CN113716287A - Truss included angle measuring and calculating method and aligning method for movable multi-section truss belt conveyor - Google Patents
Truss included angle measuring and calculating method and aligning method for movable multi-section truss belt conveyor Download PDFInfo
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- CN113716287A CN113716287A CN202111105078.6A CN202111105078A CN113716287A CN 113716287 A CN113716287 A CN 113716287A CN 202111105078 A CN202111105078 A CN 202111105078A CN 113716287 A CN113716287 A CN 113716287A
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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
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
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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
- B65G15/30—Belts or like endless load-carriers
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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
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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Abstract
The invention provides a method for measuring and calculating included angles of trusses of a movable multi-section truss belt conveyor, which is characterized by comprising the following steps of: a first sensor and a second sensor are respectively arranged on two sides of the end parts of two adjacent trusses and are respectively used for detecting the upper end distance m1 and the lower end distance n1 of the two adjacent trusses; calculating an included angle alpha between two adjacent trusses according to the upper end distance m1 and the lower end distance n 1; according to the invention, the distance change values of the two trusses are obtained through measurement by a sensor, then the included angle is obtained through conversion and calculation according to a designed formula, and then the moving distance of the trusses is adjusted according to the included angle value.
Description
Technical Field
The invention relates to the technical field of belt conveyor truss adjustment, in particular to a truss included angle measuring and calculating method and an aligning method for a movable multi-section truss belt conveyor.
Background
A belt conveyor formed by connecting a plurality of sections of trusses is driven by a crawler to move, the bottom of each section of truss is provided with the crawler, each crawler drives one section of truss to move, due to the fact that the ground or a roadway is uneven and driving errors exist, the crawler driving cannot keep synchronism all the time, adjacent trusses cannot be kept in the same straight line in the length direction, deviation exists, included angles are formed, and accordingly the trusses are blocked and cannot normally run. The prior art relies on the manual naked eye to observe whether the truss deviates or not and relies on external force to straighten the truss.
Disclosure of Invention
It is necessary to provide a method for measuring and calculating included angles of trusses of a mobile multi-section truss belt conveyor, which comprises the following steps:
a first sensor and a second sensor are respectively arranged on two sides of the end parts of two adjacent trusses and are respectively used for detecting the upper end distance m1 and the lower end distance n1 of the two adjacent trusses;
and calculating an included angle alpha between two adjacent trusses according to the upper end distance m1 and the lower end distance n1, wherein the calculation formula is as follows:
in the formula: m1 and n1 are known quantities for detection;
alpha is an included angle between two adjacent trusses;
p1the distance between the pull wire sensor and the connecting shaft is represented as a fixed value.
According to the invention, the distance change values of the two trusses are obtained through measurement by a sensor, then the included angle is obtained through conversion and calculation according to a designed formula, and then the moving distance of the trusses is adjusted according to the included angle value.
In the scheme, no matter whether the respective deflection angles of the two adjacent trusses are the same or not, the cardan shaft connected with the two trusses is used as a symmetry axis, and the calculation is carried out according to the fact that the included angle of the two trusses is an angle, which is different from the scheme of independently calculating the deflection angle of one truss. On the basis of the method, when the truss is adjusted to reset, the same displacement signals are sent to the two trusses respectively, the two trusses act respectively or simultaneously, and the two trusses displace by the same distance, so that straightening is realized.
Drawings
Fig. 1 shows an initial state in which two adjacent trusses are horizontally aligned.
Fig. 2 is a schematic view of two adjacent trusses forming a right vertex angle. The arrow indicates the direction of movement of the drive mechanism for alignment adjustment.
Fig. 3 is a schematic view of two adjacent trusses forming a negative apex angle. The arrow indicates the direction of movement of the drive mechanism for alignment adjustment.
Fig. 4 is a schematic front view of two adjacent trusses. Showing the relative positional relationship of the drive mechanism on the two trusses.
In the figure: the device comprises a first truss 10, a driving mechanism 11, a second truss 20, a coupling 30, a first sensor 40 and a second sensor 50.
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 to 4, an embodiment of the present invention provides a method for measuring and calculating a truss included angle of a mobile multi-section truss belt conveyor, including the following steps:
respectively installing a first sensor 40 and a second sensor 50 on two sides of the end parts of two adjacent trusses, and respectively detecting the upper end distance m1 and the lower end distance n1 of the two adjacent trusses;
and calculating an included angle alpha between two adjacent trusses according to the upper end distance m1 and the lower end distance n1, wherein the calculation formula is as follows:
in the formula: m1 and n1 are known quantities for detection;
alpha is an included angle between two adjacent trusses;
p1the distance between the pull wire sensor and the connecting shaft is represented as a fixed value.
The derivation of the above equation is as follows:
as shown in fig. 1 below, an initial state is shown in which two adjacent trusses are horizontally aligned. At this time, the data corresponding to the two pull wire sensors are equal (within an initial value or a finite error).
As shown in fig. 2 below, the phenomenon that the included angle between every two trusses occurs during the translation process of two adjacent trusses is shown. The truss cardan shaft is assumed to have enough strength, the length r of the connecting shaft is kept constant, an included angle is formed around the connecting point only in a plane, and the installation position of the stay wire sensor is fixed.
When the included angle between every two trusses is alpha, according to the principle that the length r of the connecting shaft is unchanged:
it can be seen that the new lengths (original length of 2r in the initial position of fig. 1) of the pull wire sensors in the upper group B1B2 are:
it can be seen that the new lengths (original length of 2r in the initial position of fig. 1) of the following group C1C2 pull sensors are:
using formula 1-formula 2, the following formula 3 is obtained:
the length of the existing truss is about 30 meters, alpha is less than or equal to 10 degrees under the condition that the adjacent truss and the coupling 30 can bear the maximum mechanical strength, and for the small deformation, the deflection phenomenon of the truss is obviously difficult to accurately reflect by only detecting one pull wire sensor on one side. Therefore, by using the variable accumulation and adding the absolute values of the deviations of the upper and lower two pull line sensors (usually, the deformation of the two pull line sensors always increases and decreases), the deformation sum of the two pull line sensors can be expressed as formula 3.
Further, the included angle between two adjacent trusses is determined by equation 4, and when Δ m1 is a positive number, it is expressed as an upper vertex angle.
Further, the included angle between two adjacent trusses is determined by equation 4, and when Δ n1 is a positive number, it is expressed as a lower vertex angle.
Namely, the two adjacent trusses are bent towards the left side to form an included angle, and when an upper vertex angle is formed; bending to the right side to form a lower vertex angle; when the formed vertical angles are different, the driving signals sent by the controller to the crawler drivers at the lower part of the truss are different and have directivity, so the expressions 4 and 5 are used as the basis for sending the directivity control signals by the controller.
Further, the sensor is a pull wire sensor.
A truss alignment method of a movable multi-section truss belt conveyor comprises the following steps:
adjusting a driving mechanism 11 below one truss according to an included angle between the adjacent first truss 10 and the adjacent second truss 20, and driving the truss to move for a preset distance by the driving mechanism 11 to realize alignment adjustment;
the included angle between the adjacent first truss 10 and the adjacent second truss 20 is obtained according to the above-mentioned measuring and calculating method.
The adjusting and aligning scheme adopted in the scheme is not to move two trusses, but to move another truss by taking one truss as a reference, namely, the included angle of the two trusses is calculated instead of half of the included angle, so that a control system is simplified, and the adjusting efficiency and accuracy are improved.
The angle and the distance of movement may be performed according to the pre-stored relationship of table 1. Of course, the gradient change precision of the included angle can be changed, for example, the change gradient is 1 degree or one bit or two bits after a decimal point, which are the invention ideas of the scheme. The table is merely a preferred embodiment and is not intended to limit the scope of the present invention, such as adjusting different angles to different distances.
Further, one of the trusses is the truss arranged by the driving mechanism 11 below the two adjacent trusses and close to the coupling 30.
In this embodiment, since the driving mechanism 11 below the second truss 20 is provided close to the coupling 30, the controller transmits a movement command to the driving mechanism 11 below the second truss 20, for example, to drive the crawler, and the first truss 10 is kept in operation during adjustment. For example, the length of each of the first truss 10 (truss k1) and the second truss 20 (truss k2) is 30 meters, the driving mechanism 11 under the second truss 20 is arranged close to the coupling 30 and is at a distance of 3-5 meters from the end of the second truss 20 (i.e., the coupling 30 connected to the first truss 10), and the driving mechanism 11 under the first truss 10 is arranged away from the coupling 30 and is at a distance of 25-27 meters from the end of the first truss 10.
According to the principle of mechanical design, the driving mechanisms 11 below two adjacent trusses cannot be all arranged below the middle position of the truss, the driving mechanisms 11 are used as fulcrums due to the design, the moment for moving and adjusting the end parts of the two ends of the truss is long, therefore, the driving mechanisms 11 are arranged eccentrically and are designed to be close to the end head of one end, during adjustment, only the driving mechanisms 11 close to the end head of the truss need to be adjusted, the truss is short in adjusting moment, fast in adjusting speed and small in displacement distance, and alignment adjustment can be achieved.
Further, the truss alignment method comprises the following steps:
the driving mechanism 11 is controlled to adjust the displacement of the truss according to the direction corresponding to the upper vertex angle or the direction corresponding to the lower vertex angle. For example, in table 1, when the upper vertex angle is marked as positive output and the lower vertex angle is marked as negative output, the driving mechanism 11 receives the corresponding output signal to realize the movement alignment function in the corresponding direction.
Table 1
| Angle alpha | A predetermined distance | Upper/lower apex angle |
| 3° | 1 m | +/- |
| 4° | 1.6 m | +/- |
| 5° | 3.2 m | +/- |
| …… | …… | |
| 10° | 5 m | +/- |
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.
Claims (7)
1. A truss included angle measuring and calculating method of a movable multi-section truss belt conveyor is characterized by comprising the following steps: a first sensor and a second sensor are respectively arranged on two sides of the end parts of two adjacent trusses and are respectively used for detecting the upper end distance m1 and the lower end distance n1 of the two adjacent trusses;
and calculating an included angle alpha between two adjacent trusses according to the upper end distance m1 and the lower end distance n1, wherein the calculation formula is as follows:
in the formula: m1 and n1 are known quantities for detection;
alpha is an included angle between two adjacent trusses;
p1the distance between the pull wire sensor and the connecting shaft is represented as a fixed value.
2. The method for measuring and calculating the included angle of the truss of the movable multi-section truss belt conveyor according to claim 1, wherein the method comprises the following steps: the direction of the included angle between two adjacent trusses is judged by equation 4, and when Δ m1 is a positive number, the included angle is expressed as an upper vertex angle.
3. The method for measuring and calculating the included angle of the truss of the movable multi-section truss belt conveyor according to claim 1, wherein the method comprises the following steps: the direction of the included angle between two adjacent trusses is judged by equation 4, and when Δ n1 is a positive number, it is expressed as a lower vertex angle.
4. The method for measuring and calculating the included angle of the truss of the movable multi-section truss belt conveyor according to claim 1, wherein the method comprises the following steps: the sensor is a pull wire sensor.
5. A truss alignment method of a movable multi-section truss belt conveyor is characterized by comprising the following steps:
adjusting a driving mechanism below one truss according to the included angle between the adjacent first truss and the second truss, and driving the truss to move for a preset distance by the driving mechanism to realize alignment adjustment;
the angle between said adjacent first and second girders is obtained in accordance with one of claims 1-3.
6. The truss alignment method of the mobile multi-section truss belt conveyor according to claim 5, wherein: one truss is the truss which is arranged close to the coupler by a driving mechanism at the lower part of two adjacent trusses.
7. The truss alignment method of the mobile multi-section truss belt conveyor as claimed in claim 6, comprising the steps of:
and controlling the driving mechanism to adjust the displacement of the truss according to the direction corresponding to the upper vertex angle or the direction corresponding to the lower vertex angle.
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