CN111056260B - Automatic control type belt conveyor belt offset return system and method - Google Patents
Automatic control type belt conveyor belt offset return system and method Download PDFInfo
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- CN111056260B CN111056260B CN202010053096.3A CN202010053096A CN111056260B CN 111056260 B CN111056260 B CN 111056260B CN 202010053096 A CN202010053096 A CN 202010053096A CN 111056260 B CN111056260 B CN 111056260B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/60—Arrangements for supporting or guiding belts, e.g. by fluid jets
- B65G15/64—Arrangements for supporting or guiding belts, e.g. by fluid jets for automatically maintaining the position of the belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors
- B65G39/10—Arrangements of rollers
- B65G39/12—Arrangements of rollers mounted on framework
- B65G39/16—Arrangements of rollers mounted on framework for aligning belts or chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Abstract
The invention discloses a belt offset return system of an automatic control type belt conveyor, which comprises a material detector, a belt speed detection sensor and a roller offset device, wherein a first laser sensor is arranged on the side of a part, close to a driving roller, of an ascending belt of a belt, a second laser sensor is arranged on the side of a part, close to a driven roller, of the ascending belt of the belt, the first roller offset device and the second roller offset device are respectively arranged at two ends of a central shaft of the driving roller, and a third roller offset device and a fourth roller offset device are arranged at two ends of a central shaft of the driven roller. The invention also discloses a belt offset return method of the automatic control type belt conveyor, the belt offset correction effect of the invention is good, the deflection amount and the deflection speed of the central shaft of the roller can be adjusted according to different belt speeds and belt offset degrees, and the invention is suitable for the correction requirements of belt offset under different conditions.
Description
Technical Field
The invention relates to the field of belt conveyors, in particular to a belt offset return system of an automatic control type belt conveyor, and further relates to a belt offset return method of the automatic control type belt conveyor, which is suitable for belt offset adjustment of the belt conveyor.
Background
In the field of continuous conveying of bulk materials such as coal mines, metal mines, cement, grains and the like, a belt deviation phenomenon often occurs in the operation process of a belt conveyor, and the occurrence of the belt deviation phenomenon is closely related to each link in the design, production and later installation and use processes of the conveyor. The offset of the belt conveyor greatly harms the smooth progress of engineering production, and is mainly embodied in the following aspects: 1. excessive belt deflection can result in a direct shut down of the process. 2. Belt deflection can lead to uneven stress on important parts such as carrier rollers and friction between the belt and the bracket. 3. After the belt deviates, a certain buffering period is sometimes needed, but hidden dangers exist constantly, and after the belt deviates seriously, one side of the belt is stressed seriously too much, and the force exceeds the longitudinal tensile force of the belt, so that the belt is transversely torn. The belt conveyor has the problems that the belt conveyor is greatly damaged, potential safety hazards exist, the production efficiency is influenced, resources are wasted, and the like.
Belt deviation correction is a main parameter of belt conveyor operation. Methods for adjusting and preventing belt deviation and improving deviation correction precision are various, and the methods commonly used for belt deviation correction of a belt conveyor in engineering at present comprise adjusting the angle of a material guide plate, reforming the shape of a carrier roller, adjusting the height of a support and manually adjusting the position of a roller. Wherein adjust the stock guide angle, make the atress of belt evenly balanced according to the position of adjusting material unloading point to reach the effect of tuningout, the real-time is poor, and the precision is not high. The transformation of the shape of the carrier roller, the adjustment of the height of the bracket and the manual adjustment of the position of the roller can not control the offset of the belt in real time, the precision is not high, and the automatic control can not be realized. In recent years, fully automated factories have become a social trend, and the whole system of the automated factories has functions of self-diagnosis, self-maintenance, error recording, alarm protection and the like, which can not only reduce human intervention, improve the quality and reliability of the system, but also improve the efficiency and quality of work.
Disclosure of Invention
The invention aims to solve the problems in the prior art, provides an automatic control type belt conveyor belt offset return system and a belt offset return method thereof,
in order to achieve the purpose, the invention adopts the following technical measures:
an automatic control type belt conveyor belt offset return system comprises a material detector, a belt speed detection sensor and a roller offset adjusting device,
the two laser sensors are respectively a first laser sensor and a second laser sensor, the first laser sensor is arranged on the side of the part of the upward belt of the belt, which is close to the driving roller, the second laser sensor is arranged on the side of the part of the upward belt of the belt, which is close to the driven roller,
the four roller deviation adjusting devices are respectively a first roller deviation adjusting device, a second roller deviation adjusting device, a third roller deviation adjusting device and a fourth roller deviation adjusting device, the first roller deviation adjusting device and the second roller deviation adjusting device are respectively arranged at two ends of a central shaft of the driving roller, and the third roller deviation adjusting device and the fourth roller deviation adjusting device are arranged at two ends of a central shaft of the driven roller.
The first roller deviation adjusting device, the second roller deviation adjusting device, the third roller deviation adjusting device and the fourth roller deviation adjusting device have the same structure and respectively comprise a motor, a coupler, a reduction box, a ball screw and a roller supporting seat, the reduction box comprises a reduction box body, a worm, a turbine and two ball nuts,
the rotating shaft of the motor is connected with the worm shaft through the coupler, the gear on the outer ring of the turbine is meshed with the worm, the inner ring of the turbine is sleeved on the ball screw, threads on the inner ring of the turbine are meshed with the ball screw, the outer rings of the two ball nuts are fixed with the reduction box body, the inner rings of the two ball nuts are movably sleeved on the ball screw, the turbine is located between the two ball nuts, and the ball screw is connected with the roller supporting seat.
The two ends of the central shaft of the driving roller are respectively arranged on the roller supporting seats of the first roller deviation adjusting device and the second roller deviation adjusting device through universal bearings, the ball screws of the first roller deviation adjusting device and the second roller deviation adjusting device are arranged in parallel, the control system simultaneously controls the motors of the first roller deviation adjusting device and the second roller deviation adjusting device to rotate simultaneously so as to drive the roller supporting seats of the first roller deviation adjusting device and the second roller deviation adjusting device to move in opposite directions with the same movement distance, and further drives the central shaft of the driving roller to rotate forwards and horizontally or reversely and horizontally,
the both ends of driven cylinder's center pin are respectively through universal bearing setting on the cylinder supporting seat of third cylinder tuningout device and fourth cylinder tuningout device, the ball screw parallel arrangement of third cylinder tuningout device and fourth cylinder tuningout device, control system simultaneous control third cylinder tuningout device and fourth cylinder tuningout device's motor is rotatory simultaneously, and then drive the cylinder supporting seat of third cylinder tuningout device and fourth cylinder tuningout device to opposite direction motion, and the movement distance is the same, and then the center pin that drives driven cylinder carries out forward horizontal rotation or reverse horizontal rotation.
An automatic control type belt conveyor belt offset return method comprises the following steps:
step 1, in the optimal position state of the belt, two ends of the belt are respectively wrapped at the middle parts of a driving roller and a driven roller, the central axes of the driving roller and the driven roller are parallel, the length direction of the belt is vertical to the central axes of the driving roller and the driven roller, a first laser sensor monitors that the distance between the first laser sensor and the part, close to the driving roller, of an ascending belt of the belt is a first initial distance which is marked as M0, a second laser sensor monitors that the distance between the second laser sensor and the part, close to the driven roller, of the ascending belt of the belt is a second initial distance which is marked as N0,
the second laser sensor monitors the distance, denoted Ni, between the second laser sensor and the part of the belt upstream of the belt close to the driven drum at frequency f,
the belt speed detecting sensor monitors the speed of the belt conveyor for conveying materials with the frequency f, the speed of the belt conveyor for conveying the materials is recorded as Si,
the monitoring frequencies of the first laser sensor, the second laser sensor and the belt speed detection sensor are synchronous;
calculating a first deviation EMi ═ Mi-M0;
calculating a second deviation ENi — Ni-N0;
setting the distance from the end part of the belt covering the driving roller to the end part covering the driving roller from the middle part of the driving roller to be A; the distance from the end part of the belt covering the driven roller to the end part covering the driving roller from the middle part of the driven roller is set as A,
setting the translation distances of ball screws of the first roller deviation adjusting device and the second roller deviation adjusting device to be B when the central shaft of the driving roller starts from the optimal position state of the belt and rotates forwards and horizontally to the limit and rotates reversely and horizontally to the limit; setting the translation distance of the ball screw of the third roller deviation adjusting device and the fourth roller deviation adjusting device to be B when the central shaft of the driven roller starts from the optimal position state of the belt and rotates forwards and horizontally to the limit and rotates reversely and horizontally to the limit,
setting the highest belt speed of a belt for conveying materials by the belt conveyor to be V1, setting the highest translation speed of ball screws of the first roller deviation adjusting device to the fourth roller deviation adjusting device to be V2,
step 3.1, judging the size of the EMi and A, calculating the translational adjustment speed Deltav 1,
if | EMi | is less than or equal to h × a, Δ C is 0, h is a set coefficient, and h is greater than 0 and less than 0.2;
if | EMi | is greater than h a and equal to or less than a and the material detector detects that material falls into the belt, Δ C ═ (EMi/a) × B, Δ V1 ═ [ (EMi/a) × V2+ (V1 × V2-V2 ×/V1 ]/2;
if the | EMi | is larger than a and the material detector detects that the material falls into the belt, Δ C is equal to B, and Δ V1 is equal to V2;
if | EMi | is greater than H a and equal to or less than 0.5A, and the material detector detects that no material is falling on the belt, then ac (EMi/a) B H,
Δ V1 ═ V2+ (V1V 2-V2 Si)/V1 ═ H/2, H is a set coefficient, and H is greater than 0 and less than 1;
if | EMi | is greater than 0.5A and equal to or less than a and the material detector detects that no material falls into the belt, Δ C ═ (EMi/a) × B, Δ V1 ═ EMi/a) × V2+ (V1 × V2-V2 Si)/V1 ]/2;
if the | EMi | is larger than A and the material detector detects that no material falls into the belt, the Δ C is equal to B, and the Δ V1 is equal to V2;
the ball screws of the first roller deviation adjusting device and the second roller deviation adjusting device are simultaneously translated in the opposite direction at the translation speed Deltav 1 for a distance DeltaC, so that the central shaft of the driving roller 13 is deflected, and the end part of the belt coated on the driving roller slides towards the middle part of the driving roller;
step 4, calculating the translational adjustment distance delta D and the translational adjustment speed delta v2 of the ball screws of the third roller deviation adjusting device and the fourth roller deviation adjusting device, and specifically comprising the following steps:
step 3.2, judging the size of the absolute value of A, calculating the translational adjustment speed delta v2,
if | EMi | is less than or equal to h × a, Δ C is 0, h is a set coefficient, and h is greater than 0 and less than 0.2;
if | ENi | is greater than h a and equal to or less than a, and the material detector detects that material falls into the belt, Δ D ═ (ENi/a) × B, [ (EMi/a) × V2 ═ V2+ (V1 × V2-V2 £)/V1 ]/2;
if | ENi | is greater than a and the material detector detects that material falls into the belt, Δ D ═ B and Δ V2 ═ V2;
if | ENi | is greater than H a and equal to or less than 0.5A, and the material detector detects that no material is falling on the belt, Δ D ═ (ENi/a) × B × H,
Δ V2 ═ V2+ (V1V 2-V2 Si)/V1 ═ H/2, H is a set coefficient, and H is greater than 0 and less than 1;
if | ENi | is greater than 0.5A and equal to or less than a, and the material detector detects that no material falls into the belt, Δ D ═ (ENi/a) × B, | V2 ═ V2+ (V1 × V2-V2 |/V1 ]/2;
if | ENi | is greater than a, and the material detector detects that no material is falling into the belt, then ad ═ B,
△v2＝V2；
the ball screws of the third roller deviation adjusting device and the fourth roller deviation adjusting device translate reversely for a distance delta D at a translation speed delta v2 at the same time, so that the central shaft of the driven roller deflects, and the end part of the belt coated on the driven roller slides towards the middle part of the driven roller.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a belt offset return system of an automatic control type belt conveyor, which has the advantages of simple structure, convenience in installation, high induction precision and strong real-time property.
2. The belt deviation correcting effect is good, the deviation amount and the deviation speed of the central shaft of the roller can be adjusted according to different belt speeds and belt deviation degrees, and the belt deviation correcting device is suitable for correcting the deviation of the belt under different conditions.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the reduction gearbox;
FIG. 3 is a schematic view showing the state of the belt with the central axis of the driving roller and the central axis of the driven roller;
wherein, (a) is before belt deviation (belt optimum position state); (b) after the belt is deviated; (c) performing deflection correction on the central shaft of the driving roller;
in figure 1, a frame support; 2. a belt; 3. a conveyor supporting seat; 4. a roller supporting seat; 5. a material detector; 6. a ball screw; 7. an electric motor; 8. a reduction gearbox; 8-1, a scroll bar; 8-2, ball nuts; 8-3, a turbine; 9. a frequency converter; 10. a signal receiver; 11. a control system; 12. a wireless network; 13. a driving roller; 14. a laser sensor; 15. a belt speed detection sensor; 16. a coupling is provided.
The specific implementation scheme is as follows:
the present invention will be described in further detail with reference to examples for the purpose of facilitating understanding and practice of the invention by those of ordinary skill in the art, and it is to be understood that the examples described herein are for the purpose of illustration and explanation only and are not intended to be limiting.
An automatic control type belt conveyor belt offset return system comprises a material detector 5, a belt speed detection sensor 15 and a roller offset adjusting device,
the material detector 5 is used for detecting whether materials fall into the belt 2,
the belt speed detecting sensor 15 is used for measuring the speed of the belt 2 of the belt conveyor conveying the material,
the number of the laser sensors 14 is two, and the first laser sensor and the second laser sensor are respectively provided, the first laser sensor is arranged on the side of the part, close to the driving roller, of the upward belt of the belt 2, the second laser sensor is arranged on the side of the part, close to the driven roller, of the upward belt of the belt 2, the first laser sensor is used for monitoring the distance between the first laser sensor and the part, close to the driving roller, of the upward belt of the belt 2, and the second laser sensor is used for monitoring the distance between the second laser sensor and the part, close to the driven roller, of the upward belt of the belt 2.
The number of the roller deviation adjusting devices is four, the first roller deviation adjusting device, the second roller deviation adjusting device, the third roller deviation adjusting device and the fourth roller deviation adjusting device are respectively arranged at two ends of a central shaft of the driving roller 13, and the third roller deviation adjusting device and the fourth roller deviation adjusting device are arranged at two ends of a central shaft of the driven roller.
The first roller deviation adjusting device, the second roller deviation adjusting device, the third roller deviation adjusting device and the fourth roller deviation adjusting device have the same structure and respectively comprise a motor 7, a coupler 16, a reduction box 8, a ball screw 6 and a roller supporting seat 4, the reduction box 8 comprises a reduction box body, a worm 8-1, a turbine 8-3 and two ball nuts 8-2,
a rotating shaft of the motor 7 is coupled with the worm 8-1 through a coupler 16, a gear on the outer ring of the turbine 8-3 is meshed with the worm 8-1, the inner ring of the turbine 8-3 is sleeved on the ball screw 6, threads on the inner ring are meshed with the ball screw 6, the outer rings of the two ball nuts 8-2 are fixed with the reduction box body, the inner rings of the two ball nuts 8-2 are movably sleeved on the ball screw 6, the turbine 8-3 is positioned between the two ball nuts 8-2, the ball screw 6 is connected with the roller supporting seat 4, and the inner ring and the outer ring of the ball nut 8-2 can realize relative rotation.
Two ends of the central shaft of the driving roller 13 are respectively arranged on the roller supporting seat 4 of the first roller deviation adjusting device and the second roller deviation adjusting device through universal bearings. The ball screw 6 of the first roller deviation adjusting device and the ball screw 6 of the second roller deviation adjusting device are arranged in parallel, the control system 11 simultaneously controls the motors 7 of the first roller deviation adjusting device and the second roller deviation adjusting device to rotate simultaneously, and then the roller supporting seats 4 of the first roller deviation adjusting device and the second roller deviation adjusting device are driven to move in opposite directions, the movement distances are the same, and then the central shaft of the driving roller 13 is driven to rotate in a forward horizontal direction or a reverse horizontal direction.
Two ends of the central shaft of the driven roller are respectively arranged on the roller supporting seat 4 of the third roller deviation adjusting device and the fourth roller deviation adjusting device through universal bearings. The ball screw 6 of the third roller deviation adjusting device and the ball screw 6 of the fourth roller deviation adjusting device are arranged in parallel, the control system 11 simultaneously controls the motors 7 of the third roller deviation adjusting device and the fourth roller deviation adjusting device to rotate simultaneously, and then the roller supporting seats 4 of the third roller deviation adjusting device and the fourth roller deviation adjusting device are driven to move in opposite directions, the movement distances are the same, and then the central shaft of the driven roller is driven to rotate in a forward horizontal direction or a reverse horizontal direction.
For example, a single-roller or a grooved belt conveyor, as shown in fig. 1 and 2. The material detector 5 and the belt speed detection sensor 15 are fixed on the frame bracket 1, the material detector 5 detects whether materials fall into the belt 2, the belt speed detection sensor 15 measures the speed of the belt 2 for conveying the materials by the belt conveyor and sends the speed of the belt 2 to the control system 11, the control system 11 controls the starting monitoring of the first laser sensor and the second laser sensor, the first laser sensor and the second laser sensor sense the horizontal offset of the belt 2 relative to the optimal position state of the belt by emitting laser and send the horizontal offset to the control system 11, the control system 11 calculates the translation distance and the speed of the ball screw 6 according to the received horizontal offset and the speed of the belt 2 and considering whether the materials fall into the belt 2, and obtains the translation distance and the speed of the ball screw 6 of the first roller deviation adjusting device to the fourth roller deviation adjusting device, the control system 11 controls the motor 7 to work through the frequency converter 9, the motor 7 is linked with the reduction box 8 through the coupler 16, the reduction box 8 comprises a reduction box body, a worm 8-1, a worm wheel 8-3 and ball nuts 8-2, one end of the worm 8-1 is coupled with a rotating shaft of the motor 7 through the coupler 16, a gear on the outer ring of the worm wheel 8-3 is meshed with the worm wheel 8-1, one end of the ball screw 6 is sleeved with two ball nuts 8-2, the other end of the ball screw 6 is connected with the roller supporting seat 4, the driving roller 13/driven roller is arranged on the roller supporting seat 4 through a universal bearing, the worm wheel 8-3 is positioned between the two ball nuts 8-2, the inner ring of the worm wheel 8-3 is sleeved on the ball screw 6, threads on the inner ring are meshed with the ball screw 6, the outer rings of the, the inner rings of the two ball nuts 8-2 are movably sleeved on the ball screw 6. Under the limiting action of the two ball nuts 8-2, the motor 7 drives the worm 8-1 to rotate through the coupling 15, the worm 8-1 rotates to drive the worm wheel 8-3 to rotate, the worm wheel 8-3 rotates in situ to drive the ball screw 6 to move back and forth, the ball screw 6 and the roller supporting seat 4 are fixed together, the roller supporting seat 4 is fixed with the central shaft of the driving roller 13/the driven roller, the central shaft of the driving roller 13/the driven roller is further driven to rotate forwards and horizontally or reversely and horizontally, the stress of the belt is balanced, the end part of the belt is adjusted to wrap the middle parts of the driving roller and the driven roller, and the effect of adjusting the deviation of the belt is achieved.
An automatic control type belt conveyor belt offset return method comprises the following steps:
step 1: in the optimal position state of the belt, two ends of the belt 2 are respectively wrapped at the middle parts of the driving roller 13 and the driven roller, the central axes of the driving roller 13 and the driven roller are parallel, the length direction of the belt is perpendicular to the central axes of the driving roller 13 and the driven roller, the first laser sensor monitors that the distance between the first laser sensor and the part, close to the driving roller, of the upward belt of the belt 2 is a first initial distance which is marked as M0, the second laser sensor monitors that the distance between the second laser sensor and the part, close to the driven roller, of the upward belt of the belt 2 is a second initial distance which is N0,
step 2: the first laser sensor monitors the distance between the first laser sensor and the part of the upward belt of the belt 2, which is close to the driving roller, by using the frequency f, and the distance is recorded as Mi, i is the collection frequency, i is a natural number,
the second laser sensor monitors the distance between the second laser sensor and the part of the upward belt of the belt 2 close to the driven roller by the frequency f, which is recorded as Ni, i is the collection frequency, i is a natural number,
the belt speed detecting sensor 15 detects the speed of the belt 2 of the belt conveyor for conveying materials synchronously with the first laser sensor and the second laser sensor by the frequency f, the speed of the belt 2 of the belt conveyor for conveying materials is recorded as Si, i is the collection frequency,
calculating a first deviation EMi ═ Mi-M0;
calculating a second deviation ENi — Ni-N0;
setting the distance from the end part of the belt 2 coated on the driving roller 13 to the end part of the coated driving roller 13 starting from the middle part of the driving roller 13 and sliding to the end part of the coated driving roller 13 as A; the distance from the end of the belt 2 wrapped around the driven roller to the end wrapped around the driving roller 13 from the middle of the driven roller is set to a.
Setting the translation distance of the ball screw 6 of the first roller deviation adjusting device and the second roller deviation adjusting device to be B when the central shaft of the driving roller 13 starts from the optimal position state of the belt and rotates forwards and horizontally to the limit and rotates reversely and horizontally to the limit; and setting the translation distances of the ball screws 6 of the third roller deviation adjusting device and the fourth roller deviation adjusting device to be B when the central shaft of the driven roller starts from the optimal position state of the belt and rotates forwards and horizontally to the limit and rotates reversely and horizontally to the limit.
The highest belt speed of the belt 2 for conveying materials by the belt conveyor is set to be V1, and the highest translation speed of the ball screws 6 of the first roller deviation adjusting device to the fourth roller deviation adjusting device is set to be V2.
And step 3: calculating the translational adjustment distance DeltaC and the translational adjustment speed Deltav 1 of the ball screw 6 of the first roller deviation adjusting device and the second roller deviation adjusting device, and specifically comprising the following steps:
step 3.1, judging the size of the EMi and A, calculating the translational adjustment speed Deltav 1,
if | EMi | is less than or equal to h × a, Δ C is 0, h is a set coefficient, and h is greater than 0 and less than 0.2;
if | EMi | is greater than h a and equal to or less than a and the material detector 5 detects that material falls into the belt, Δ C ═ (EMi/a) × B, Δ V1 ═ EMi/a) × V2+ (V1 × V2-V2 × Si)/V1 ]/2;
if the | EMi | is larger than a and the material detector 5 detects that the material falls into the belt, Δ C is equal to B and Δ V1 is equal to V2;
if | EMi | is greater than H a and equal to or less than 0.5A, and the material detector 5 detects that no material falls into the belt, Δ C ═ (EMi/a) × B × H, [ Δ V1 ═ [ (EMi/a) × V2+ (V1 × V2-V2 × Si)/V1 ]/H/2, H is a set coefficient, and H is greater than 0 and less than 1;
if | EMi | is greater than 0.5A and equal to or less than a and the material detector 5 detects that no material falls into the belt, Δ C ═ (EMi/a) × B, Δ V1 ═ EMi/a) × V2+ (V1 × V2-V2 |/V1 ]/2;
if | EMi | is greater than a and the material detector 5 detects that no material falls into the belt, Δ C ═ B, Δ V1 ═ V2;
the ball screw 6 of the first roller deviation adjusting device and the second roller deviation adjusting device simultaneously and reversely translates for a distance deltaC at a translation speed deltav 1, so that the central shaft of the driving roller 13 deflects, the deflection direction of the central shaft of the driving roller 13 is related to the positive and negative of EMi, and under the action of the circular rotation of the belt, the end part of the belt coated on the driving roller 13 slides towards the middle part of the driving roller 13. When | EMi | is less than or equal to h × a, the belt offset distance of the driving roller is relatively small, so that the whole work is basically not influenced, and the first roller offset adjusting device and the second roller offset adjusting device do not work; if | EMi | is 0.5A or less and the material detector 5 detects that no material falls on the belt, the adjustment of the center axis of the driving roller is not too large because of the no-load state, and therefore the translational adjustment distance of the ball screw 6 needs to be reduced by the setting coefficient H.
And 4, step 4: calculating the translational adjustment distance delta D and the translational adjustment speed delta v2 of the ball screw 6 of the third roller deviation adjusting device and the fourth roller deviation adjusting device, and specifically comprising the following steps:
step 3.2, judging the size of the absolute value of A, calculating the translational adjustment speed delta v2,
if | EMi | is less than or equal to h × a, Δ C is 0, h is a set coefficient, and h is greater than 0 and less than 0.2;
if | ENi | is greater than h a and equal to or less than a, and the material detector 5 detects that material falls into the belt, Δ D ═ (ENi/a) × B, [ Δ V2 ═ V2+ (V1 × V2-V2 × Si)/V1 ]/2;
if | ENi | is greater than a and the material detector 5 detects that material falls into the belt, Δ D ═ B, Δ V2 ═ V2;
if | ENi | is greater than H a and equal to or less than 0.5A, and the material detector 5 detects that no material falls into the belt, Δ D ═ (ENi/a) × B × H, [ Δ V2 ═ [ (EMi/a) × V2+ (V1 ═ V2-V2 × Si)/V1 ]/H/2, H is a set coefficient, and H is greater than 0 and less than 1;
if | ENi | is greater than 0.5A and equal to or less than a, and the material detector 5 detects that no material falls into the belt, Δ D ═ (ENi/a) × B, [ (EMi/a) × V2 ═ V2+ (V1 × V2-V2 |/V1 ]/2;
if | ENi | is greater than a, and the material detector 5 detects that no material is falling into the belt, ad ═ B,
△v2＝V2；
the ball screw 6 of the third roller deviation adjusting device and the ball screw 6 of the fourth roller deviation adjusting device simultaneously reversely translate a distance delta D at a translation speed delta v2, so that the central shaft of the driven roller deflects, the deflection direction of the central shaft of the driven roller is related to the positive and negative of ENi, and under the action of the circulating rotation of the belt, the end part of the belt coated on the driven roller slides towards the middle part of the driven roller. When | EMi | is less than or equal to h × a, the belt offset distance of the driven roller is relatively small, and the whole work is hardly influenced, so that the third roller deviation adjusting device and the fourth roller deviation adjusting device do not work; if | ENi | is 0.5A or less and the material detector 5 detects that no material falls on the belt, the adjustment of the center axis of the driven roller is not too large because of the no-load state, and therefore the translational adjustment distance of the ball screw 6 needs to be reduced by the setting coefficient H.
The belt offset return system of the automatic control type belt conveyor is used for belt offset, the precision of the ball screw 6 can be improved, the belt offset distance of the belt conveyor is generally very small, the speed is very low, and the high-precision screw can ensure better offset effect. The rotating speed of the motor 7 can be selected from a high-rotating-speed motor, the machine stops working due to the fact that the belt deviates suddenly sometimes, the high-rotating-speed motor can quickly adjust the belt to an ideal position, the machine is guaranteed to continue working, and meanwhile accidents are reduced.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (1)
1. An automatic control type belt conveyor belt offset return method utilizes an automatic control type belt conveyor belt offset return system which comprises a material detector (5), a belt speed detection sensor (15) and a roller offset adjusting device,
the two laser sensors (14) are respectively a first laser sensor and a second laser sensor, the first laser sensor is arranged on the side of the part of the upward belt of the belt (2) close to the driving roller, the second laser sensor is arranged on the side of the part of the upward belt of the belt (2) close to the driven roller,
the number of the roller deviation adjusting devices is four, and the roller deviation adjusting devices are respectively a first roller deviation adjusting device, a second roller deviation adjusting device, a third roller deviation adjusting device and a fourth roller deviation adjusting device, the first roller deviation adjusting device and the second roller deviation adjusting device are respectively arranged at two ends of a central shaft of the driving roller (13), the third roller deviation adjusting device and the fourth roller deviation adjusting device are arranged at two ends of a central shaft of the driven roller,
the first roller deviation adjusting device, the second roller deviation adjusting device, the third roller deviation adjusting device and the fourth roller deviation adjusting device have the same structure and respectively comprise a motor (7), a coupler (16), a reduction box (8), a ball screw (6) and a roller supporting seat (4), the reduction box (8) comprises a reduction box body, a worm (8-1), a turbine (8-3) and two ball nuts (8-2),
a rotating shaft of the motor (7) is coupled with the worm (8-1) through a coupler (16), a gear on the outer ring of the turbine (8-3) is meshed with the worm (8-1), the inner ring of the turbine (8-3) is sleeved on the ball screw (6) and a thread on the inner ring is meshed with the ball screw (6), the outer rings of the two ball nuts (8-2) are fixed with the reduction box body, the inner rings of the two ball nuts (8-2) are movably sleeved on the ball screw (6), the turbine (8-3) is positioned between the two ball nuts (8-2), the ball screw (6) is connected with the roller supporting seat (4),
two ends of a central shaft of the driving roller (13) are respectively arranged on roller supporting seats (4) of the first roller deviation adjusting device and the second roller deviation adjusting device through universal bearings, ball screws (6) of the first roller deviation adjusting device and the second roller deviation adjusting device are arranged in parallel, a control system (11) simultaneously controls motors (7) of the first roller deviation adjusting device and the second roller deviation adjusting device to rotate simultaneously so as to drive the roller supporting seats (4) of the first roller deviation adjusting device and the second roller deviation adjusting device to move in opposite directions with the same movement distance, and further drives the central shaft of the driving roller (13) to rotate forwards and horizontally or reversely and horizontally,
two ends of a central shaft of a driven roller are respectively arranged on roller supporting seats (4) of a third roller deviation adjusting device and a fourth roller deviation adjusting device through universal bearings, ball screws (6) of the third roller deviation adjusting device and the fourth roller deviation adjusting device are arranged in parallel, a control system (11) simultaneously controls motors (7) of the third roller deviation adjusting device and the fourth roller deviation adjusting device to rotate simultaneously so as to drive the roller supporting seats (4) of the third roller deviation adjusting device and the fourth roller deviation adjusting device to move in opposite directions with the same movement distance, and further drives the central shaft of the driven roller to rotate forwards and horizontally or reversely and horizontally,
the method is characterized by comprising the following steps:
step 1, in the optimal position state of the belt, two ends of the belt (2) are respectively wrapped at the middle parts of a driving roller (13) and a driven roller, the central axes of the driving roller (13) and the driven roller are parallel, the length direction of the belt is perpendicular to the central axes of the driving roller (13) and the driven roller, a first laser sensor monitors that the distance between a first laser sensor and the part, close to the driving roller, of the upward belt of the belt (2) is a first initial distance which is marked as M0, a second laser sensor monitors that the distance between a second laser sensor and the part, close to the driven roller, of the upward belt of the belt (2) is a second initial distance which is marked as N0,
step 2, the first laser sensor monitors the distance between the first laser sensor and the part of the upward belt of the belt (2) close to the driving roller by using the frequency f, the distance is recorded as Mi, i is the acquisition frequency, i is a natural number,
the second laser sensor monitors the distance, denoted as Ni, between the second laser sensor and the part of the belt (2) upstream close to the driven drum at frequency f,
the belt speed detecting sensor (15) monitors the speed of the belt (2) of the belt conveyor for conveying materials with the frequency f, the speed of the belt (2) of the belt conveyor for conveying materials is marked as Si,
the monitoring frequencies of the first laser sensor, the second laser sensor and the belt speed detection sensor (15) are synchronous;
calculating a first deviation EMi ═ Mi-M0;
calculating a second deviation ENi — Ni-N0;
setting the distance from the end part of the belt (2) coated on the driving roller (13) to the end part of the coated driving roller (13) to the middle part of the driving roller (13) as A; the distance from the end part of the belt (2) coated on the driven roller to the end part of the coating driving roller (13) from the middle part of the driven roller is set as A,
setting the translation distance of the ball screw (6) of the first roller deviation adjusting device and the second roller deviation adjusting device to be B when the central shaft of the driving roller (13) starts from the optimal position state of the belt and rotates forwards to the limit horizontally and rotates reversely to the limit horizontally; setting the translation distance of the ball screw (6) of the third roller deviation adjusting device and the fourth roller deviation adjusting device to be B when the central shaft of the driven roller starts from the optimal position state of the belt and rotates forwards and horizontally to the limit and rotates reversely and horizontally to the limit,
setting the highest belt speed of a belt (2) for conveying materials by the belt conveyor to be V1, setting the highest translation speed of ball screws (6) of the first roller deviation adjusting device to the fourth roller deviation adjusting device to be V2,
step 3, calculating the translational adjustment distance DeltaC and the translational adjustment speed Deltav 1 of the ball screw (6) of the first roller deviation adjusting device and the second roller deviation adjusting device, and specifically comprising the following steps:
step 3.1, judging the size of the EMi and A, calculating the translational adjustment speed Deltav 1,
if | EMi | is less than or equal to h × a, Δ C is 0, h is a set coefficient, and h is greater than 0 and less than 0.2;
if | EMi | is larger than h a and smaller than or equal to a, and the material detector (5) detects that the material falls into the belt, Δ C ═ (EMi/a) × B, Δ V1 ═ EMi/a) × V2+ (V1 × V2-V2 × Si)/V1 ]/2;
if the | EMi | is larger than A and the material detector (5) detects that the material falls into the belt, the triangle C is equal to B, and the triangle V1 is equal to V2;
if | EMi | is greater than H a and equal to or less than 0.5A, and the material detector (5) detects that no material is falling on the belt, Δ C ═ (EMi/a) × B × H,
Δ V1 ═ V2+ (V1V 2-V2 Si)/V1 ═ H/2, H is a set coefficient, and H is greater than 0 and less than 1;
if | EMi | is greater than 0.5A and equal to or less than a and the material detector (5) detects that no material falls into the belt, Δ C ═ EMi/a × B, [ Δ V1 ═ EMi/a) × V2+ (V1 × V2-V2 × Si)/V1 ]/2;
if the | EMi | is larger than A and the material detector (5) detects that no material falls into the belt, then Δ C is equal to B and Δ V1 is equal to V2;
the ball screw (6) of the first roller deviation adjusting device and the second roller deviation adjusting device simultaneously reversely translate for a distance delta C at a translation speed delta v1, so that the central shaft of the driving roller (13) deflects, and the end part of the belt coated on the driving roller (13) slides towards the middle part of the driving roller (13);
step 4, calculating the translational adjustment distance delta D and the translational adjustment speed delta v2 of the ball screw (6) of the third roller deviation adjusting device and the fourth roller deviation adjusting device, and specifically comprising the following steps:
step 3.2, judging the size of the absolute value of A, calculating the translational adjustment speed delta v2,
if | EMi | is less than or equal to h × a, Δ C is 0, h is a set coefficient, and h is greater than 0 and less than 0.2;
if | ENi | is larger than h A and smaller than or equal to A, and the material detector (5) detects that the material falls into the belt, Δ D ═ (ENi/A) × B, [ Δ V2 ═ V EMi/A) × V2+ (V1 × V2-V2 × Si)/V1 ]/2;
if | ENi | is larger than a and the material detector (5) detects that the material falls into the belt, Δ D ═ B and Δ V2 ═ V2;
if | ENi | is greater than H a and equal to or less than 0.5A, and the material detector (5) detects that no material is falling on the belt, Δ D ═ B ═ H,
Δ V2 ═ V2+ (V1V 2-V2 Si)/V1 ═ H/2, H is a set coefficient, and H is greater than 0 and less than 1;
if | ENi | is greater than 0.5A and equal to or less than a and the material detector (5) detects that no material falls into the belt, Δ D ═ (ENi/a) × B, [ Δ V2 ═ V EMi/a) × V2+ (V1 × V2-V2 × Si)/V1 ]/2;
if | ENi | is greater than a and the material detector (5) detects that no material falls into the belt, Δ D ═ B and Δ V2 ═ V2;
the ball screws (6) of the third roller deviation adjusting device and the fourth roller deviation adjusting device are simultaneously translated in opposite directions at a translation speed delta v2 for a distance delta D, so that the central shaft of the driven roller deflects, and the end part of the belt coated on the driven roller slides towards the middle part of the driven roller.
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| DE102021108695B4 (en) * | 2021-04-08 | 2022-10-27 | Scrapetec Gmbh | Device with guide unit for guiding a conveyor belt |
| CN113233130B (en) * | 2021-04-13 | 2023-03-21 | 四川省自贡运输机械集团股份有限公司 | Belt conveyor's protection device alarm system and belt conveyor |
| CN114180268B (en) * | 2022-02-17 | 2022-05-27 | 江苏科比泰智能科技有限公司 | Rubber belt conveyor monitoring system and method based on machine vision |
| CN116198945B (en) * | 2023-04-14 | 2023-08-25 | 中国矿业大学 | Deviation monitoring and correcting device and method for belt conveyor |
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| JPH09309642A (en) * | 1996-05-21 | 1997-12-02 | Minolta Co Ltd | Belt life judging device in belt-type heating device |
| CN1508053A (en) * | 2002-12-13 | 2004-06-30 | 中国石油化工股份有限公司巴陵分公司 | Tranport belt offestting method |
| CN102060174B (en) * | 2010-11-19 | 2012-08-29 | 杭州富如德科技有限公司 | Steel belt deviation correction system of cooling forming machine for remote transportation of high-temperature material |
| CN203199536U (en) * | 2013-04-07 | 2013-09-18 | 中联重科物料输送设备有限公司 | Conveyer belt deviation adjusting device and belt conveyer with same |
| CN203372719U (en) * | 2013-05-30 | 2014-01-01 | 葫芦岛首钢东华机械有限公司 | Full-automatic belt conveyer belt offset adjusting device |
| CN206969514U (en) * | 2017-06-29 | 2018-02-06 | 陈孝敬 | A kind of steel belt automatic deviation rectifying device |
| CN207001586U (en) * | 2017-07-28 | 2018-02-13 | 广东科达洁能股份有限公司 | A kind of belt deflection automatic regulating apparatus |
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Application publication date: 20200424 Assignee: Wuhan Jiyan Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2021420000022 Denomination of invention: An automatic control belt conveyor belt offset return system and method Granted publication date: 20210629 License type: Common License Record date: 20210907 |
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