阅读说明：本技术 多履带输送机协同自移控制方法及系统 (Multi-crawler-belt conveyor cooperative self-moving control method and system ) 是由 杨洋 冯宝忠 刘增杰 王荣国 张奋有 盛伟青 周海霖 于 2021-09-22 设计创作，主要内容包括：本发明提出一种多履带输送机协同自移控制方法,包括以下步骤：将皮带机桁架划分为若干分组,每分组包括若干节桁架,相邻桁架之间采用联轴器软连接；在每个桁架底部设置驱动机构,且记录每个桁架的实时行走路程；将分组内每个桁架的实时行走路程求平均行程；将分组内每个桁架的实时行走路程与上述平均行程求单体差值；将单体差值与预存的组内误差限进行比对,并依据比对结果调整对应桁架；本发明中,对皮带机整机进行分组划分,对一个分组的桁架的移动路程进行记录并计算,依据计算结果对桁架进行对应的对齐矫直调整。(The invention provides a cooperative self-moving control method for a multi-crawler conveyor, which comprises the following steps: dividing the belt conveyor truss into a plurality of groups, wherein each group comprises a plurality of sections of trusses, and the adjacent trusses are in flexible connection by adopting a coupler; arranging a driving mechanism at the bottom of each truss and recording the real-time walking path of each truss; calculating the average travel of the real-time travel path of each truss in the group; calculating a monomer difference value of the real-time walking path of each truss in the group and the average stroke; comparing the monomer difference with a pre-stored error limit in the group, and adjusting the corresponding truss according to the comparison result; in the invention, the whole belt conveyor is divided into groups, the moving distance of a grouped truss is recorded and calculated, and the truss is correspondingly aligned and straightened according to the calculation result.)

1. A cooperative self-moving control method of a multi-crawler conveyor is characterized by comprising the following steps:

dividing the belt conveyor truss into a plurality of groups, wherein each group comprises a plurality of sections of trusses, and the adjacent trusses are in flexible connection by adopting a coupler;

arranging a driving mechanism at the bottom of each truss and recording the real-time walking path of each truss;

calculating the average travel of the real-time travel path of each truss in the group;

calculating a monomer difference value of the real-time walking path of each truss in the group and the average stroke;

and comparing the monomer difference with a pre-stored error limit in the group, and adjusting the corresponding truss according to the comparison result.

2. The cooperative self-moving control method of the multi-track conveyor according to claim 1, wherein the method for comparing the single difference value with the error limit in the group comprises the following steps: when the comparison result is positive, controlling the corresponding truss to perform reverse displacement action, wherein the displacement is the absolute value of the comparison result; and when the comparison result is a negative number, controlling the corresponding truss to perform positive displacement action, wherein the displacement is the absolute value of the comparison result.

3. The coordinated self-moving control method of a multi-track conveyor according to claim 1, further comprising the step of coordinated self-moving control among a plurality of groups:

calculating the average stroke of a plurality of groups of the belt conveyor to obtain the total average stroke;

averaging the average run length of each packet with the total average run length;

and comparing the average difference with a pre-stored total error limit, and adjusting the corresponding truss according to the comparison result.

4. The cooperative self-moving control method of multi-track conveyor according to claim 3, wherein the method for adjusting the corresponding truss after comparing the average difference with the overall error limit comprises: and calculating the difference between the average difference and the total error limit, and when the difference is larger than a preset threshold difference, correcting the average difference of the corresponding grouped trusses according to the difference, wherein the trusses in each group control the required moving stroke of each truss according to the corrected average difference.

5. The utility model provides a many caterpillar conveyor are from moving control system in coordination which characterized in that: the truss travel control system comprises a plurality of grouped trusses, a driving mechanism, a travel recording unit and a controller, wherein the driving mechanism is arranged below each truss, the driving mechanism is used for driving the trusses to move, the travel recording unit is used for recording the travel of the trusses, the controller receives the real-time travel of each truss, calculates the average travel according to the real-time travel, compares the average travel with the error limit prestored in the controller, and adjusts the corresponding trusses according to the comparison result.

6. The multi-track conveyor cooperative self-moving control system of claim 5, wherein: the stroke recording unit is provided with an encoder and is used for recording the walking path of the driving mechanism in real time.

Technical Field

The invention relates to the technical field of belt conveyor control, in particular to a cooperative self-moving control method and system for a multi-crawler conveyor.

Background

The safety production level of the open pit coal mine is higher at present, and the open pit coal mine is an indispensable component in the coal industry of China; the crawler belt conveyor capable of being efficiently displaced is convenient to move, the displacement time of the belt conveyor can be greatly shortened, continuous mining and production activities of an open-pit coal mine can be better served, the combined truss system can improve the working efficiency of the system, each truss is about 30 meters in length, and the number of trusses can be different according to different working conditions;

the control system of the belt conveyor is mature at present in China, and the control system of the crawler is discussed only for the truss part and is briefly discussed. At present, mature and reliable mobile crawler machines can be used for reference, and meanwhile, as the whole transportation length of the system generally needs 15-40 sets of mobile crawler machines to be used in combination, the crawler machines are basically in a semi-soft connection state, and the flatness of the ground in an actual mining area is not ideal, the crawler machines are probably out of synchronization due to different ground conditions and other factors in the translation process. The difficulty of the control system to realize theoretically complete synchronous movement is large. Once the serious deflection angle is enlarged or the adjacent trusses are piled up, the problem of the piling of the trusses is solved. There is a high likelihood of damage to the system if the truss system continues to be moved. However, parking recovery systems are also difficult in view of the actual truss packing relationship.

The invention is provided for solving the problem that the displacement of the multi-track is asynchronous due to various factors in the running process, so that a truss is blocked or a belt conveyor is damaged.

Disclosure of Invention

It is necessary to provide a cooperative self-moving control method for a multi-track conveyor, which comprises the following steps:

dividing the belt conveyor truss into a plurality of groups, wherein each group comprises a plurality of sections of trusses, and the adjacent trusses are in flexible connection by adopting a coupler;

arranging a driving mechanism at the bottom of each truss and recording the real-time walking path of each truss;

calculating the average travel of the real-time travel path of each truss in the group;

calculating a monomer difference value of the real-time walking path of each truss in the group and the average stroke;

and comparing the monomer difference with a pre-stored error limit in the group, and adjusting the corresponding truss according to the comparison result.

In the invention, the whole belt conveyor is divided into groups, the moving distance of a grouped truss is recorded and calculated, and the truss is correspondingly aligned and straightened according to the calculation result.

Drawings

Fig. 1 is a schematic diagram of the movement of a group truss according to the present invention.

Fig. 2 is a schematic diagram of the movement of the whole truss of the belt conveyor.

In the figure, trusses k1, k2, k3, k 4; first group K_{Is divided into 1}Second group K_{Is divided into 2}And a third subgroup K_{Is divided into 3}。

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Referring to fig. 1, an embodiment of the present invention provides a method for controlling cooperative self-moving of a multi-track conveyor, which is characterized by including the following steps:

dividing the belt conveyor truss into a plurality of groups, wherein each group comprises a plurality of sections of trusses, and the adjacent trusses are in flexible connection by adopting a coupler;

arranging a driving mechanism (a crawler machine) at the bottom of each truss, and recording the real-time walking path of each truss;

calculating the average travel of the real-time travel path of each truss in the group;

calculating a monomer difference value of the real-time walking path of each truss in the group and the average stroke;

and comparing the monomer difference with a pre-stored error limit in the group, and adjusting the corresponding truss according to the comparison result.

Further, the method for comparing the monomer difference value with the group internal error limit (for example, a suitable value such as 3 meters can be preset, and when the displacement difference of the adjacent trusses is smaller than the value, the trusses can freely and normally walk) includes: when the comparison result is positive, controlling the corresponding truss to perform a reverse displacement action (specifically, a reverse displacement signal and a displacement signal are provided to the driving mechanism below the truss through the controller), wherein the displacement is an absolute value of the comparison result; and when the comparison result is a negative number, controlling the corresponding truss to perform positive displacement action, wherein the displacement is the absolute value of the comparison result. In the scheme, the forward direction and the reverse direction are relative concepts, and the forward direction of the crawler can be assumed to be the forward direction.

Example 1

Assuming that 4 trusses are contained in one group, in the time period from t1 to t2, during the translation process of the grouped trusses, each crawler machine passes different distances, real-time walking distances recorded by an encoder are d1, d2, d3 and d4 respectively, a controller can calculate the average value of the groups of the readings of the encoders of the partial truss crawler machines, respectively obtain monomer difference values exceeding the error limit in the groups, record trusses exceeding the error limit in the groups (for example, 3 meters), and send a moving signal and a displacement signal to the corresponding trusses, for example, in the scheme, k1, k2, k3 and k4 are four trusses, the walking distances are d 1-3 meters, d 2-4 meters, d 3-5 meters and d 4-6 meters respectively, the average stroke of the trusses in the group is 2.25 meters according to formula 1, and the difference value between each walking distance and 2.25 meters, namely, is calculated according to formula 2 In willCompared with the length of 3 meters respectively,if the length is more than 3 meters, the length should be adjusted by 0.75 meter in the opposite direction, and if the rest trusses do not need to move, the length does not need to be adjusted;

in example 2, similarly, in another group, k1, k2, k3 and k4 are four trusses, the traveling distances are d 1-7 m, d 2-9 m, d 3-10 m and d 4-12 m, the average travel distance in the group is determined to be 9.5 m according to formula 1, and the monomer difference between the traveling distance of each truss and 9.5 m, that is, the monomer difference between the traveling distances of each truss and 9.5 m is calculated according to formula 2, that is, the monomer difference is calculated according to formula 2In will Compared with the length of 3 meters respectively,if the length is more than 3 meters, the length should be adjusted by 0.5 meter in the opposite direction, and if the rest trusses do not need to move, the length does not need to be adjusted;

and when the deviation value of a certain truss exceeds the preset intra-group error limit, judging according to the controller, and then outputting a signal to the encoder and the frequency converter to control the speed of the crawler machine so as to straighten the truss.

Referring to fig. 2, further, the present invention further includes a step of cooperative self-moving control among a plurality of packets:

grouping several average strokes of belt conveyor into three groupsCalculating the total average travel

Average run of each packetAnd total mean strokeCalculating the absolute value of the mean difference

And comparing the average difference with a pre-stored total error limit (2 meters), and adjusting the corresponding truss according to the comparison result.

Further, the method for adjusting the corresponding truss after comparing the average difference value with the total error limit (for example, a suitable value such as 2 meters can be preset, where the displacement difference between the trusses of the two adjacent groups is small, and each truss of each group can freely and normally walk) includes: and calculating the difference between the average difference and the total error limit, and when the difference is larger than a preset threshold difference, correcting the average difference of the corresponding grouped trusses according to the difference, wherein the trusses in each group control the required moving stroke of each truss according to the corrected average difference.

Example 3

(i.e. for the first packet d 1-3 m, d 2-4 m, d 3-5 m, d 4-6 m),(i.e. for the second grouping, 4 meters for d1, 5 meters for d2, 7 meters for d3, 8 meters for d 4.)

(i.e. for the third subgroup, 7-m for d1, 9-m for d2, 10-m for d3, 12-m for d 4)

{(2.25+6+9.5)/3}

In this embodiment, the average difference values of the trusses in the three groups are all smaller than the overall error value, and no adjustment is required.

Example 4

(i.e. for the first packet d 1-3 m, d 2-4 m, d 3-5 m, d 4-6 m),(i.e. for the second grouping, 4 meters for d1, 5 meters for d2, 7 meters for d3, 8 meters for d 4.)

(i.e. for the third subgroup, 8-m for d1, 10-m for d2, 12-m for d3, 12-m for d 4.)

{(2.25+6+9.5)/3}

Since the average difference value of the third group is greater than the total error value, the average difference value of the third group needs to be corrected, and the correction process is as follows:

subtracting {4.6- (2.6-2) } 4 meters from the average difference of the packet, the controller adjusts the truss of the packetAt 4 meters, the adjustment basis for each truss of the group is modified to be the 4 meters, rather than being based on 4.6.

Wherein the correction process may include the following two cases: firstly, judging whether the difference value 2.6 is a positive number or a negative number, if so, indicating that the grouped truss travels too fast, and then carrying out deceleration correction on the grouped average difference value, namely {4.6- (2.6-2) }, otherwise, carrying out acceleration correction, namely {4.6+ (2.6-2) }.

The invention also provides a multi-crawler-belt conveyor cooperative self-moving control system which comprises a plurality of grouping trusses, a driving mechanism, a stroke recording unit and a controller, wherein the driving mechanism is arranged below each truss, the driving mechanism is used for driving the trusses to move, the stroke recording unit is used for recording the walking distance of the trusses, the controller receives the real-time stroke of each truss, calculates the average stroke according to the real-time stroke, compares the average stroke with the error limit prestored in the controller, and adjusts the corresponding truss according to the comparison result.

Further, the stroke recording unit is provided with an encoder and is used for recording the walking path of the driving mechanism in real time.

The modules or units in the device of the embodiment of the invention can be combined, divided and deleted according to actual needs.

The above disclosure is only illustrative of the preferred embodiments of the present invention, which should not be taken as limiting the scope of the invention, but rather the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It will be understood by those skilled in the art that all or a portion of the above-described embodiments may be practiced and equivalents thereof may be resorted to as falling within the scope of the invention as claimed. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.