means for controlling the rotation speed of the crushing section to slow down when the filling state of the object to be crushed is determined to be an unfilled state.

[0012] In this way, in the crushing device of the present invention, the object to be crushed fed into the crushing chamber is measured, and the filling state of the object to be crushed in the crushing chamber is determined based on the measurement information of the measured object to be crushed. If it is determined that the filling state of the object to be crushed is not filled, the rotation speed of the crushing section is controlled to be slowed down, making it possible to control the choke feed operation for as long as possible, thereby achieving the effect of realizing stable operation of the crushing device.

[0013] In addition, since there is no need to change the amount of raw material supplied from the supply device or the set value, the quality of the products produced can be stabilized, and even if the production volume temporarily decreases due to a slower rotation speed of the crushing section, it is possible to maintain choke feed operation, thereby achieving the effect of increasing production efficiency.

[0014] Furthermore, it is possible to achieve efficient aggregate production by suppressing the occurrence of damage to crushers such as jaw crushers and cone crushers while adjusting the supply amount of raw materials and the production amount of aggregate to the control of the entire plant. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a crushing device according to a first embodiment. [Diagram 2] FIG. 2 is a functional block diagram showing the configuration of a control unit in the crushing device according to the first embodiment. [Diagram 3] FIG. 2 is a schematic diagram showing a configuration of the crushing device according to the first embodiment when a camera is provided as a sensor unit and a first state of the crushing chamber. [Figure 4] FIG. 2 is a schematic diagram showing the configuration of the crushing device according to the first embodiment when a camera is provided as a sensor unit and a second state of the crushing chamber. [Diagram 5] FIG. 1 is a schematic diagram showing the configuration of a conveyor and a crushing device in a case where a camera is provided as a sensor unit in the crushing device according to the first embodiment; [Figure 6]FIG. 2 is a schematic diagram showing the configuration of the crushing device and the state of the crushing region when a distance sensor is provided as a sensor unit in the crushing device according to the first embodiment. [Figure 7] 3 is a schematic diagram showing the configuration of a conveyor and a crushing device in the case where a distance sensor is provided as a sensor unit in the crushing device according to the first embodiment. FIG. [Figure 8] FIG. 4 is a diagram showing the relationship between the current value of the IPM motor and the production amount of aggregate in the crushing device according to the first embodiment. [Figure 9] FIG. 4 is an explanatory diagram of a case where an IPM motor is controlled based on a result determined by a crushing state determination unit in the crushing device according to the first embodiment. [Figure 10] 4 is a flowchart showing a process of the crushing device according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] (First embodiment of the present invention) The crushing device according to the present embodiment will be described with reference to Figs. 1 to 10. The crushing device according to the present embodiment is a jaw crusher or a cone crusher that compresses and crushes raw stones (for example, mined rocks or concrete after demolishing a building) that are to be crushed by rotating and driving the crushing unit. When compressing and crushing raw stones while rotating and driving, it is recommended to maintain choke feed operation (crushing with the crushing chamber in a compacted state). When the crushing chamber is in a compacted state, interparticle crushing of the raw stones occurs, so that rounded aggregates with removed edges can be produced, and it is possible to perform uniform crushing processing on the raw stones, enabling stable production of aggregates. On the other hand, when the crushing chamber is in a sparse state that is not compacted, scattering of raw stones and their fragments, uneven wear of parts, abnormal vibration, overcurrent of the motor, etc. occur, which affect the machine life and deteriorate the uniformity of the produced aggregates.

[0017] In the crushing device according to the present embodiment described below, a stable choke feed operation can be maintained by controlling the rotation speed of the crushing section. FIG. 1 is a schematic diagram showing the configuration of the crushing device according to the present embodiment. Here, a cone crusher will be described as an example of the crushing device. The crushing device 1 includes a cone crusher 10 which is the main body of the crushing device 1, an IPM motor 20 which is a drive source for driving a drive mechanism 17 of the cone crusher 10, an inverter 30 which controls the IPM motor 20, a control unit 40 which manages and controls the drive state of the cone crusher 10, and various sensor units 50.

[0018] The cone crusher 10 includes a main shaft 11 whose axial direction is inclined at a predetermined angle from the vertical direction and supported so as to be rotatable around its upper end, a core portion 12 that is attached to the upper part of the main shaft 11 and penetrates the main shaft 11 and has a convex spherical portion formed at its lower part, a mantle 13 that is attached to the outer periphery of the core portion 12 and arranged in a conical surface shape, a concave 14 that is fixedly arranged in a conical surface shape so as to surround the mantle 13, a liner portion 15 that has a sliding contact surface portion 15a that is a concave spherical surface that slides against the spherical portion of the core portion 12 and is arranged below the core portion 12, a device frame 16 that comes into contact with the lower surface of the liner portion 15 and supports the core portion 12 via the liner portion 15, and a drive mechanism 17 that is incorporated in the device frame 16, comes into slidable contact with the lower part of the main shaft 11, and drives the main shaft 11 so as to be rotatable. This crushing device 10 rotates a core portion 12 and a mantle 13 integral with a main shaft 11 relative to a fixed concave 14, and crushes the object to be crushed that is supplied between the concave 14 and the mantle 13.

[0019] The core portion 12 is generally formed in a generally conical shape, with a mantle 13 attached to overlap the outer circumferential conical surface, and a convex spherical portion 12a formed on the conical bottom side, and this spherical portion 12a is supported from below by an apparatus frame 16. A groove 12c is provided on the lower peripheral edge of the core portion 12, which is on the same conical bottom side as the spherical portion 12a and is outside the spherical portion 12a.

[0020] The liner portion 15 has a sliding surface portion 15a that is a concave spherical surface that is in slidable contact with the spherical portion 12a of the core portion 12, and is configured as a continuous annular body so as to surround the main shaft 11. The liner portion 15 is fixed to an apparatus frame 16 and placed on the underside of the core portion 12.

[0021] The device frame 16, like those used in known crushing devices, supports the core part 12 via the liner part 15, supports the upper end of the main shaft 11 in a state in which the main shaft 11 can rotate, supports the concave 14 around the mantle 13 so that its position can be adjusted according to the amount of wear, and movably supports each part constituting the drive mechanism 17. The device frame 16 is configured so that the portion located below the core part 12 supports the core part 12 from below via the liner part 15.

[0022] The power of the IPM motor 20 is transmitted from a power transmission mechanism 19 to a drive mechanism 17 via a transmission mechanism 19a including a belt, a chain, or the like, and the main shaft 11 is rotated in an eccentric state by the drive mechanism 17. The rotation speed and torque of the IPM motor 20 are controlled by an inverter 30.

[0023] The control unit 40 is a computer equipped with a CPU, RAM, ROM, a communication I / F, an input / output I / F, etc. The communication I / F transmits and receives data to and from the outside, and the input / output I / F is an interface that inputs and outputs data to and from the outside. The CPU uses data input via the communication I / F and the input / output I / F to perform arithmetic processing to execute a program stored in the ROM, and also performs processing to output the results to the outside via the communication I / F and the input / output I / F as necessary.

[0024] The specific processing of the control unit 40 will be described in detail later, but as an example, the filling state of the raw stones 2 in the crushing chamber 11b of the crushing device 1 is determined based on information sent from the sensor unit 50, and a control signal is sent to the inverter 30 so that the IPM motor 20 has an optimal rotation speed according to the determined filling state. Note that the above processing is merely an example, and the control unit 40 is a processing unit that performs various controls and monitoring of the crushing device 1 as a whole.

[0025] As shown in Fig. 1, the IPM motor 20 is driven by power from a driving power source 31, which may be a commercial power source, a generator, a battery, or the like. In particular, when starting to feed raw ore into the crushing chamber 11b when no raw ore has been fed yet, that is, immediately after the start of crushing, the crushing section may become idle and generate negative active power, causing the cone crusher 10 to stop. To address this problem, a configuration in which the driving power source 31 is provided with a battery can be used to absorb the generated negative active power with the battery, enabling the cone crusher 10 to be stably driven.

[0026] 2 is a functional block diagram showing the configuration of the control unit 40 in the crushing device 1 according to this embodiment. The control unit 40 includes an input unit 41 for inputting information such as a current value detected by the inverter 30 and a sensor unit 50 including various sensors such as a camera and a distance sensor, a crushing state determination unit 42 for determining the crushing state of the cone crusher 10 based on the input information, an optimum calculation unit 43 for calculating the optimum rotation speed and / or torque of the IPM motor 20 according to the determined crushing state, and a control signal generation unit 44 for generating a control signal corresponding to the calculated optimum value and transmitting the control signal to the inverter 30.

[0027] The sensor unit 50 is a sensor that measures information that is a parameter for determining the crushing state of the cone crusher 10. Below, some examples of the sensor unit 50 and the processing of the crushing state determination unit 42 will be described. Below, the configurations shown in Figures 3 to 7 are merely schematic diagrams showing only the main configurations of the cone crusher 10 and the conveyor 60. Figures 3 and 4 are schematic diagrams showing the configuration of the crushing device 1 and the state of the crushing chamber 11b when a camera 50a is provided as the sensor unit 50. Figure 3 shows a state when the crushing chamber 11b is filled with raw stones 2, and Figure 4 shows a state when the raw stones 2 are sparsely filled in the crushing chamber 11b.

[0028] In FIG. 3(A) and FIG. 4(A), a camera 50a is installed on the upper part of the crushing chamber 11b of the cone crusher 10, and captures the inside of the crushing chamber 11b. The captured image information is sent to the crushing state determination unit 42 via the input unit 41, and the crushing state determination unit 42 performs image analysis on the captured image information. When the cross-sectional image of the crushing chamber 11b is filled with the raw stones 2 as shown in FIG. 3(B), it is determined that the crushing region 11c between the concave 14 and the mantle 13 is filled with the raw stones 2 and that the choke feed operation is in progress. On the other hand, in the image of the crushing chamber 11b captured by the camera 50a, when the upper part of the main shaft 11 and the mantle 13 are reflected in the cross-sectional image of the crushing chamber 11b as shown in FIG. 4(B), the crushing state determination unit 42 determines that the crushing region 11c is not sufficiently filled with the raw stones 2 and that the choke feed operation is not in progress (hereinafter referred to as sparse operation).

[0029] In addition to the examples shown in Fig. 3 and Fig. 4, the degree of bouncing of the ore 2 and its fragments may be determined by image analysis, for example. That is, when the ore 2 is filled in the crushing area 11c in the crushing chamber 11b, the ore 2 is in a compacted state and bouncing is unlikely to occur. On the other hand, during sparse operation, the ore 2 bounces off the mantle 13 and scatters. The crushing state determination unit 42 can determine whether the operation is choke feed operation or sparse operation by determining these by image analysis.

[0030] In addition, when a camera 50a is used as the sensor unit 50, for example, as shown in FIG. 5 (FIG. 5(A) is a side view and FIG. 5(B) is a top view), the camera 50a may be installed on the top of the conveyor 60 that supplies the raw ore 2 to the crushing chamber 11b of the cone crusher 10, and the crushing state determination unit 42 may perform image analysis of the image or video captured by the camera 50a to calculate the amount of raw ore 2 supplied to the crushing chamber 11b. The crushing state determination unit 42 can compare the amount of generated aggregate (obtained, for example, by measuring the aggregate discharged from the cone crusher 10 with a sensor such as a scale) with the amount of raw ore 2 supplied to determine whether the crushing chamber 11b is filled or not.

[0031] 5, it is also possible to determine the crushing state of the cone crusher 10 only from the amount of raw ore 2 supplied without measuring the amount of generated aggregate with a scale or the like. For example, sparse operation is likely to occur immediately after the start of crushing, before and after the supply of raw ore 2 stops, and immediately before crushing stops. In other words, there is a correlation between the transportation state of the raw ore 2 transported by the conveyor 60 and the crushing state of the cone crusher 10, and the crushing state determination unit 42 can determine that a sparse operation state occurs when the transport of the raw ore 2 stops or when a large distance is created between the raw ore 2 supplied and the raw ore 2.

[0032] In the crushing device 1 according to this embodiment, in addition to using the camera 50a as the sensor unit 50 as described above, for example, a distance sensor 50b can be used. FIG. 6 is a schematic diagram showing the configuration of the crushing device 1 and the state of the crushing area 11c when the distance sensor 50b is provided as the sensor unit 50, FIG. 6(A) is a schematic cross-sectional view of the crushing chamber 11b and FIG. 6(B) is a schematic top view of the crushing chamber 11b. In FIG. 6(A) and (B), a plurality of distance sensors (depth sensors) 50b are installed at the top of the crushing chamber 11b of the cone crusher 10 (eight distance sensors 50b are installed in FIG. 6), and the distance (depth) to the rough stone 2 in the crushing chamber 11b is measured. The measured distance information is sent to the crushing state determination unit 42 via the input unit 41, and the crushing state determination unit 42 determines that the choke feed operation is in progress when, for example, the distance to the rough stone 2 continues to be n or less for m or more distance sensors 50b out of the plurality of distance sensors 50b. If any other state is detected continuously for a predetermined time or more, or if the state is detected for a predetermined percentage or more of the predetermined time, it is determined that there is a high possibility that the choke feed operation will be terminated and the operation will be switched to the sparse feed operation. Note that the values ​​of m and n, the predetermined time, the predetermined percentage, and other thresholds can be set arbitrarily according to the characteristics of the cone crusher 10 and the state of the raw ore 2.

[0033] In addition, when a distance sensor 50b is used as the sensor unit 50, the distance sensor 50b may be installed on the top of the conveyor 60 that supplies the raw stones 2 to the crushing chamber 11b of the cone crusher 10, as shown in Fig. 7, and the crushing state determination unit 42 may calculate the amount of raw material supplied to the crushing chamber 11b according to the distance measured by the distance sensor 50b. In this case, it is preferable to arrange multiple distance sensors 50b over the entire width of the conveyor 60 as shown in Fig. 7, so that the distance to the raw stones 2 being transported can be measured over the entire width of the conveyor 60.

[0034] In FIG. 7, the distance from the distance sensor 50b to the top surface of the conveyor 60 (the surface of the conveyor belt on which the rough stones 2 are placed) is measured and stored in advance, and if a value shorter than the stored distance is measured, it can be determined that the rough stones 2 are being transported by the conveyor 60. At this time, the length (diameter) and height of the rough stones 2 in the moving direction can be obtained from the value obtained by scanning the change in the measured distance over time and the moving speed of the belt on the conveyor 60. That is, it is possible to estimate the amount (volume) of the rough stones 2 being transported by the conveyor 60. Then, the crushed state determination unit 42 can determine whether the operation is in choke feed operation or sparse operation according to the estimated amount of rough stones 2.

[0035] Furthermore, by combining the distance sensor 50b shown in Fig. 7 with the camera 50a shown in Fig. 5, it is possible to measure the size of each of the rough stones 2 being transported on the conveyor 60. That is, the area of ​​the rough stone 2 as viewed from above the conveyor 60 is calculated by image analysis using the information captured by the camera 50a, and the height of the rough stone 2 is calculated from the distance measured by the distance sensor 50b, thereby making it possible to specify the volume of the rough stone 2. That is, it is possible to more accurately estimate the state inside the crushing chamber 11b.

[0036] Furthermore, since the volume of each of the rough stones 2 is specified to some extent, the degree of variation in size may be calculated. The degree of variation in size of each of the rough stones 2 can be used as one of the parameters when setting the IPM motor 20, as described later.

[0037] Although the camera 50a and the distance sensor 50b are exemplified as the sensor unit 50, sound information may be measured from a microphone. For example, when the raw stones put into the crushing chamber 11b are crushed, the friction sound generated between the concave 14 and the mantle 13 is collected, and the collected sound is analyzed by frequency analysis or the like, so that the crushing state in the crushing chamber 11b, i.e., the filling state of the raw stones in the crushing chamber 11b, can be determined.

[0038] Also, the sensor unit 50 may measure information related to the vibration of the cone crusher 10 from, for example, a vibration sensor. For example, when the amount of raw ore in the crushing chamber 11b is small, the cone crusher 10 vibrates greatly with the rotational movement of the main shaft 11, but when the crushing chamber 11b is filled with raw ore, the state in the crushing chamber 11b becomes stable and the vibration becomes small. In other words, it is possible to determine the state in the crushing chamber 11b by measuring the magnitude (displacement) of the vibration. The information related to the vibration measured here may be obtained from the moving image of the camera 50a described above.

[0039] As shown in Fig. 2, the input unit 41 is configured to receive information from the inverter 30 in addition to the measurement information from each sensor unit 50 as described above. The inverter 30 measures the current value of the IPM motor 20, and the detection result is input to the input unit 41. Here, the relationship between the current of the IPM motor 20 and the production amount of aggregate will be described. The graph in Fig. 8 shows the relationship between the current value (solid line) of the IPM motor 20 and the production amount of aggregate (dashed line: 20-05mm, dotted line 05-00mm), and it can be seen that the production amount of crushed stone increases when the current value of the IPM motor 20 is large. At this time, it is confirmed that the crushing chamber 11b and the crushing area 11c are filled with raw stone and that choke feed operation is in progress.

[0040] That is, when the crushing chamber 11b or the crushing region 11c is filled with the ores 2 and is in a consolidated state, a large load is applied to the IPM motor 20, and the current value becomes large. On the other hand, when the IPM motor 20 is driven in a state in which the crushing chamber 11b or the crushing region 11c is not filled with the ores 2 and is sparsely filled with the ores 2, the load on the IPM motor 20 becomes small, and the current value becomes small. And, from the graph of FIG. 8, it can be seen that the production amount of aggregate changes according to the magnitude of the current value of the IPM motor 20, and it is possible to determine the crushing state in the crushing chamber 11b (choke feed operation or sparse operation) based on the current value of the IPM motor 20.

[0041] From this, the crushing state determination unit 42 can determine that the IPM motor 20 is in choke feed operation when the current value is greater than a predetermined value, and that the IPM motor 20 is in sparse operation when the current value is less than the predetermined value, according to the current value of the IPM motor 20 measured by the inverter 30. Also, by observing the change in the current value, it is possible to measure the timing immediately after the start of crushing, before and after the supply of raw materials is interrupted, immediately before the crushing is stopped, etc.

[0042] 2, the crushing state determination unit 42 determines whether the crushing state is choke feed operation or sparse operation, and if it is determined to be sparse operation, the optimum calculation unit 43 calculates the optimum rotation speed of the IPM motor 20 according to the crushing state. The optimum calculation unit 43 determines the optimum rotation speed of the IPM motor 20 based on an optimum parameter correspondence table (not shown) in which the appropriate rotation speed and rate of change of the IPM motor 20 corresponding to information acquired from the sensor unit 50 or the inverter 30 are associated and stored.

[0043] The optimum rotation speed of the IPM motor 20 may be calculated as a preset fixed value (e.g., reducing 750 rpm to 500 rpm) using the optimum parameter correspondence table as described above, or the rotation speed may be calculated according to the degree of filling of the raw stones 2 in the crushing chamber 11b (e.g., the lower the degree of filling, the lower the speed, and the higher the degree of filling, the higher the speed), or the rotation speed may be calculated according to the size of the raw stones 2 (e.g., the larger the size, the higher the speed, and the smaller the size, the lower the speed), or the rotation speed may be calculated according to the degree of variation in size of the raw stones 2 (e.g., the larger the degree of variation in size, the lower the speed, and the smaller the degree of variation in size, the higher the speed).

[0044] In addition to calculating the optimal parameters of the IPM motor 20 using the optimal parameter correspondence table, the optimal rotation speed of the IPM motor 20 may be calculated using AI that has learned past performance data, for example.

[0045] A control signal generating unit 44 generates a control signal for controlling the IPM motor 20 based on the rotation speed of the IPM motor 20 calculated by the optimization calculation unit 43, and inputs the control signal to the inverter 30. The inverter 30 controls the IPM motor 20 according to the input control signal, thereby making it possible to optimize the drive of the IPM motor 20.

[0046] The optimal rotational speed of the IPM motor 20 described above is specifically a rotational speed at which the sparse operation state can be switched to the choke feed operation and the choke feed operation can be continued. That is, during the sparse operation, the rotational speed of the IPM motor 20 is deliberately lowered to reduce the production amount of aggregates until the crushing chamber 11b is filled with the raw stones 2. During that time, the crushing chamber 11b is filled with the raw stones 2 by continuing to supply the raw stones 2 to the crushing chamber 11b. When the crushing chamber 11b is filled with the raw stones 2, the choke feed operation becomes possible as described above, so the rotational speed is increased again to increase the crushing efficiency. Although the production amount of aggregates is temporarily reduced by lowering the rotational speed of the IPM motor 20 during the sparse operation, the production amount of aggregates can be increased by performing the choke feed operation for as long as possible while the crushing chamber 11b is filled with the raw stones 2.

[0047] FIG. 9 is an explanatory diagram of a case where the IPM motor 20 is controlled by executing the processing of the optimum calculation unit 43 and the control signal generation unit 44 based on the result of the judgment by the crushing state judgment unit 42. FIG. 9(A) is a graph showing the amount of raw stones 2 input and the crushing state over time, and FIG. 9(B) is a graph showing the rotation speed over time when the IPM motor 20 is appropriately controlled in accordance with FIG. 9(A). In FIG. 9(A), the solid line shows the input amount of raw stones 2, and the long dashed line shows the change in the crushing state (choke feed operation (CF) / sparse operation (SP)). As shown in FIG. 9(A), sparse operation is likely to occur at the timings of (1) start of input of raw stones 2, (2) stop of input, (3) interruption of input of raw stones 2, and (4) before and after, and (5) sudden decrease in input of raw stones 2 due to a sudden accident of the conveyor 60 or a change in the mining state, until recovery, etc. When the crushing state determination unit 42 calculates these states and determines that sparse operation is likely to occur or is occurring, the optimum calculation unit 43 and the control signal generation unit 44 control the IPM motor 20 as shown in FIG. 9(B). That is, as shown in FIG. 9(B), the rotation speed of the IPM motor 20 is reduced at the timing when sparse operation is likely to occur or during its occurrence, to reduce the amount of crushing, so that the raw stones 2 are filled into the crushing chamber 11b as quickly as possible. When the raw stones 2 are filled into the crushing chamber 11b, the rotation speed (for example, the maximum rotation speed within the allowable range, a high rotation speed set in advance, etc.) is increased again to create a crushing state by choke feed operation. At this time, as shown in FIG. 9(B), control to increase the rotation speed of the IPM motor 20 may be started at a stage in the middle of the increase in the amount of raw stones 2 being fed. In this way, by controlling the rotation speed of the IPM motor 20, choke feed operation is realized for a long time, and as a result, it is possible to improve the quality of the aggregate produced while increasing the crushing efficiency.

[0048] FIG. 10 is a flow chart showing the process of the crushing device 1 according to this embodiment. First, the crushing device 1 is started at the start of the work (S1). The control unit 40 controls the IPM motor 20, and the raw stones 2 are supplied from the conveyor 60 to the crushing chamber 11b (S2). Crushing work is performed between the concave 14 and the mantle 13 (S3). The control unit 40 acquires measurement information from the sensor unit 50 and the inverter 30 (S4) and judges whether the raw stones 2 are filled in the crushing chamber 11b (S5). If the raw stones 2 are filled, the process returns to S3 and the crushing work is continued by the choke feed operation. If the raw stones are not filled, the rotation speed of the IPM motor 20 that is optimal for the current crushing state is calculated (S6), and the process returns to S2 to control the IPM motor 20 at the calculated rotation speed. These processes are repeatedly executed until the work is completed.

[0049] In this manner, in the crushing device 1 of this embodiment, the raw stones 2 fed into the crushing chamber 11b are measured, and the filling state of the raw stones 2 in the crushing chamber 11b is determined based on the measurement information of the measured raw stones 2. If it is determined that the filling state of the raw stones 2 is not filled, the rotation speed of the IPM motor 20 is controlled to be slowed down, so that control is possible to perform choke feed operation for as long as possible, thereby achieving stable operation of the crushing device 1.

[0050] In addition, since there is no need to change the amount of raw ore 2 supplied from the conveyor 60 or the set value, the quality of the aggregate produced can be stabilized. Even if the production volume temporarily decreases due to a slowdown in the rotation speed of the IPM motor 20, it is possible to maintain choke feed operation for a long period of time, thereby improving production efficiency.

[0051] Furthermore, the camera 50a captures images of the conveyor 60 that transports the raw stones 2 to the inlet of the crushing chamber 11b and / or the inside of the crushing chamber 11b, and the crushing state determination unit 42 determines the filling state within the crushing chamber 11b based on the image information, so that the crushing state within the crushing chamber 11b can be accurately identified by image analysis.

[0052] Furthermore, the current consumption when driving the IPM motor 20 is measured, and the crushing state determination unit 42 determines the filling state based on the measured current consumption, so that the crushing state in the crushing chamber 11b can be accurately grasped based on the current value data alone.

[0053] Furthermore, based on the measurement information obtained by the sensor unit 50, the rotation speed when the rotation speed of the IPM motor 20 is slowed down is calculated, so that control is performed to enable choke feed operation for as long as possible, thereby improving the production efficiency of aggregates.

[0054] Furthermore, the distance sensor 50b measures the diameter and height of the raw stone 2 on the conveyor 60 that transports the raw stone 2 to the inlet of the crushing chamber 11b, and calculates the rotation speed of the IPM motor 20 according to the individual size of the raw stone 2, so that the IPM motor 20 can be driven at an appropriate rotation speed according to the condition of the raw material raw stone 2.

[0055] Furthermore, since the rotation speed of the IPM motor 20 is calculated according to the degree of variation in the size of each of the raw stones 2, even if the sizes of the raw stones 2 vary depending on the mining conditions, the IPM motor 20 can be driven at a rotation speed appropriate to the conditions at that time.

[0056] Furthermore, the rotation speed of the IPM motor 20 is controlled to a low speed at the timing when the filling state of the raw stones 2 in the crushing chamber 11b transitions from an unfilled state to a filled state, and at the timing when the filling state transitions from a filled state to an unfilled state. Therefore, the rotation speed of the IPM motor 20 is slowed down at the timing when sparse operation is likely to occur or during sparse operation, and the raw stones 2 are filled into the crushing chamber 11b during that time, thereby achieving choke feed operation. [Explanation of symbols]

[0057] 1 Crushing equipment 2 raw stone 10. Cone Crusher 11 Spindle 11b Crushing Room 11c Crushed area 12 Core section 12a Spherical part 13. Mantle 14 Concave 15 Liner section 15a Sliding surface part 16 Equipment Frame 17 Drive mechanism 19 Power transmission mechanism 19a Transmission mechanism 20 IPM motor 30 Inverter 31 Driving power supply 40 Control section 41 Input section 42 Crushed state determination unit 43 Optimal Calculation Unit 44 Control signal generator 50 Sensor section 50a Camera 50b Distance sensor 60 Conveyor

Claims

1. In a crushing device that crushes stones by rotating a crushing part, A measuring means for measuring the object to be crushed that is put into the crushing chamber; a filling determination means for determining a filling state of the object to be crushed in the crushing chamber based on the measurement information of the object to be crushed; and a control means for controlling the rotation speed of the crushing unit to be slowed down when the packed state of the object to be crushed is determined to be an unpacked state.

2. The crushing device according to claim 1, The measuring means captures an image of a conveyor that conveys the object to be crushed to an inlet of the crushing chamber and / or an image of the inside of the crushing chamber, The crushing device according to claim 1, wherein the filling determination means determines the filling state based on image information captured by the measuring means.

3. The crushing device according to claim 1 or 2, The measuring means measures the current consumption when driving the crushing unit, The crushing device according to claim 1, wherein the filling determination means determines the filling state based on the current consumption measured by the measurement means.

4. The crushing device according to claim 1 or 2, A crushing device comprising a rotation speed calculation means for calculating a rotation speed when the rotation speed of the crushing unit is to be slowed down based on the measurement information of the object to be crushed measured by the measuring means.

5. The crushing device according to claim 4, A crushing device characterized in that the measuring means measures the diameter and height of the object to be crushed on a conveyor that transports the object to an inlet of the crushing chamber, and the rotation speed calculation means calculates the rotation speed according to the individual size of the object to be crushed based on the information on the diameter and height of the object to be crushed.

6. The crushing device according to claim 5, A crushing device, wherein the rotation speed calculation means calculates the rotation speed according to the degree of variation in size of each of the objects to be crushed.

7. The crushing device according to claim 1 or 2, The crushing device according to claim 1, wherein the control means controls the rotation speed to a low speed at a timing when the loading state of the material to be crushed in the crushing chamber transitions from an unloaded state to a loaded state and at a timing when the material transitions from a loaded state to an unloaded state.

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