CN113753523B - Multi-crawler-belt conveyor cooperative self-moving control method and system - Google Patents

Multi-crawler-belt conveyor cooperative self-moving control method and system Download PDF

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CN113753523B
CN113753523B CN202111105009.5A CN202111105009A CN113753523B CN 113753523 B CN113753523 B CN 113753523B CN 202111105009 A CN202111105009 A CN 202111105009A CN 113753523 B CN113753523 B CN 113753523B
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truss
trusses
average
group
difference
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CN113753523A (en
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杨洋
冯宝忠
刘增杰
王荣国
张奋有
盛伟青
周海霖
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Ningxia Tiandi Northwest Coal Machinery Co ltd
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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
    • B65G15/32—Belts or like endless load-carriers made of rubber or plastics
    • 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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention provides a cooperative self-moving control method for a multi-crawler conveyor, which comprises the following steps: dividing the belt conveyor truss into a plurality of groups, wherein each group comprises a plurality of sections of trusses, and the adjacent trusses are in flexible connection by adopting a coupler; arranging a driving mechanism at the bottom of each truss and recording the real-time walking path of each truss; calculating the average travel of the real-time travel path of each truss in the group; calculating a monomer difference value of the real-time walking path of each truss in the group and the average stroke; comparing the monomer difference with a pre-stored error limit in the group, and adjusting the corresponding truss according to the comparison result; in the invention, the whole belt conveyor is divided into groups, the moving distance of a grouped truss is recorded and calculated, and the truss is correspondingly aligned and straightened according to the calculation result.

Description

Multi-crawler-belt conveyor cooperative self-moving control method and system
Technical Field
The invention relates to the technical field of belt conveyor control, in particular to a cooperative self-moving control method and system for a multi-crawler conveyor.
Background
The safety production level of the existing open pit coal mine is high, and the open pit coal mine is an essential component in the coal industry of China; the crawler belt conveyor capable of being efficiently displaced is convenient to move, the displacement time of the belt conveyor can be greatly shortened, continuous mining and production activities of an open-pit coal mine can be better served, the combined truss system can improve the working efficiency of the system, each truss is about 30 meters in length, and the number of trusses can be different according to different working conditions;
the control system of the belt conveyor is mature at home at present, and the control system of the crawler machine is discussed only for the truss part. At present, mature and reliable mobile crawler machines can be used for reference, and meanwhile, as the whole transportation length of the system generally needs 15-40 sets of mobile crawler machines to be used in combination, the crawler machines are basically in a semi-soft connection state, and the flatness of the ground in an actual mining area is not ideal, the crawler machines are probably out of synchronization due to different ground conditions and other factors in the translation process. The difficulty of realizing theoretically complete synchronous movement of the control system is high. Once serious deflection angle is enlarged or adjacent trusses are piled. There is a high likelihood of damage to the system if the truss system continues to be moved. However, parking recovery systems are also difficult in view of the actual truss packing relationship.
The invention is provided for solving the problem that the displacement of the multi-track is asynchronous due to various factors in the running process, so that a truss is blocked or a belt conveyor is damaged.
Disclosure of Invention
It is necessary to provide a cooperative self-moving control method for a multi-track conveyor, which comprises the following steps:
dividing the belt conveyor truss into a plurality of groups, wherein each group comprises a plurality of trusses, and adjacent trusses are flexibly connected by adopting a coupling;
arranging a driving mechanism at the bottom of each truss and recording the real-time walking path of each truss;
calculating the average travel of the real-time travel path of each truss in the group;
calculating a monomer difference value of the real-time walking path of each truss in the group and the average stroke;
and comparing the monomer difference with a pre-stored error limit in the group, and adjusting the corresponding truss according to the comparison result.
In the invention, the whole belt conveyor is divided into groups, the moving distance of a grouped truss is recorded and calculated, and the truss is correspondingly aligned and straightened according to the calculation result.
Drawings
Fig. 1 is a schematic diagram of the movement of a group truss according to the present invention.
Fig. 2 is a schematic diagram of the movement of the whole truss of the belt conveyor.
In the figure, trusses k1, k2, k3, k4; first group K Is divided into 1 Second group K Is divided into 2 And a third subgroup K Is divided into 3 。
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments are 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 the drawings without creative efforts.
Referring to fig. 1, an embodiment of the present invention provides a method for controlling cooperative self-moving of a multi-track conveyor, which is characterized by including the following steps:
dividing the belt conveyor truss into a plurality of groups, wherein each group comprises a plurality of sections of trusses, and the adjacent trusses are in flexible connection by adopting a coupler;
arranging a driving mechanism (a crawler machine) at the bottom of each truss, and recording the real-time walking path of each truss;
calculating the average travel of the real-time travel path of each truss in the group;
calculating a monomer difference value of the real-time walking path of each truss in the group and the average stroke;
and comparing the monomer difference with a pre-stored error limit in the group, and adjusting the corresponding truss according to the comparison result.
Further, the method for comparing the monomer difference value with the group internal error limit (for example, the suitable value may be preset to 3 meters, and the like, and under the value, when the displacement difference of the adjacent trusses is smaller than the value, the trusses can both freely and normally walk) includes: when the comparison result is positive, controlling the corresponding truss to perform a reverse displacement action (specifically, a reverse displacement signal and a displacement signal are provided to the driving mechanism below the truss through the controller), wherein the displacement is an absolute value of the comparison result; and when the comparison result is a negative number, controlling the corresponding truss to perform positive displacement action, wherein the displacement is the absolute value of the comparison result. In the scheme, the forward direction and the reverse direction are relative concepts, and the forward direction of the crawler can be assumed to be the forward direction.
Example 1
Assuming that 4 trusses are included in one group, during the translation process of the group truss, each crawler machine passes different distances during the translation process of the group truss within the time period t1-t2, the real-time walking paths recorded by the encoders are d1, d2, d3 and d4 respectively, the controller can perform group average calculation on the readings of the encoders of partial truss crawler machines, respectively calculate monomer difference values exceeding the error limit in the group, and record the trusses exceeding the error limit in the group (for example, 1.5 meters in the embodiment), the controller sends a movement signal and a displacement signal to the corresponding trusses, for example, in the scheme, k1, k2, k3 and k4 are four trusses, the walking distances are d1=1 meter, d2=1 meter, d3=3 meter and d4=4 meter respectively, the average stroke in the group is 2.25 meters according to the formula 1, and the monomer difference value between the walking truss distance and 2.25 meters is calculated according to the formula 2, namely, the monomer difference value is 2
Figure GDA0004037682190000031
Figure GDA0004037682190000032
In a position to
Figure GDA0004037682190000033
Compared with the water content of 1.5 meters respectively,
Figure GDA0004037682190000034
if the length is more than 1.5 meters, the length should be adjusted by 0.25 meters in the opposite direction, and if the rest trusses do not need to move, the length does not need to be adjusted;
in example 2, in this example, the intra-group error limit is 3 meters, and similarly, in another group, k1, k2, k3, and k4 are four trusses, and the respective travel distances are d1=7 meters, d2=9 meters, d3=10 meters, and d4=12 meters, and the score is obtained according to equation 1The average travel in the group is 9.5 meters, and the difference value of the walking distance of each truss and the monomer of 9.5 meters is calculated according to the formula 2, namely
Figure GDA0004037682190000041
Figure GDA0004037682190000042
In a position to
Figure GDA0004037682190000043
Compared with the length of 3 meters respectively,
Figure GDA0004037682190000044
if the length is more than 3 meters, the length should be adjusted by 0.5 meter in the opposite direction, and if the rest trusses do not need to move, the length does not need to be adjusted;
Figure GDA0004037682190000045
Figure GDA0004037682190000046
Figure GDA0004037682190000047
and when the deviation value of a certain truss exceeds the preset intra-group error limit, judging according to the controller, and then outputting a signal to the encoder and the frequency converter to control the speed of the crawler machine so as to straighten the truss.
Referring to fig. 2, further, the present invention also includes a step of cooperative self-moving control among a plurality of groups:
grouping several average strokes of belt conveyor into three groups
Figure GDA0004037682190000048
Calculating the total average travel
Figure GDA0004037682190000049
Average run of each packet
Figure GDA00040376821900000410
And total mean stroke
Figure GDA00040376821900000411
Absolute value of the total averaged difference (
Figure GDA00040376821900000412
Divide by n average difference);
and comparing the average difference with a pre-stored total error limit (2 meters), and adjusting the corresponding truss according to the comparison result.
Further, the method for adjusting the corresponding truss after comparing the average difference value with the total error limit (for example, a suitable value such as 2 meters can be preset, where the displacement difference between the trusses of the two adjacent groups is small, and each truss of each group can freely and normally walk) includes: and calculating the difference between the average difference and the total error limit, and when the difference is larger than a preset threshold difference, correcting the average difference of the corresponding grouped trusses according to the difference, wherein the trusses in each group control the required moving stroke of each truss according to the corrected average difference.
Example 3
Figure GDA00040376821900000413
(i.e., for the first packet, d1=1 meter, d2=1 meter, d3=3 meter, d4=4 meter),
Figure GDA0004037682190000051
(i.e. for the second packet d1=4 meters, d2=5 meters, d3=7 meters, d4=8 meters.)
Figure GDA0004037682190000052
(i.e., for the third group, d1=7 meters, d2=9 meters, d3=10 meters, d4=12 meters.)
Figure GDA0004037682190000053
{(2.25+6+9.5)/3}
Figure GDA0004037682190000054
Figure GDA0004037682190000055
Figure GDA0004037682190000056
Figure GDA0004037682190000057
Figure GDA0004037682190000058
Figure GDA0004037682190000059
In this embodiment, the average difference values of the trusses in the three groups are all smaller than the overall error value, and no adjustment is required.
Example 4
Figure GDA00040376821900000510
(i.e., for the first packet, d1=1 meter, d2=1 meter, d3=3 meter, d4=4 meter),
Figure GDA00040376821900000511
(i.e. for the second packet d1=4 meters, d2=5 meters, d3=7 meters, d4=8 meters.)
Figure GDA00040376821900000512
(i.e. forA third grouping, d1=8 meters, d2=10 meters, d3=12 meters, d4=12 meters,)
Figure GDA00040376821900000513
{(2.25+6+9.5)/3}
Figure GDA00040376821900000514
Figure GDA00040376821900000515
Figure GDA00040376821900000516
Figure GDA00040376821900000517
Figure GDA00040376821900000518
Figure GDA00040376821900000519
Since the average difference value of the third group is greater than the overall error value, the average difference value of the third group needs to be corrected, and the correction process is as follows:
subtracting {4.6- (2.6-2) } =4 meters from the average difference of the packet, the controller adjusts the packet truss
Figure GDA0004037682190000061
The mean difference of 3 is 4 meters, and the adjustment basis of each truss of the group is corrected to be 4 meters instead of being based on 4.6.
Wherein the correction process may include the following two cases: firstly, judging whether the difference value 2.6 is a positive number or a negative number, if so, indicating that the grouped truss travels too fast, and then carrying out deceleration correction on the grouped average difference value, namely {4.6- (2.6-2) }, otherwise, carrying out acceleration correction, namely {4.6+ (2.6-2) }.
The invention also provides a cooperative self-moving control system of the multi-crawler conveyor, which comprises a plurality of grouping trusses, a driving mechanism arranged below each truss, a stroke recording unit and a controller, wherein the driving mechanism is used for driving the trusses to move, the stroke recording unit is used for recording the walking path of the trusses, the controller receives the real-time stroke of each truss, calculates the average stroke according to the real-time stroke, compares the average stroke with the error limit prestored in the controller, and adjusts the corresponding trusses according to the comparison result.
Further, the stroke recording unit is provided with an encoder and is used for recording the walking path of the driving mechanism in real time.
The modules or units in the device of the embodiment of the invention can be combined, divided and deleted according to actual needs.
The above disclosure is only illustrative of the preferred embodiments of the present invention, which should not be taken as limiting the scope of the invention, but rather the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It will be understood by those skilled in the art that all or a portion of the above-described embodiments may be practiced and equivalents thereof may be resorted to as falling within the scope of the invention as claimed. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (5)

1. A cooperative self-moving control method of a multi-crawler conveyor is characterized by comprising the following steps:
dividing the belt conveyor truss into a plurality of groups, wherein each group comprises a plurality of sections of trusses, and the adjacent trusses are in flexible connection by adopting a coupler;
arranging a driving mechanism at the bottom of each truss and recording the real-time walking path of each truss;
calculating the average travel of the real-time travel path of each truss in the group;
calculating a monomer difference value of the real-time walking path of each truss in the group and the average stroke;
comparing the monomer difference with a pre-stored error limit in the group, and adjusting the corresponding truss according to the comparison result;
the method also comprises the following steps of cooperative self-moving control among a plurality of groups:
calculating the average stroke of a plurality of groups of the belt conveyor to obtain the total average stroke;
averaging the average run length of each packet with the total average run length;
and comparing the average difference value with a pre-stored total error limit, and adjusting the corresponding truss according to a comparison result.
2. The cooperative self-moving control method of the multi-track conveyor according to claim 1, wherein the method for comparing the single difference value with the error limit in the group comprises the following steps: when the comparison result is positive, controlling the corresponding truss to perform reverse displacement action, wherein the displacement is the absolute value of the comparison result; and when the comparison result is a negative number, controlling the corresponding truss to perform positive displacement action, wherein the displacement is the absolute value of the comparison result.
3. The method for controlling the cooperative self-moving of the multi-track conveyor according to claim 1, wherein the method for adjusting the corresponding truss after comparing the average difference with the overall error limit comprises the following steps: and calculating the difference between the average difference and the total error limit, when the difference is greater than a preset threshold difference, correcting the average difference of the corresponding grouped trusses according to the difference, and controlling the required moving stroke of each truss according to the corrected average difference by the trusses in each group.
4. The utility model provides a many caterpillar conveyor are from moving control system in coordination which characterized in that: the multi-track conveyor cooperative self-moving control method comprises a plurality of grouped trusses, a driving mechanism arranged below each truss, a stroke recording unit and a controller, wherein the driving mechanism is used for driving the trusses to move, the stroke recording unit is used for recording the walking path of the trusses, the controller receives the real-time stroke of each truss, and the controller adjusts the corresponding trusses according to the multi-track conveyor cooperative self-moving control method of any one of claims 1 to 3.
5. The coordinated self-moving control system of the multi-track conveyor according to claim 4, wherein: the stroke recording unit is provided with an encoder and is used for recording the walking path of the driving mechanism in real time.
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