CN1597469A - Automatic error correcting system of short leather belt and its method - Google Patents
Automatic error correcting system of short leather belt and its method Download PDFInfo
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- CN1597469A CN1597469A CN 200410035828 CN200410035828A CN1597469A CN 1597469 A CN1597469 A CN 1597469A CN 200410035828 CN200410035828 CN 200410035828 CN 200410035828 A CN200410035828 A CN 200410035828A CN 1597469 A CN1597469 A CN 1597469A
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Abstract
This invention relates to a system and a method for calibrating short belt against a correct position. A system consists of a four-bar-linkage, a motor a cam, which is hinged with a push rod, and a position monitor. The four-bar-linkage is used as an actuator. The motor drives the cam to actuate the four-bar-linkage via the push rod hinged with the cam. The push rod is respectively hinged with the cam and a movable rod of the four-bar-linkage as its both ends. The position monitor is equipped with a detecting lever. A roller is elastically pressed to contact with an edge of the belt. The method is carried out by: feeding the detected position signals into computer system, outputting a calibrating signal to the motor and to change the tension forces on both edges of the conveying belt via the cam mechanism and actuator. It is simple and reliable.
Description
Technical field
The invention belongs to belt and transmit handling equipment, the loading and unloading that are mainly used in bulk cargos such as coal transmit feed, are the innovation and creation of relevant belt deviation rectifying device and correction control method thereof, are a kind of short belt automatic deviation correcting system and method specifically.
Background technology
In the coal handling equipment, the feeder system adopts two kinds of forms mostly: vibrating feed and belt feeding at home.The technological process of vibra feeder is to drive the hopper crank motion by cam mechanism and spring shock absorption mechanism, realizes vibrating feed.It mostly is external complete equipment annex at random, and advantage is that hardware cost is low, installation is simple, easy care; Shortcoming is that noise is big, energy consumption is big, mechanical wear is bigger.The most fatal shortcoming is: when running into the coal that powder is thin, humidity is big, viscosity is higher, the situation of chute blockage occurs through regular meeting, force the flow process of unloading to be interrupted, have a strong impact on work efficiency.
Adopt belt feeding then can avoid the generation of above-mentioned situation.But, because of hopper belt stroke can only adopt the flat belt mode than weak point, so the belt deviation situation often occurs.Traditional flat belt feed belt speed is constant, by the leading screw at artificial adjustment belt changed course cylinder place, reaches rectifying effect to change belt left and right sides tension force.But as long as equipment operation, just need artificial monitoring,, great threat is all arranged for staff's physical and mental health and personal safety because of work under bad environment.
Summary of the invention
The objective of the invention is the deficiency at the prior art existence, a kind of short belt automatic deviation correcting system and method is provided, deviation-rectifying system is simple in structure, and is reliable, makes belt energy automatic deviation correction in operational process, and method for correcting error is reasonable, and correction accurately, steadily.
The objective of the invention is to be achieved through the following technical solutions: a kind of short belt automatic deviation correcting system, comprise belt deviation testing agency, automatic deviation correction mechanism and computer control system, it is characterized in that automatic deviation correction mechanism be a traversing carriage bar two ends by two connecting rods hinged with the changing orientation drum shaft two ends respectively, form parallel four-bar linkage, penetrate the rotating shaft of a location in the middle of the traversing carriage bar, have the cam and a push rod one end of a cam drive driven by motor hinged, the push rod other end and traversing carriage bar one end are hinged; Belt deviation testing agency is that a feeler lever front end vertical with the belt limit is provided with runner, and the test rod of the hinged displacement pickup of the other end has an end of an elastic rocking beam and feeler lever middle part hinged, makes feeler lever runner elastic top on the belt limit; Displacement pickup and cam drive motor all are connected with computer control system by signal wire (SW).
Described displacement pickup is installed in above the adapter plate, and the rotating shaft of displacement pickup is passed below adapter plate reaches, and the rotating shaft lower end is connected with test rod; On adapter plate, also vertically penetrate a fork rotating shaft, the fork rotating shaft that is exposed on the adapter plate is with torsion spring, and torsion spring one end is connected with fork rotating shaft upper end, and the torsion spring other end is connected with adapter plate, fork rotating shaft below adapter plate is connected with fork is vertical, makes fork parallel with the displacement pickup feeler lever.
Described belt deviation testing agency is two covers, be inner concave in the middle of the runner periphery of its feeler lever front end, and two feeler lever runners withstand on respectively on the belt limit near alter course cylinder and head roll place.
Described cam drive motor is by cycloidal-pin wheel planetary reducer power cam.
A kind of short belt automatic deviation correcting method, comprise belt deviation testing agency, automatic deviation correction mechanism and computer control system, it is characterized in that: detect the belt deviation amount by belt deviation testing agency, converting electric signal to sends in the computer control system, send signal by computer control system to automatic deviation correction mechanism, according to detected belt offset direction and side-play amount, cam drive motor forward or reverse certain angle in the automatic deviation correction mechanism drives cam follower mechanism, promoting the swing of changed course two ends, the cylinder left and right sides by push rod makes the left and right sides tensile force of belt change, belt can be to the reversing sense skew of tensioning one end, to realize automatic deviation correction.
In above-mentioned short belt automatic deviation correcting method,, under the prerequisite that satisfies less than the belt maximum offset, belt is divided into the N section to the side-play amount of a direction for reducing the operating frequency of cam drive motor.The course of action of cam drive motor also is divided into the N level and adjusts in view of the above, and each adjustment amount increases along with the increase of belt side-play amount, and wherein, N is more than or equal to 2, and total adjustment time is less than and equals cam mechanism and revolve the time of turning 90 degrees.
In above-mentioned short belt automatic deviation correcting method, belt is when a side sideslip, and through the default forward adjustment value of each grade, programming control cam drive motor just changes; When belt therefore to returning when passing through this partially again, do not make the counter-rotating of cam drive motor at once, but continue to allow belt to returning inclined to one side a period of time, allow the counter-rotating of cam drive motor again, promptly establish reverse adjustment value in addition in this level.Be similar to Schmidt trigger, can obtain the higher noise tolerance limit.
The present invention compared with prior art has the following advantages and good effect:
1, technical scheme of the present invention has solved the loaded down with trivial details problem of the artificial adjustment of conventional belt feed, makes the staff break away from bad working environment.The present invention detects the belt deviation state with belt deviation testing agency to send in the computer control system, sending signal control cam drive motor by computer control system turns an angle, power cam and push rod promote the swing of changed course two ends, the cylinder left and right sides by four-bar linkage, make the left and right sides tensile force of belt change, belt can be to the reversing sense skew of tensioning one end, to realize automatic deviation correction.Adopt method for correcting error of the present invention rationally feasible, make belt energy automatic deviation correction in operational process, and correction accurately, steadily, improved the work efficiency of loading and unloading.
2, belt automatic deviation correcting system architecture of the present invention is simple, stable, reliable, and processing and fabricating and use are all very convenient, are convenient to existing belt transmission agency is transformed, and are easy to apply.
Description of drawings
Fig. 1 is the constructional drawing of the short belt automatic deviation correcting of the present invention system;
Fig. 2 is a correction program flow chart of the present invention.
The specific embodiment
Referring to Fig. 1, be a kind of embodiment that lacks the belt automatic deviation correcting system of the present invention, comprise belt 10, head roll 1, changed course cylinder 11, belt deviation testing agency, automatic deviation correction mechanism and computer control system.
Automatic deviation correction mechanism is that the two ends of a traversing carriage bar 13 are hinged with 11 two ends of changed course cylinder respectively by two connecting rods 12, form parallel four-bar linkage, penetrate the rotating shaft 18 of a location in the middle of the traversing carriage bar 13, traversing carriage bar 13 can 18 rotate around the shaft, and rotating shaft 18 is installed on the permanent seat 17.Have one to be fixed on the cam 15 that the cam drive motor 16 cycloidal-pin wheel planetary reducer by high reduction ratio on the permanent seat 17 drives and to rotate, have a push rod 14 1 ends and cam 15 long radius places hinged, the other end and traversing carriage bar 13 1 ends are hinged.
Belt deviation testing agency is that feeler lever 3 front ends vertical with belt 10 limits are provided with runner 2, there is a displacement pickup 7 to be installed in above the adapter plate 6, the rotating shaft of displacement pickup 7 is passed below adapter plate 6 reaches, the rotating shaft lower end is connected with test rod 5 one ends, and test rod 5 other ends and feeler lever 3 rear ends are hinged.Also vertically penetrate a fork rotating shaft 8 on adapter plate 6, the fork rotating shaft 8 that is exposed on the adapter plate 6 is with torsion spring 9, and torsion spring 9 one ends are connected with fork rotating shaft 8 upper ends, and torsion spring 9 other ends are connected with adapter plate 6.Fork rotating shaft 8 below adapter plate 6 and a fork vertical connection of 4 one ends, the middle part of the other end of fork 4 and feeler lever 3 is hinged, and fork 4 is parallel with the test rod 5 of displacement pickup 7.Above-mentioned belt deviation testing agency is totally two covers, structure is identical, in the middle of runner 2 peripheries of its feeler lever 3 front ends is inner concave, the runner 2 of two cover belt deviation testing agencies relies on the elasticity of torsion spring 9 to withstand on respectively on belt 10 limits at close changed course cylinder 11 and head roll 1 place, and belt 10 limits are embedded in the runner 2 circumference inner concaves.Displacement pickup 7 and cam drive motor 16 all are connected with computer control system by signal wire (SW), and computer control system can adopt the PLC Programmable Logic Controller.
The principle of automatic deviation correction:
The realization of automatic deviation correction is to increase belt automatic deviation correcting mechanism at the changed course cylinder place of belt.This mechanism drives cam follower mechanism by the motor-driven that adapts to frequent starting through the cycloidal-pin wheel planetary reducer, and push rod drives the swing of changed course two ends, the cylinder left and right sides by four-bar linkage again, makes the left and right sides tensile force of belt change.Belt can be offset to the reversing sense of tensioning one end, thereby reaches the effect of correction.
The displacement of push rod and cam anglec of rotation θ relation are as follows:
The anglec of rotation θ of cam state as shown in fig. 1 is 90 degree, at this moment, changed course cylinder and head roll are parallel to each other, and spend when the cam of Fig. 1 state rotates counterclockwise 90, cam anglec of rotation θ is 0 degree, and push rod moves and makes the changing orientation drum shaft line rotate counterclockwise maximum angle; When the cam of Fig. 1 state clockwise rotates 90 degree, cam anglec of rotation θ is 180 degree, and push rod moves and makes the changing orientation drum shaft line clockwise rotate maximum angle.
The speed of correction speed is subjected to two factor affecting.The one, belt speed; The 2nd, the displacement of cam follower, the i.e. tensile force of belt.And in the real work, we are concerned about most is whether belt deflects away from cylinder and cause and reveal or fault such as belt tearing.So, determine the action of automatic deviation correction mechanism only according to the size of belt side-play amount.
The process of automatic deviation correction is similar to the control of vehicle steering.Suppose a traveling automobile on two track highways, want all the time to remain on the demarcation line.If certain reason makes that we need the reverse bearing circle of adjusting to make its trend of oriented time to automobile so towards a direction skew.When automobile can be got back to the demarcation line, we need return the normal position with bearing circle, and vice versa.
Belt can be to a direction skew under the effect of certain external force.When scope that surpass to set, the automatic deviation correction mechanism action makes the trend of oriented time of belt.When in the scope of getting back to setting, mechanism turns back to original position with automatic deviation correction.When belt when other direction is offset, automatic deviation correction mechanism carries out same action, just direction is opposite.Finally make belt reach a kind of dynamic balance.
The method of automatic deviation correction:
The action of automatic deviation correction is finished by the cam drive motor.Because the reduction ratio of cycloidal-pin wheel planetary reducer is fixed, thus the current"on"time of cam drive motor just corresponding the displacement of cam follower, the hand of rotation correspondence of cam drive motor push rod and is advanced or retreat.
According to the short travel belt in changed course cylinder offset and the out-of-position servo-actuated of head roll place, with the belt side-play amount at changed course cylinder place adjustment foundation as the cam drive motor action.For reducing the operating frequency of cam drive motor, under the prerequisite that satisfies less than the belt maximum offset, belt is divided into the N section to the side-play amount of a direction.The course of action of cam drive motor also is divided into the N level and adjusts in view of the above.Each adjustment amount increases along with the increase of belt side-play amount.Total adjustment time is less than and equals cam mechanism and revolve the time of turning 90 degrees.
When cam drive motor positive action arrived to a certain degree, belt will oriented time out-of-position trend.In the time of in belt is got back to setting range, the cam drive motor is oppositely adjusted.Here for guaranteeing that automatic deviation correction mechanism not in the vibration of forward adjustment value place, establishes forward adjustment value and reverse adjustment value respectively in the adjustment process of each grade.Oppositely the belt side-play amount at adjustment value place is less than the belt side-play amount at forward adjustment value place.
The principle of adjusting is after belt is got back to line of centers left and right sides certain limit, and the cam anglec of rotation of automatic deviation correction mechanism should be at 90 degree places.It is the parallel axes of changing orientation drum shaft line and head roll.The time of forward adjustment should be identical with the time of reverse adjustment for this reason, i.e. the number of times of forward adjustment should be identical with the number of times of reverse adjustment.But in real work, be subjected to the restriction of field working conditions, such as the bonding quality of belt comprises the wearing and tearing of the quality edge of belt itself, the saltus step that impact of belt load or the like all might cause belt deviation to detect, and then cause the misoperation of automatic deviation correction mechanism.Destroy forward, oppositely adjust temporal balance, cause the accumulated error of deviation correction mechanism cam position of rotation.When this error surpassed to a certain degree, original position can't return with the belt adjustment in automatic deviation correction mechanism, so that skew excess (exceed the cylinder edge and cause disorderly closedown) occurs.For addressing this problem, on Control Software, introduce strict the equating of number of times that soft rest-set flip-flop is adjusted each grade Direct/Reverse.Be forward adjustment value and oppositely adjustment value set each other and the trigger condition that resets.At each grade forward adjustment value place,, must there be the zone bit of the reverse adjustment value of this grade to exist if want to allow the cam drive motor action.And after having adjusted, the reverse adjustment value of this grade is removed.In like manner, at the reverse adjustment value place of each level,, must there be the zone bit of this grade forward adjustment value to exist if want to allow the cam drive motor action.And after having adjusted, the forward adjustment value of this grade is removed.
Referring to Fig. 2, the concrete steps of each grade automatic deviation correction are as follows:
Belt deviation testing agency converts electric signal to and sends in the computer control system with will the alter course belt deviation amount at cylinder place of the mode of polling cycle, (1) the belt side-play amount surpasses previous stage forward adjustment value, when arriving the reverse adjustment value of this grade, reverse adjustment zone bit is set in computer register.(2) computer control system judges whether forward adjustment value zone bit is deposited.(3) if forward adjustment value zone bit does not exist, then do not do any action, wait for that belt continues skew.(4) if forward adjustment value zone bit exists, computer control system is sent instruction, and the cam drive motor reverses n second.(5) after reverse the adjustment, the forward adjustment value zone bit of this level in the computer control system dump register.(6) when computer control system is judged the belt side-play amount and arrived the forward adjustment value of this grade, forward is set in computer register adjusts zone bit.(7) computer control system judges whether reverse adjustment value zone bit exists.(8) if oppositely the adjustment value zone bit does not exist, and the belt side-play amount is not then done any action above allowed band, wait belt continuation skew.(9) if oppositely the adjustment value zone bit exists, computer control system is sent instruction, and the cam drive motor is just changeing n second.(10) after forward was adjusted, computer control system was removed the reverse adjustment value zone bit of this grade.(11) if belt begins to return under the effect of forward adjustment, and arrive the reverse adjustment value of this grade, computer control system is sent instruction, cam drive motor counter-rotating n second.(12) after reverse the adjustment, the forward adjustment value zone bit of this level of computer control system dump register.(13) if belt does not return under the effect of forward adjustment, and the belt side-play amount enters next stage and adjusts program above allowed band.
Certainly, above-mentioned explanation is not to be limitation of the present invention, and the present invention also is not limited to above-mentioned giving an example; those skilled in the art; in essential scope of the present invention, the variation of making, remodeling, interpolation or replacement all should belong to protection scope of the present invention.
Claims (8)
1, a kind of short belt automatic deviation correcting system, comprise belt deviation testing agency, automatic deviation correction mechanism and computer control system, it is characterized in that automatic deviation correction mechanism be a traversing carriage bar two ends by two connecting rods hinged with the changing orientation drum shaft two ends respectively, form parallel four-bar linkage, penetrate the rotating shaft of a location in the middle of the traversing carriage bar, have the cam and a push rod one end of a cam drive driven by motor hinged, the push rod other end and traversing carriage bar one end are hinged; Belt deviation testing agency is that a feeler lever front end vertical with the belt limit is provided with runner, and the test rod of the hinged displacement pickup of the other end has an end of an elastic rocking beam and feeler lever middle part hinged, makes feeler lever runner elastic top on the belt limit; Displacement pickup and cam drive motor all are connected with computer control system by signal wire (SW).
2, according to the described short belt automatic deviation correcting of claim 1 system, its spy is that described displacement pickup is installed in above the adapter plate, and the rotating shaft of displacement pickup is passed below adapter plate reaches, and the rotating shaft lower end is connected with test rod; On adapter plate, also vertically penetrate a fork rotating shaft, the fork rotating shaft that is exposed on the adapter plate is with torsion spring, and torsion spring one end is connected with fork rotating shaft upper end, and the torsion spring other end is connected with adapter plate, fork rotating shaft below adapter plate is connected with fork is vertical, makes fork parallel with the displacement pickup feeler lever.
3, according to claim 1 or 2 described short belt automatic deviation correcting systems, it is characterized in that described belt deviation testing agency is two covers, in the middle of the runner periphery of its feeler lever front end is inner concave, and two feeler lever runners withstand on respectively on the belt limit at close changed course cylinder and head roll place.
4, according to claim 1 or 2 described short belt automatic deviation correcting systems, it is characterized in that described cam drive motor is by cycloidal-pin wheel planetary reducer power cam.
5, a kind of short belt automatic deviation correcting method, comprise belt deviation testing agency, automatic deviation correction mechanism and computer control system, it is characterized in that: detect the belt deviation amount by belt deviation testing agency, converting electric signal to sends in the computer control system, send signal by computer control system to automatic deviation correction mechanism, according to detected belt offset direction and side-play amount, cam drive motor forward or reverse certain angle in the automatic deviation correction mechanism drives cam follower mechanism, promoting the swing of changed course two ends, the cylinder left and right sides by push rod makes the left and right sides tensile force of belt change, belt can be to the reversing sense skew of tensioning one end, to realize automatic deviation correction.
6, according to the described short belt automatic deviation correcting method of claim 5, it is characterized in that: under the prerequisite that satisfies less than the belt maximum offset, belt is divided into the N section to the side-play amount of a direction; The course of action of cam drive motor also is divided into the N level and adjusts in view of the above, and each adjustment amount increases along with the increase of belt side-play amount, and N is more than or equal to 2, and total adjustment time is less than and equals cam mechanism and revolve the time of turning 90 degrees.
7, according to claim 5 or 6 described short belt automatic deviation correcting methods, it is characterized in that: in short belt automatic deviation correcting method, belt is when a side sideslip, and through the default forward adjustment value of each grade, control cam drive motor just changes; When belt therefore to returning when passing through this partially again, do not make the counter-rotating of cam drive motor at once, but continue to allow belt to returning inclined to one side a period of time, allow the counter-rotating of cam drive motor again, promptly establish reverse adjustment value in addition in this level.
8, according to the described short belt automatic deviation correcting method of claim 5, the concrete steps that it is characterized in that each grade automatic deviation correction are as follows: belt deviation testing agency converts electric signal to and sends in the computer control system with will the alter course belt deviation amount at cylinder place of the mode of polling cycle, (1) the belt side-play amount surpasses previous stage forward adjustment value, when arriving the reverse adjustment value of this grade, reverse adjustment zone bit is set in computer register; (2) computer control system judges whether forward adjustment value zone bit is deposited; (3) if forward adjustment value zone bit does not exist, then do not do any action, wait for that belt continues skew; (4) if forward adjustment value zone bit exists, computer control system is sent instruction, and the cam drive motor reverses n second; (5) after reverse the adjustment, the forward adjustment value zone bit of this level in the computer control system dump register; (6) when computer control system is judged the belt side-play amount and arrived the forward adjustment value of this grade, forward is set in computer register adjusts zone bit; (7) computer control system judges whether reverse adjustment value zone bit exists; (8) if oppositely the adjustment value zone bit does not exist, and the belt side-play amount is not then done any action above allowed band, wait belt continuation skew; (9) if oppositely the adjustment value zone bit exists, computer control system is sent instruction, and the cam drive motor is just changeing n second; (10) after forward was adjusted, computer control system was removed the reverse adjustment value zone bit of this grade; (11) if belt begins to return under the effect of forward adjustment, and arrive the reverse adjustment value of this grade, computer control system is sent instruction, cam drive motor counter-rotating n second; (12) after reverse the adjustment, the forward adjustment value zone bit of this level of computer control system dump register; (13) if belt does not return under the effect of forward adjustment, and the belt side-play amount enters next stage and adjusts program above allowed band.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100358287A CN100344515C (en) | 2004-09-24 | 2004-09-24 | Automatic error correcting system of short leather belt and its method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100358287A CN100344515C (en) | 2004-09-24 | 2004-09-24 | Automatic error correcting system of short leather belt and its method |
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| CN1597469A true CN1597469A (en) | 2005-03-23 |
| CN100344515C CN100344515C (en) | 2007-10-24 |
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| CNB2004100358287A Expired - Fee Related CN100344515C (en) | 2004-09-24 | 2004-09-24 | Automatic error correcting system of short leather belt and its method |
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| CN102502207A (en) * | 2011-11-08 | 2012-06-20 | 中国矿业大学 | Fault detection device for belt conveyer |
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| CN102047094B (en) * | 2008-05-28 | 2013-12-18 | 株式会社神户制钢所 | Belt meandering preventing device and meandering preventing method of running test device |
| CN101811089A (en) * | 2010-03-29 | 2010-08-25 | 马鞍山伏斯特自控技术有限公司 | Ore dressing production automatic control system |
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| CN102673979A (en) * | 2012-06-12 | 2012-09-19 | 青岛科技大学 | Method and device for judging deviation of conveying belt |
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| CN103387110A (en) * | 2013-08-13 | 2013-11-13 | 新麦机械（无锡）有限公司 | Automatic steel band skew-adjusting device |
| CN103449141A (en) * | 2013-09-05 | 2013-12-18 | 鞍钢集团矿业公司 | Belt deviation intelligent correcting system and correcting method for belt conveyor |
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| CN108584351A (en) * | 2018-03-13 | 2018-09-28 | 唐山曹妃甸实业港务有限公司 | It is a kind of anticipation belt deviation, correction method and system |
| CN108584351B (en) * | 2018-03-13 | 2024-02-13 | 唐山曹妃甸实业港务有限公司 | Method and system for prejudging deviation and correction of belt |
| CN108928664A (en) * | 2018-07-27 | 2018-12-04 | 广州焙欧机械设备有限公司 | A kind of correction auxiliary device |
| CN111895738A (en) * | 2020-06-12 | 2020-11-06 | 福建省铁拓机械股份有限公司 | Drying roller capable of automatically adjusting movement |
| CN113042491A (en) * | 2021-04-13 | 2021-06-29 | 内蒙古中航民富科技有限公司 | Deviation correcting device, photovoltaic panel cleaning robot and cleaning method |
| CN113042491B (en) * | 2021-04-13 | 2024-01-23 | 内蒙古中航民富科技有限公司 | Deviation correcting device, photovoltaic panel cleaning robot and cleaning method |
| CN115246560A (en) * | 2022-08-12 | 2022-10-28 | 青岛港国际股份有限公司 | Belt self-adaptive adjusting system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100344515C (en) | 2007-10-24 |
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