CN104698973A - Automatic centering system and method of parallel type mining crushing station - Google Patents

Abstract

The invention discloses an automatic centering system and method of a parallel type mining crushing station. In the automatic centering system, an audio sending module comprises a sound source parameter setting module, a sound source sound production control unit, a wireless data transmission module and a sound production device, wherein the sound source parameter setting module is connected with the sound source sound production control unit, the sound source sound production control unit is connected with the sound production device and performs data transmission through the wireless data transmission module. An audio receiving module comprises an audio receiving device, a spectral analysis unit, a centering control unit and a wireless data transmission module, wherein the audio receiving device is connected with the spectral analysis unit, the spectral analysis unit is connected with the centering control unit, and the centering control unit performs data transmission through the wireless data transmission module and is connected with a crushing machine centering drive system. According to a sound positioning principle, the automatic centering system is combined with an intelligent system on the whole production line, the whole process is reliable in control and accurate in alignment, and meanwhile production efficiency is greatly improved.

Description

A kind of automatic centering system of parallel mine crushing station and centering method

Technical field

The present invention relates to a kind of automatic centering system and centering method of parallel mine crushing station, belong to mine crushing machine field of intelligent control technology.

Background technology

Crushing Station is the necessary equipment during large outdoors colliery is produced, when crushing is larger, single disintegrating machine just can not meet broken requirement, therefore the mode of two disintegrating machine parallel connections is often adopted to achieve the goal, parallel Crushing Station, productive capacity is large, can broken relatively large material, as large-scale thick, in broken disintegrating machine use, production efficiency is higher.

Crushing Station in parallel needs to move along with the difference of mine site, need time mobile first single disintegrating machine separately to be moved, then re-start position centering in destination, two disintegrating machines after centering are centrally located on same perpendicular line, make it to meet to be connected in parallel demand.At present, and the mode of crusher centering mainly relies on and manually moves, and then relies on measurement means and workman's experience to carry out centering, not only efficiency lower and also often Crushing Station precision in parallel can not satisfy the demands, affect the work flow of whole production line.

Summary of the invention

For problems of the prior art, the invention provides a kind of automatic centering system and centering method of parallel mine crushing station, can automatically control two-shipper centering, aim at accurately, greatly increase work efficiency simultaneously.

To achieve these goals, a kind of automatic centering system of parallel mine crushing station, comprise the audio frequency sending module be arranged on disintegrating machine I, be arranged on audio frequency receiver module on disintegrating machine II and disintegrating machine centering drive system, audio frequency sending module comprises sound source parameter setting module, sound source sounding control module, wireless data transmission module and sound-producing device, sound source parameter setting module is connected with sound source generation control module, sound source generation control module is connected with sound-producing device, and sound source generation control module carries out data transmission by wireless data transmission module; Audio frequency receiver module comprises apparatus for receiving audio, spectral analysis unit, centering control module and wireless data transmission module, apparatus for receiving audio is connected with spectral analysis unit, spectral analysis unit is connected with centering control module, centering control module carries out data transmission by wireless data transmission module, and centering control module is connected with disintegrating machine centering drive system.

The sound-producing device be arranged on disintegrating machine I has two, and the apparatus for receiving audio be arranged on disintegrating machine II has three.

Also there is in audio frequency receiver module the touch-screen be connected with centering control module.

The parameter of sound source parameter setting module setting comprises frequency and the decibel that sound-producing device sends sound source, and the spacing of disintegrating machine.

The automatic centering method at parallel mine crushing station, comprises the following steps:

A. two sound-producing devices are determined at the installation site of disintegrating machine I and three apparatus for receiving audio in the installation site of disintegrating machine II according to sound localization principle;

B. in audio frequency sending module, set sound source parameter, the frequency of pronouncing frequently obviously should distinguish over the frequency of neighbourhood noise;

C. audio frequency receiver module carries out spectrum analysis to the sound signal received, and determines the physical location of disintegrating machine II relative to disintegrating machine I;

D. according to the program preset, centering control module controlled fragmentation machine drive system carries out the parallel adjustment of two-shipper;

E. two-shipper parallel after, centering control module controlled fragmentation machine drive system carries out the adjustment of two-shipper parallel distance;

F., after two-shipper parallel distance has adjusted, centering control module controlled fragmentation machine drive system carries out the adjustment of two-shipper centering.

After setting sound source parameter in step b, according to the range areas size of the sound source parameter determination center support system application of setting.

The present invention according to sound localization principle, and combines with the intelligent system on whole production line, determines the relative position between two disintegrating machines according to audio frequency, thus automatically controlling two-shipper centering, whole process control is reliable, aims at accurately, substantially increase production efficiency simultaneously, save labour.

Accompanying drawing explanation

Fig. 1 is systematic schematic diagram of the present invention;

Fig. 2 is sound localization schematic diagram;

Fig. 3 is sound-producing device and the installation site figure of apparatus for receiving audio on disintegrating machine;

Fig. 4 is the parallel principle schematic of two-shipper;

Fig. 5 is two-shipper parallel distance adjustment principle schematic;

Fig. 6 is two-shipper centering principle schematic;

Fig. 7 is two-shipper centering control flow chart.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

As shown in Figure 1, a kind of automatic centering system of parallel mine crushing station, comprise the audio frequency sending module be arranged on disintegrating machine I, be arranged on audio frequency receiver module on disintegrating machine II and disintegrating machine centering drive system, audio frequency sending module comprises sound source parameter setting module, sound source sounding control module, wireless data transmission module and sound-producing device, sound source parameter setting module is connected with sound source generation control module, sound source generation control module is connected with sound-producing device, and sound source generation control module carries out data transmission by wireless data transmission module; Audio frequency receiver module comprises apparatus for receiving audio, spectral analysis unit, centering control module and wireless data transmission module, apparatus for receiving audio is connected with spectral analysis unit, spectral analysis unit is connected with centering control module, centering control module carries out data transmission by wireless data transmission module, and centering control module is connected with disintegrating machine centering drive system.

The sound-producing device be arranged on disintegrating machine I has two, and the apparatus for receiving audio be arranged on disintegrating machine II has three.

Also there is in audio frequency receiver module the touch-screen be connected with centering control module.

The parameter of sound source parameter setting module setting comprises frequency and the decibel that sound-producing device sends sound source, and the spacing of disintegrating machine.

Sound source sounding control module is for controlling the sounding of sound-producing device; Sound-producing device 1 and generating means 2 can send the sound wave of setpoint frequency and decibel, and can change by changing setup parameter the acoustic wave parameter that sound-producing device sends; Wireless data transmission module is used for the exchanges data between audio frequency transmitting terminal and audio interface receiving end.

The sound wave that apparatus for receiving audio sends for gathering sound-producing device, is drawn the parameters of apparatus for receiving audio 1, apparatus for receiving audio 2 and apparatus for receiving audio 3 sound signal by spectral analysis unit; Centering control module carries out treatment and analysis to gathered sound signal, and sends action command to disintegrating machine centering drive system; Touch-screen can to state monitor and forecast.

Centering flow process as shown in Figure 7, control module setting sound source parameter also inputs to sound-producing device by wireless module, sound-producing device sounding is to apparatus for receiving audio, then carry out sound signal processing and carry out the parallel judgement control of two-shipper, two-shipper parallel distance adjustment control and two-shipper centering successively by sound localization principle judging to control, until complete whole centering process.

The automatic centering method at parallel mine crushing station, comprises the following steps: a. determines two sound-producing devices at the installation site of disintegrating machine I and three apparatus for receiving audio in the installation site of disintegrating machine II according to sound localization principle;

As shown in Figure 2, planar have two sounding points A and B, A to send the spherical sound wave of akHz, xdB, B sends the spherical sound wave of bkHz, ydB to sound localization principle, and along with sound wave is to external diffusion, loudness can decay gradually.Such as, the outside diffusive attenuation of sound wave that in figure, A place sends is x ₁dB, x ₂dB, form two circles, the outside diffusive attenuation of the sound wave that B place sends is y ₁dB, form a circle, then three circles intersect at C, D two point, and coordinate (x just can be used in C point position ₂, y ₁) represent, coordinate (x can be used in D point position ₁, y ₁) represent, so all in plane points have unique coordinate.

For spherical wave, its acoustic pressure effective value can be expressed as:

$p_e=\sqrt{\frac{1}{T}{\∫}_0^T{p}^2\left(t\right)\mathrm{dt}}$

In formula, p (t) is instantaneous sound pressure level, for pure tone

The wave equation of spherical wave:

p(r,t)＝p _maxcos(ωt-kr)

$p_{\max }=\frac{A}{r}$

A is the amplitude of r=0 place vibration, the A=ω ρ of point sound source ₀q/4 π, Q are point sound source intensity amplitude unit W/m ², ρ ₀for atmospheric density units/kg/m, ω is angular frequency, then

$p_e=\frac{1}{\sqrt{2}}\frac{\mathrm{\ω}{\mathrm{\ρ}}_{0}Q}{4\mathrm{\πr}}---\left(1\right)$

Sound pressure level defines:

$L_p=20\lg \left(\frac{p_e}{p_0}\right)\left(\mathrm{dB}\right)$

In formula: reference acoustic pressure p ₀=2 × 10 ^-5pa, then

$p_e={10}^{\frac{L_p}{20}}{p}_0---\left(2\right)$

The distance l between AC 2 can be obtained by (1), (2) formula _aCfor:

$l_{\mathrm{AC}}=\frac{\mathrm{\ω}{\mathrm{\ρ}}_{0}Q}{4\sqrt{2}\mathrm{\π}{10}^{\frac{x_2}{20}}{p}_0}$

In like manner can obtain:

$l_{\mathrm{AD}}=\frac{\mathrm{\ω}{\mathrm{\ρ}}_{0}Q}{4\sqrt{2}\mathrm{\π}{10}^{\frac{x_1}{20}}{p}_0}$

$l_{\mathrm{BC}}=l_{\mathrm{BD}}=\frac{\mathrm{\ω}{\mathrm{\ρ}}_{0}Q}{4\sqrt{2}\mathrm{\π}{10}^{\frac{y_1}{20}}{p}_0}$

As shown in Figure 3, two sound-producing devices are arranged on disintegrating machine 1 and represent with A, B in sound-producing device and the apparatus for receiving audio installation site on disintegrating machine, and three apparatus for receiving audio are arranged on disintegrating machine 2, represent respectively with C, D, E, and l _aB=l _cE=2l _cD=2l _dE.According to tut positioning principle can obtain the coordinate of C, D, E 3 and 3 respectively with the distance of A, B 2.

B. in audio frequency sending module, set sound source parameter, the frequency of pronouncing frequently obviously should distinguish over the frequency of neighbourhood noise; To reduce the interference that neighbourhood noise produces.

C. audio frequency receiver module carries out spectrum analysis to the sound signal received, and determines the physical location of disintegrating machine II relative to disintegrating machine I; Represent the physical location of disintegrating machine 1 with AB, CDE represents the physical location of disintegrating machine 2;

D. according to the program preset, centering control module controlled fragmentation machine drive system carries out the parallel adjustment of two-shipper;

As shown in Figure 4, the relative position of broken machine 1 and disintegrating machine 2 is any, and represent the physical location of disintegrating machine 1 with AB, CDE represents the physical location of disintegrating machine 2, and CD ' E ' is for needing the position arrived after disintegrating machine 2 adjustment.

Can in the hope of l by tut positioning principle _aC, l _cBand l _aD, and l _aBand l _{cD '}known, then

$\mathrm{coa\α}=\frac{l_{\mathrm{AB}}^2+l_{\mathrm{BC}}^2-l_{\mathrm{AC}}^2}{2l_{\mathrm{AB}}{l}_{\mathrm{BC}}}\⇒\mathrm{\α}=\arccos \frac{l_{\mathrm{AB}}^2+l_{\mathrm{BC}}^2-l_{\mathrm{AC}}^2}{2l_{\mathrm{AB}}{l}_{\mathrm{BC}}}$

In like manner $\mathrm{coa\β}=\frac{l_{\mathrm{AC}}^2+l_{\mathrm{BC}}^2-l_{\mathrm{AB}}^2}{2l_{\mathrm{AC}}{l}_{\mathrm{BC}}}\⇒\mathrm{\β}=\arccos \frac{l_{\mathrm{AC}}^2+l_{\mathrm{BC}}^2-l_{\mathrm{AB}}^2}{2l_{\mathrm{AC}}{l}_{\mathrm{BC}}}$

And γ=α, then ∠ ACE '=alpha+beta

Due to l _aC, l _{cD '}known, then $l_{{\mathrm{AD}}^{\′}}=\sqrt{l_{\mathrm{AC}}^2+l_{{\mathrm{CD}}^{\′}}^2-2l_{\mathrm{AC}}{l}_{{\mathrm{CD}}^{\′}}\cos (\mathrm{\α}+\mathrm{\β})}$

Relatively l _aDwith l _{aD '}length, works as l _aD>l _{aD '}time, disintegrating machine 2 turns clockwise around C point; Work as l _aD<l _{aD '}time, disintegrating machine 2 is rotated counterclockwise around C point, in like manner can try to achieve l _aE, l _{aE '}length, work as l _aE>l _{aE '}time, disintegrating machine 2 turns clockwise around C point; Work as l _aE<l _{aE '}time, disintegrating machine 2 is rotated counterclockwise around C point, makes two-shipper parallel.Use D, E 2 carries out parallel stability and the precision that can improve system of two-shipper simultaneously.

E. two-shipper parallel after, centering control module controlled fragmentation machine drive system carries out the adjustment of two-shipper parallel distance;

As shown in Figure 5, CDE represents disintegrating machine 2 physical location, and C ' D ' E ' represents disintegrating machine 2 position after distance adjustment, l ₁for actual two-shipper spacing, l ₂for required spacing.

Can in the hope of l by tut positioning principle _aC, l _cB, and l _aBknown, then

$\&angle;\mathrm{CAB}=\arccos \frac{l_{\mathrm{AC}}^2+l_{\mathrm{AB}}^2-l_{\mathrm{BC}}^2}{2l_{\mathrm{AB}}{l}_{\mathrm{AC}}}$

Because $\mathrm{\&delta;}=\&PlusMinus;(\frac{\mathrm{\&pi;}}{2}-\&angle;\mathrm{CAB})$

So $l_1=l_{\mathrm{AC}}\cos (\frac{\mathrm{\&pi;}}{2}-\&angle;\mathrm{CAB})$

Relatively l ₁with l ₂, work as l ₁<l ₂time, disintegrating machine 2 is to the direction translation away from disintegrating machine 1; Work as l ₁>l ₂time, disintegrating machine 2 is to the direction translation near disintegrating machine 1, until arrival assigned address.

F., after two-shipper parallel distance has adjusted, centering control module controlled fragmentation machine drive system carries out the adjustment of two-shipper centering.

As shown in Figure 6, CDE represents disintegrating machine 2 physical location, and C ' D ' E ' represents the position after centering, l _{aC '}=l ₂.Can in the hope of l by tut positioning principle _aC, l _aD, l _bD.

Work as l _aC>l ₂and l _aD<l _bDtime, disintegrating machine 2 translation downwards; Work as l _aC>l ₂and l _aD>l _bDtime, disintegrating machine 2 translation upward, until l _aC=l ₂, l _aD=l _bDcomplete centering process.

After setting sound source parameter in step b, according to the range areas size of the sound source parameter determination center support system application of setting.

For different environment, air has absorption to acoustic energy, and when temperature 20 DEG C, the absorption of air damping capacity of the every 100m of acoustic energy is:

$A_a=7.4\frac{f^{2}r}{\mathrm{\&Phi;}}{10}^{-8}$

In formula: A _afor the absorption of air damping capacity of every 100m, dB/100m; F is sound frequency, unit Hz; R is propagation distance, unit m; Φ is relative humidity.

Then the orientation range r of system is determined by following formula:

$p_e-\frac{A_{a}r}{100}=0$

Then $\frac{1}{\sqrt{2}}\frac{\mathrm{\&omega;}{\mathrm{\&rho;}}_{0}Q}{4\mathrm{\&pi;r}}=\frac{7.4f^2{r}^2}{\mathrm{\&Phi;}}\&times;{10}^{-10}$

Then orientation range $r=133.7\sqrt[3]{\frac{\mathrm{\&omega;}{\mathrm{\&rho;}}_0\mathrm{Q\&Phi;}}{\mathrm{\&pi;}{f}^2}}$

In formula, ρ ₀for atmospheric density units/kg/m, Q is strength of sound source unit W/m ², P _∈for acoustic pressure effective value unit Pa.

The present invention judges the relative position between two disintegrating machines according to sound localization principle, and automatically control to realize between two disintegrating machines the whole flow process of parallel, parallel distance, centering, method is simple, controls reliable, substantially increases production efficiency.

Claims (6)

1. the automatic centering system at a parallel mine crushing station, it is characterized in that, comprise the audio frequency sending module be arranged on disintegrating machine I, be arranged on audio frequency receiver module on disintegrating machine II and disintegrating machine centering drive system, audio frequency sending module comprises sound source parameter setting module, sound source sounding control module, wireless data transmission module and sound-producing device, sound source parameter setting module is connected with sound source generation control module, sound source generation control module is connected with sound-producing device, and sound source generation control module carries out data transmission by wireless data transmission module; Audio frequency receiver module comprises apparatus for receiving audio, spectral analysis unit, centering control module and wireless data transmission module, apparatus for receiving audio is connected with spectral analysis unit, spectral analysis unit is connected with centering control module, centering control module carries out data transmission by wireless data transmission module, and centering control module is connected with disintegrating machine centering drive system.

2. the automatic centering system at parallel mine crushing station according to claim 1, is characterized in that, the sound-producing device be arranged on disintegrating machine I has two, and the apparatus for receiving audio be arranged on disintegrating machine II has three.

3. the automatic centering system at parallel mine crushing station according to claim 1 and 2, is characterized in that, also has the touch-screen be connected with centering control module in audio frequency receiver module.

4. the automatic centering system at parallel mine crushing station according to claim 3, is characterized in that, the parameter of sound source parameter setting module setting comprises frequency and the decibel that sound-producing device sends sound source, and the spacing of disintegrating machine.

5. the automatic centering method at parallel mine crushing station, is characterized in that, comprise the following steps:

A. two sound-producing devices are determined at the installation site of disintegrating machine I and three apparatus for receiving audio in the installation site of disintegrating machine II according to sound localization principle;

B. in audio frequency sending module, set sound source parameter, the frequency of pronouncing frequently obviously should distinguish over the frequency of neighbourhood noise;

C. audio frequency receiver module carries out spectrum analysis to the sound signal received, and determines the physical location of disintegrating machine II relative to disintegrating machine I;

D. according to the program preset, centering control module controlled fragmentation machine drive system carries out the parallel adjustment of two-shipper;

E. two-shipper parallel after, centering control module controlled fragmentation machine drive system carries out the adjustment of two-shipper parallel distance;

F., after two-shipper parallel distance has adjusted, centering control module controlled fragmentation machine drive system carries out the adjustment of two-shipper centering.

6. the automatic centering method at parallel mine crushing station according to claim 5, is characterized in that: after setting sound source parameter in step b, according to the range areas size of the sound source parameter determination center support system application of setting.