CN112357472A - Automatic tensioning device and tensioning control method for electro-hydraulic combined belt conveyor - Google Patents
Automatic tensioning device and tensioning control method for electro-hydraulic combined belt conveyor Download PDFInfo
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- CN112357472A CN112357472A CN202011284097.5A CN202011284097A CN112357472A CN 112357472 A CN112357472 A CN 112357472A CN 202011284097 A CN202011284097 A CN 202011284097A CN 112357472 A CN112357472 A CN 112357472A
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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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/44—Belt or chain tensioning arrangements
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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
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Abstract
The invention discloses an automatic tensioning device and a tensioning control method of an electro-hydraulic combined type belt conveyor, which comprise an electric tensioning device, a hydraulic tensioning device, a tensioning trolley and a controller, wherein the tensioning device and the hydraulic tensioning device are connected with the tensioning trolley, and the tensioning device and the hydraulic tensioning device are electrically connected with the controller; the controller comprises a DSP control board, an auxiliary power supply, a rectifier module, an IPM drive board and an upper computer, wherein the DSP control board runs a self-anti-interference control program; the IPM drive board receives signals from the DSP control board and drives a controlled object; the tension of a belt and an artificially set tension value are input into a self-anti-interference controller in a DSP control panel in real time, and the DSP control panel controls the stable operation of a permanent magnet synchronous motor and the reasonable output pressure of a hydraulic cylinder through operation and corresponding output signals through an IPM drive plate; the invention can realize the automatic adjustment of dynamic tension in the running process of the belt and has quick response time; the method has strong interference suppression effect and high robustness.
Description
Technical Field
The invention relates to a tensioning device, in particular to an automatic tensioning device of an electro-hydraulic combined type belt conveyor and a tensioning control method.
Background
Along with the development of science and technology in China, the current mine coal mining is gradually developed towards the direction of less humanization or even no humanization, the China recently puts forward the construction target of an intelligent coal mine, and as a key part in the coal mining process, a belt conveyor is also developing towards the direction of high speed, high power, intellectualization and automation, the requirements on long distance and large transportation capacity are increased day by day, the large requirements on the transportation capacity and the transportation capacity provide great tension, and the belt conveyor has high speed and high response speed. The traditional tensioning device of the belt conveyor with long conveying distance and large conveying capacity has the defects of slow response speed, unstable operation process, incapability of realizing accurate control and the like, and cannot meet the requirements.
The existing tensioning devices mainly comprise weight hammer type tensioning, fixed type tensioning, hydraulic type tensioning and automatic control type tensioning. The weight type tensioning device has the advantage of constant tensioning force, but the tension of the belt is always in a high-tension state, the required space is large, and the intelligent control on the belt is not facilitated. The fixed tensioning device has the advantage of simple and compact structure, but the belt tension of the belt conveyor cannot be dynamically adjusted, and the fixed tensioning device is generally used for belt conveyors with lower power. The tensioning process of hydraulic tensioning has the advantages of a buffering process, a simple control principle and the like, but the tensioning stroke of the tensioning device is limited by the length of a hydraulic cylinder, a hydraulic system is difficult to accurately control, hydraulic oil is easy to leak, and easy to pollute, so that the tensioning control performance is poor. The self-controlled tensioning device has a large tensioning stroke and good transient response, can adjust the tensioning force in real time, but has high cost, needs a professional to debug, and has to know a physical or mathematical model interfering with accuracy if accurate control is required, so that the development of the self-controlled tensioning device is limited. At present, a plurality of tensioning modes of belt conveyors have been proposed by predecessors, for example, the design of a tensioning device of a belt conveyor based on fuzzy PID control proposed by thunderhei university of china mining industry, and the like, the control mode solves the defects of slow response and limited device adjusting capability of the traditional belt conveyor, but the design adopts a full hydraulic tensioning device, has the defects of easy leakage and easy pollution of hydraulic oil, cannot compensate external total interference into a controller, and has no self-anti-interference performance; patent CN201910658549.2 proposes a variable-frequency automatic tensioning system based on fuzzy control, which only adopts the form of tensioning motor plus tensioning winch for tensioning, and controls the tensioning motor through a frequency converter to realize the automatic tensioning process of the belt conveyor, although the drawback of hydraulic tensioning is solved, the advantage of hydraulic tensioning is also lost at the same time (hydraulic tensioning has a buffering effect in the control process), the control form is single, the self-resistance interference performance cannot be achieved, and the control principle is complex, and is not beneficial to control. Patent CN201920937520.3 proposes a frequency conversion automatic tensioning device with buffering function, which also adopts an electro-hydraulic composite tensioning mode, and it controls the hydraulic station and the electric winch through a frequency converter, although it can realize intelligent control, this control mode needs to perform tensioning tension distribution to the hydraulic station and the electric winch, involving a more complex processing process, and having slow response time and higher cost against strong external interference. The tensioning devices cannot dynamically compensate for external or self interference to realize the function of self-anti-interference, and cannot perform rapid and accurate tension control for the change of the belt load, and the influence factors can directly reflect the instability of the belt operation in the operation process and indirectly influence the service life of the belt conveyor.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic tensioning device and a tensioning control method for an electro-hydraulic combined type belt conveyor.
In order to achieve the purpose, the invention adopts the technical scheme that: an automatic tensioning device of an electro-hydraulic combined belt conveyor comprises an electric tensioning device, a hydraulic tensioning device, a tensioning trolley, an oil tank and a controller; the electric tensioning device comprises a tensioning winch, a permanent magnet synchronous motor and an electromagnetic brake; the hydraulic tensioning device comprises a hydraulic pump, a hydraulic cylinder, an electro-hydraulic servo valve and an energy accumulator; a rodless cavity and a rod cavity of the hydraulic cylinder are respectively connected with an electro-hydraulic servo valve through a first oil way and a second oil way, a movable pulley is arranged at the end part of a piston rod of the hydraulic cylinder, and the electro-hydraulic servo valve is respectively connected with an oil tank through a third oil way and a fourth oil way; the third oil path comprises a one-way valve, a fine filter, a hydraulic pump and a coarse filter which are connected in sequence, the one-way valve is connected with the electro-hydraulic servo valve, the coarse filter is connected with the oil tank, and a proportional overflow valve is connected to the oil tank by the side of the oil path between the fine filter and the hydraulic pump; the fourth oil way comprises a proportional overflow valve, a liquid cooler and a coarse filter which are connected in sequence, the coarse filter is connected with the electro-hydraulic servo valve, and the proportional overflow valve is connected with an oil tank; a safety valve is arranged between the third oil way and the fourth oil way, one end of the safety valve is connected with a pipeline connecting the one-way valve and the electro-hydraulic servo valve, and the other end of the safety valve is connected with a pipeline connecting the coarse filter and the electro-hydraulic servo valve; the pipeline connected with the two ends of the safety valve is respectively connected with a hydraulic control valve group, the hydraulic control valve group is connected with the energy accumulator, and a pressure relay is connected on the pipeline connected with the hydraulic control valve group and the energy accumulator; the tensioning trolley is provided with a belt tensioning wheel, the rear end of the tensioning trolley is provided with a first pulley and a second pulley at intervals, the permanent magnet synchronous motor is connected with the electromagnetic brake, an output shaft of the permanent magnet synchronous motor is connected with a tensioning winch, a steel wire rope on the tensioning winch sequentially bypasses a steering pulley, the first pulley, a movable pulley and the second pulley and then is connected with a fixed end, and the belt is provided with a tension sensor; the permanent magnet synchronous motor, the electro-hydraulic servo valve, the electromagnetic brake, the first pressure sensor, the second pressure sensor and the tension sensor are all connected with the controller.
Further, still include the manometer, the manometer sets up on the third oil circuit.
Furthermore, a first pressure sensor is connected to the first oil path.
Furthermore, a second pressure sensor is connected to the second oil path.
Further, the controller comprises a DSP control panel, an auxiliary power supply, a rectifier module, an IPM drive board and an upper computer; the DSP control panel, the rectifier module, the IPM drive board and the IPM drive board are all electrically connected with an auxiliary power supply, the DSP control panel is connected with an upper computer through a signal line, the IPM drive board and the IPM drive board are respectively electrically connected with the DSP control panel through pulse signal lines, and the DSP control panel is used for running a self-anti-interference control program.
A tension control method of an automatic tension device of an electro-hydraulic combined type belt conveyor comprises the following steps: a tension signal is given in a controller and a tension signal actually measured by a tension sensor is converted into a current or voltage signal through a processor and transmitted to a DSP control board, the voltage or current signal is output after operation and is transmitted to a permanent magnet synchronous motor through an IPM drive board, the permanent magnet synchronous motor drives a tensioning winch to rotate, and the tensioning winch tightens or loosens a steel wire rope to tighten or loosen a belt of the belt conveyor; when the belt conveyor is started, when a set belt is a primary tension value, an electromagnetic brake arranged at the tail of the permanent magnet synchronous motor starts to brake, so that the permanent magnet synchronous motor stops running, and a tensioning winch is locked and is not tensioned any more;
the stable operation stage of the belt conveyor: a tension signal is given in a controller and a tension signal actually measured by a tension sensor is converted into pressure required by a hydraulic cylinder through a processor in advance, the pressure signal required by the hydraulic cylinder and an actual pressure signal are input into a DSP control board, an output signal is input into an IPM drive board to drive a hydraulic motor of an electro-hydraulic servo valve, so that the pressure control of the hydraulic cylinder is realized, the tension of a belt is indirectly controlled, and the pressure signal of the hydraulic cylinder is monitored in real time through the pressure sensor;
when the belt conveyor breaks down: when the pressure gauge detects that the pressure is too high, the safety valve is opened to release the force; when piezoelectric pressure relay monitoring pressure value reached or was not enough, can the automatic control hydraulic pump stop and start, with the energy storage in the energy storage ware, realize the energy supply to the pneumatic cylinder, and do not need the frequent opening of hydraulic pump, increase the life of hydraulic pump.
Compared with the prior art, the invention adopts a composite tensioning mode combining electric tensioning and hydraulic tensioning, is suitable for heavy belt conveyors with large conveying capacity and long conveying distance and requiring stable belt operation, the permanent magnet synchronous motor performs large-stroke tensioning on the tensioning winch, and the hydraulic cylinder performs hydraulic tensioning with smaller stroke on the tensioning winch; the hydraulic tensioning just can make up the defect of electric tensioning, and the combination of the electric tensioning and the hydraulic tensioning can exert respective advantages to achieve the purposes of stable control, safety and reliability; the method can realize accurate estimation and compensation of disturbance without the help of a specific disturbance model and an accurate physical model of a controlled object, and has the advantages of strong anti-interference capability, high robustness, high response speed, high intellectualization and automation degree, simple design, high control stability and accuracy and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a control strategy according to the present invention;
FIG. 3 is a driving circuit diagram of the controller of the present invention;
FIG. 4 is a schematic diagram of a first-order self-interference rejection control permanent magnet synchronous motor according to the present invention;
FIG. 5 is a schematic diagram of a three-order self-interference-rejection control hydraulic cylinder according to the present invention;
in the figure: 1. the system comprises an oil tank, 2, a proportional overflow valve, 3, a liquid cooler, 4, a coarse filter, 5, a hydraulic control valve group, 6, a pressure relay, 7, an energy accumulator, 8, an electro-hydraulic servo valve, 9, a first pressure sensor, 10, a hydraulic cylinder, 11, a tensioning winch, 12, a permanent magnet synchronous motor, 13, an electromagnetic brake, 14, a first pulley, 15, a steering pulley, 16, a movable pulley, 17, a second pulley, 18, a tension sensor, 19, a tensioning trolley, 20, a steel wire rope, 21, a second pressure sensor, 22, a pressure gauge, 23, a check valve, 24, a safety valve, 25, a fine filter, 26, a hydraulic pump, 27, a coarse filter, 28, a proportional overflow valve, 29, a controller, 291, a DSP control board, 292, an auxiliary power supply, 293, a rectification module, 294, an IPM drive board, 295, an IPM drive board, 296 and an upper computer.
Detailed Description
The invention will be further explained with reference to the drawings.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention comprises an electric tensioner, a hydraulic tensioner, a tensioning trolley 19, an oil tank 1 and a controller 29; the electric tensioning device is suitable for tensioning when the stroke is large, and the hydraulic tensioning device is suitable for tensioning when the stroke is small.
The electric tensioning device comprises a tensioning winch 11, a permanent magnet synchronous motor 12 and an electromagnetic brake 13; the hydraulic tensioning device comprises a hydraulic pump 26, a hydraulic cylinder 10, an electro-hydraulic servo valve 8 and an energy accumulator 7; a rodless cavity and a rod cavity of the hydraulic cylinder 10 are respectively connected with an electro-hydraulic servo valve 8 through a first oil path and a second oil path, the first oil path and the second oil path are respectively connected with a first pressure sensor 9 and a second pressure sensor 21, a movable pulley 16 is arranged at the end part of a piston rod of the hydraulic cylinder 10, and the electro-hydraulic servo valve 8 is respectively connected with an oil tank 1 through a third oil path and a fourth oil path.
The third oil path comprises a check valve 23, a fine filter 25, a hydraulic pump 26 and a coarse filter 27 which are sequentially connected, the check valve 23 is connected with the electro-hydraulic servo valve 8, the coarse filter 27 is connected with the oil tank 1, a proportional overflow valve 28 is connected to the oil tank 1 by the side of the oil path between the fine filter 25 and the hydraulic pump 26, when the system works normally, the proportional overflow valve 28 is closed, and the overflow is opened only when the load exceeds the specified limit system pressure and exceeds the set pressure, so that the overload protection is carried out, and the system pressure is not increased any more; a pressure gauge 22 is arranged on the third oil way, so that the pressure of the current oil way can be intuitively obtained; the fine filter 25 and the coarse filter 27 can filter impurities in the oil filter tank 1, improving the sensitivity of the hydraulic device.
The fourth oil path comprises a proportional overflow valve 2, a liquid cooler 3 and a coarse filter 4 which are sequentially connected, the coarse filter 4 is connected with an electro-hydraulic servo valve 8, the proportional overflow valve 2 is connected with an oil tank 1, and the stability of moving parts is improved because the proportional overflow valve 2 can generate back pressure; the coarse filter 4 and the liquid cooler 3 play roles in filtering impurities and cooling at the same time; a safety valve 24 is arranged between the third oil way and the fourth oil way, one end of the safety valve 24 is connected with a pipeline connecting the check valve 23 and the electro-hydraulic servo valve 8, and the other end of the safety valve 24 is connected with a pipeline connecting the coarse filter 4 and the electro-hydraulic servo valve 8; the pressure gauge 22 and the safety valve 24 are arranged, when the pressure of the oil path is overlarge, the safety valve 24 opens the hydraulic oil to directly return to the oil tank 1, and the safety protection effect is achieved.
The pipeline connected with the two ends of the safety valve 24 is respectively connected with the hydraulic control valve group 5, the hydraulic control valve group 5 is connected with the energy accumulator 7, and the pipeline connected with the hydraulic control valve group 5 and the energy accumulator 7 is connected with the pressure relay 6; the pressure relay 6 at the port of the accumulator 7 also controls the start and stop of the hydraulic pump 26, and energy is stored in the accumulator 7 in advance for energizing the hydraulic cylinder 10. When the belt conveyor is in a steady-state operating phase, in which the accumulator 7 supplies energy to the hydraulic cylinder 10 and the hydraulic pump 26 only acts as "oil-replenishing", the operating time of the hydraulic pump 26 is short. The accumulator 7 can avoid frequent start-stop of the hydraulic pump 26 due to changes in the pressure of the hydraulic cylinder 10. When the hydraulic pump 26 directly supplies power to the hydraulic cylinder 10, the hydraulic device has hysteresis, so the electro-hydraulic servo valve 8 is closed after the hydraulic cylinder 10 reaches a preset pressure value, the hydraulic pump 26 still works at the moment, hydraulic pressure is continuously output, and the energy accumulator 7 also plays a role of buffering at the moment, is used for storing redundant energy and prevents overlarge pressure impact on the electro-hydraulic servo valve 8.
The tensioning trolley 19 is provided with a belt tensioning wheel, the rear end of the tensioning trolley 19 is provided with a first pulley 14 and a second pulley 17 at intervals, the permanent magnet synchronous motor 12 is connected with the electromagnetic brake 13, and when the belt conveyor is in an electric tensioning process, the electromagnetic brake 13 can brake the permanent magnet synchronous motor 12 and lock the permanent magnet synchronous motor 12 after receiving a tension value signal or a fault signal preset by a belt of the belt conveyor; an output shaft of the permanent magnet synchronous motor 12 is connected with a tensioning winch 11, a steel wire rope 20 on the tensioning winch 11 sequentially bypasses a steering pulley 15, a first pulley 14, a movable pulley 16 and a second pulley 17 and then is connected with a fixed end, and a tension sensor 18 is arranged on a belt; the forward and reverse rotation of the tensioning winch 11 and the extension and retraction of the piston rod of the hydraulic cylinder 10 both tighten or loosen the wire rope 20, which in turn tightens or loosens the tensioning trolley 19 to achieve the tensioning adjustment of the belt.
The permanent magnet synchronous motor 12, the electro-hydraulic servo valve 8, the electromagnetic brake 13, the first pressure sensor 9, the second pressure sensor 21 and the tension sensor 18 are all connected with a controller 29; as shown in fig. 3, the controller 29 includes a DSP control board 291, an auxiliary power supply 292, a rectifier module 293, an IPM drive board 294, an IPM drive board 295, and an upper computer 296; the DSP control board 291, the rectifier module 293, the IPM drive board 294 and the IPM drive board 295 are electrically connected with the auxiliary power supply 292, the DSP control board 291 is connected with the upper computer 296 through a signal line, the IPM drive board 294 and the IPM drive board 295 are electrically connected with the DSP control board 291 through pulse signal lines respectively, the integration level of the DSP control board 291 is high, the built-in analog-to-digital converter module improves the control bandwidth of a motor, and the advantages of realizing more complex control and sensorless algorithm with low cost and the like are allowed; the IPM drive board 294 and the IPM drive board 295 not only have high integration, but also incorporate therein fault detection circuits such as overvoltage, overcurrent, and overheat, and can transmit detection signals to the DSP control board 291 for interrupt processing, so that the IPM drive board 294 or the IPM drive board 295 itself is not damaged even if a load accident or improper use occurs.
Real-time feedback signals and artificially set signals of the permanent magnet synchronous motor 12 and the hydraulic cylinder 10 are transmitted to the DSP control board 291 through the upper computer 296, the DSP control board 291 runs a self-interference-rejection controller program, and output control signals are input into the corresponding IPM drive board 294 or IPM drive board 295 through the auxiliary power supply 292 and the rectifier module 293, so that the controlled object is controlled and driven.
As shown in fig. 2, the belt conveyor start and stop phases: the combined electric tensioning of the permanent magnet synchronous motor 12 and the tensioning winch 11 is used primarily for tensioning during large travel, for example during start-stop phases of a belt conveyor.
A tension signal is given in a controller 29 in advance, and a tension signal actually measured by a tension sensor 18 is converted into a current or voltage signal through a processor 29 and is transmitted to a DSP control board 291, the voltage or current signal is output after calculation and is transmitted to a permanent magnet synchronous motor 12 through an IPM drive board 294, the permanent magnet synchronous motor 12 drives a tensioning winch 11 to rotate, and the tensioning winch 11 tightens or loosens a steel wire rope 20 to realize the tightening or loosening of a belt of the belt conveyor; when the belt conveyor is started, when a set belt is a primary tension value, the electromagnetic brake 13 arranged at the tail part of the permanent magnet synchronous motor 12 starts to brake, so that the permanent magnet synchronous motor 12 stops running, and the tensioning winch 11 is locked and is not tensioned any more.
When the permanent magnet synchronous motor 12 works in the starting and tensioning process, the permanent magnet synchronous motor is easily influenced by the temperature, humidity, vibration and the like of the external interference working environment and the self-disturbing permanent magnet demagnetization, so that the service life of the belt and the permanent magnet synchronous motor 12 is influenced by the large wave power and the like in the running process. A schematic diagram of a first-order self-interference-rejection control permanent magnet synchronous motor 12 is shown in fig. 4, the self-interference-rejection control principle is that a given signal is directly input to a tracking differentiator, after a transition process arranged by the tracking differentiator, an actual tension signal can be measured without estimation by an observer, so that the measured signal outputs one path of signal equal to the measured signal after passing through an extended state observer, the other path of signal is state estimation of all disturbances of the permanent magnet synchronous motor 12, the measured signal and the arranged given signal are input into a nonlinear state feedback control law after being subjected to difference, a control signal is output after calculation of the control law, and a final control signal is output to control stable rotation of the permanent magnet synchronous motor 12 after subtracting a value of the disturbance signal estimated by the extended state observer from the control signal.
The stable operation stage of the belt conveyor:
the hydraulic tensioning device composed of the hydraulic cylinder 10, the hydraulic pump 26, the accumulator 7 and the like is limited by the influence of the movement stroke of the hydraulic cylinder 10, so that the hydraulic tensioning device is suitable for tensioning occasions with smaller stroke, and is mainly applied to the stable operation stage of the belt conveyor. When the stable operation stage is started, the hydraulic tensioning device reasonably adjusts the pressure of the hydraulic cylinder 10 according to the change of the load by combining the electro-hydraulic servo control and the self-reactive interference control, so that the belt tension of the belt conveyor is stabilized. When the belt conveyor is in a stable operation, because the load on the belt is different in each time period and the tension is about 1.5 times of that in a no-load state, if the tension of the belt conveyor is not adjusted, the tension of the belt changes in a large range during the stable operation of the belt, so that the abrasion of the belt is accelerated, and therefore, the tension of the belt conveyor needs to be adjusted in real time to be in a stable tension operation state.
A tension signal is given in a controller 29 in advance and a tension signal actually measured by a tension sensor 18 is converted into pressure required by the hydraulic cylinder 10 through a processor 29, a pressure signal required by the hydraulic cylinder 10 and an actual pressure signal are input into a DSP control board 291, an output signal is input into an IPM drive board 295 to drive a hydraulic motor of the electro-hydraulic servo valve 8, so that pressure control to flow into the hydraulic cylinder 10 is realized, belt tension is indirectly controlled, and the pressure signal of the hydraulic cylinder 10 is monitored in real time through a pressure sensor 9 and a pressure sensor 21; the control quality of the hydraulic tensioning system is directly influenced by the temperature, the purity and the viscosity of hydraulic oil of the belt conveyor in the operation process, and the disturbance influencing the control quality can be just made up by the characteristics of the self-resisting interference controller, so that the hydraulic control quality is improved, and the belt conveyor can ensure the stability of the belt tension no matter how the load changes in the stable operation stage. Fig. 5 shows a schematic diagram of a third-order self-interference-rejection control hydraulic cylinder 10, which is similar to fig. 4, and since the control target g(s) is a large number of state variables of the open-loop transfer function of the hydraulic cylinder 10, a third-order self-interference-rejection controller is used here.
When the belt conveyor breaks down:
when the pressure gauge 22 detects that the pressure is too high, the safety valve 24 is opened to release the force; when the pressure relay 6 monitors that the pressure value reaches or is insufficient, the hydraulic pump 26 can be automatically controlled to stop and start, energy is stored in the energy accumulator 7, the hydraulic cylinder 10 can be powered, frequent opening of the hydraulic pump 26 is not needed, and the service life of the hydraulic pump 26 is prolonged. When the hydraulic pump 26 directly supplies power to the hydraulic cylinder 10, the hydraulic device has hysteresis, so the electro-hydraulic servo valve 8 is closed after the hydraulic cylinder 10 reaches a preset pressure value, the hydraulic pump 26 still works at the moment, hydraulic pressure is continuously output, and the energy accumulator 7 also plays a role of buffering at the moment, is used for storing redundant energy and prevents overlarge pressure impact on the electro-hydraulic servo valve 8.
When the belt conveyor is in a starting or stopping stage, the electromagnetic brake 13 is arranged at the tail part of the permanent magnet synchronous motor 12, so that the electromagnetic brake can receive not only a tension signal from a belt, but also a fault signal from the belt conveyor, and when the fault signal is received, the permanent magnet synchronous motor 12 can be directly braked through the controller 29, so that the belt conveyor stops tensioning and plays a role in safety protection.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. 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.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (8)
1. An automatic tensioning device of an electro-hydraulic combined type belt conveyor is characterized by comprising an electric tensioning device, a hydraulic tensioning device, a tensioning trolley (19), an oil tank (1) and a controller (29);
the electric tensioning device comprises a tensioning winch (11), a permanent magnet synchronous motor (12) and an electromagnetic brake (13); the hydraulic tensioning device comprises a hydraulic pump (26), a hydraulic cylinder (10), an electro-hydraulic servo valve (8) and an energy accumulator (7);
a rodless cavity and a rod cavity of the hydraulic cylinder (10) are respectively connected with the electro-hydraulic servo valve (8) through a first oil path and a second oil path, a movable pulley (16) is arranged at the end part of a piston rod of the hydraulic cylinder (10), and the electro-hydraulic servo valve (8) is respectively connected with the oil tank (1) through a third oil path and a fourth oil path;
the third oil path comprises a check valve (23), a fine filter (25), a hydraulic pump (26) and a coarse filter (27) which are sequentially connected, the check valve (23) is connected with the electro-hydraulic servo valve (8), the coarse filter (27) is connected with the oil tank (1), and a proportional overflow valve (28) is connected to the oil tank (1) in a bypass mode on the oil path between the fine filter (25) and the hydraulic pump (26);
the fourth oil way comprises a proportional overflow valve (2), a liquid cooler (3) and a coarse filter (4) which are sequentially connected, the coarse filter (4) is connected with an electro-hydraulic servo valve (8), and the proportional overflow valve (2) is connected with an oil tank (1);
a safety valve (24) is arranged between the third oil way and the fourth oil way, one end of the safety valve (24) is connected with a pipeline connecting the one-way valve (23) and the electro-hydraulic servo valve (8), and the other end of the safety valve (24) is connected with a pipeline connecting the coarse filter (4) and the electro-hydraulic servo valve (8);
the tensioning trolley (19) is provided with a belt tensioning wheel, the rear end of the tensioning trolley (19) is provided with a first pulley (14) and a second pulley (17) at intervals, the permanent magnet synchronous motor (12) is connected with the electromagnetic brake (13), the output shaft of the permanent magnet synchronous motor (12) is connected with the tensioning winch (11), a steel wire rope (20) on the tensioning winch (11) sequentially bypasses the steering pulley (15), the first pulley (14), the movable pulley (16) and the second pulley (17) and then is connected with a fixed end, and the belt is provided with a tension sensor (18);
the permanent magnet synchronous motor (12), the electro-hydraulic servo valve (8), the electromagnetic brake (13), the first pressure sensor (9), the second pressure sensor (21) and the tension sensor (18) are all connected with the controller (29).
2. The automatic tensioning device of an electro-hydraulic combined belt conveyor according to claim 1, wherein the pipelines connecting the two ends of the safety valve (24) are respectively connected with a hydraulic control valve set (5), and the hydraulic control valve set (5) is connected with the accumulator (7).
3. The automatic tensioning device of an electro-hydraulic combined belt conveyor according to claim 2, wherein a pressure relay (6) is arranged on a pipeline connecting the hydraulic control valve group (5) and the energy accumulator (7).
4. The electro-hydraulic compound belt conveyor automatic tensioning device according to claim 1, further comprising a pressure gauge (22), wherein the pressure gauge (22) is disposed on the third oil path.
5. The electro-hydraulic compound belt conveyor automatic tensioning device according to claim 1, characterized in that the first oil path is connected with a first pressure sensor (9).
6. The electro-hydraulic compound belt conveyor automatic tensioning device according to claim 1, characterized in that a second pressure sensor (21) is connected to the second oil path.
7. The electro-hydraulic compound belt conveyor automatic tensioner of claim 1, wherein the controller (29) comprises a DSP control board (291), an auxiliary power supply (292), a rectifier module (293), an IPM drive board (294), an IPM drive board (295), and an upper computer (296); DSP control panel (291), rectifier module (293), IPM drive board (294) and IPM drive board (295) all are connected with auxiliary power supply (292) electricity, DSP control panel (291) is connected with host computer (296) through the signal line, and IPM drive board (294) and IPM drive board (295) are connected with DSP control panel (291) electricity through the pulse signal line respectively.
8. The tension control method of an electro-hydraulic compound belt conveyor automatic tensioning device according to any one of claims 1 to 7, characterized in that:
starting and stopping stages of the belt conveyor: a tension signal is given in a controller (29) in advance, and a tension signal actually measured by a tension sensor (18) is converted into a current or voltage signal through the processor (29) and is transmitted to a DSP control panel (291), a voltage or current signal is output after calculation and is transmitted to a permanent magnet synchronous motor (12) through an IPM drive board (294), the permanent magnet synchronous motor (12) drives a tensioning winch (11) to rotate, and the tensioning winch (11) tightens or loosens a steel wire rope (20) to tighten or loosen a belt of the belt conveyor; when the belt conveyor is started, after a set belt is a primary tension value, an electromagnetic brake (13) arranged at the tail of a permanent magnet synchronous motor (12) starts to brake, so that the permanent magnet synchronous motor (12) stops running, and a tensioning winch (11) is locked and is not tensioned any more;
the stable operation stage of the belt conveyor: tension signals are given in a controller (29) in advance and tension signals measured by a tension sensor (18) are converted into pressure required by a hydraulic cylinder (10) through a processor (29), pressure signals required by the hydraulic cylinder (10) and actual pressure signals are input into a DSP control board (291), output signals are input into an IPM drive board (295) to drive a hydraulic motor of an electro-hydraulic servo valve (8), so that pressure control of the hydraulic cylinder (10) is achieved, belt tension is indirectly controlled, and pressure signals of the hydraulic cylinder (10) are monitored in real time through pressure sensors (9) and (21);
when the belt conveyor breaks down: when the pressure gauge (22) detects that the pressure is too high, the safety valve (24) is opened to release the force; when the piezoelectric pressure relay (6) monitors that the pressure value reaches or is insufficient, the hydraulic pump (26) can be automatically controlled to stop and start, energy is stored in the energy accumulator (7), the hydraulic cylinder (10) can be powered, frequent opening of the hydraulic pump (26) is not needed, and the service life of the hydraulic pump (26) is prolonged.
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