Mining main inclined shaft belt conveyor and power balance adaptive control method therefor

Abstract

A mining main inclined shaft belt conveyor, comprising a head unloading roller (1), a middle unloading roller (6), and a tail roller (10), wherein a belt for conveying is wound on the head unloading roller (1), the middle unloading roller (6), and the tail roller (10); a head conveying section is formed between the head unloading roller (1) and the middle unloading roller (6); a tail conveying section is formed between the middle unloading roller (6) and the tail roller (10); a first middle driving roller (8), a second middle driving roller (7), and a third middle driving roller (9) located below the tail conveying section are sequentially arranged at the downstream portion of the middle unloading roller (6); and a first head driving roller (2) and a second head driving roller (3) located below the head conveying section are sequentially arranged at the downstream portion of the head unloading roller (1). The belt conveyor can achieve collaborative control, so that the power balance of the belt conveyor can be kept at 95% or above throughout the entire life cycle of the belt conveyor. Also provided is a power balance adaptive control method for a belt conveyor.

Description

Technical Field

[0001] The present invention relates to the technical field of belt conveyors, and in particular to a mining main inclined shaft belt conveyor and power balance adaptive control method therefor. Background Art

[0002] The main inclined shaft belt conveyor is the main transportation artery in coal mines and belongs to high-power belt conveyors. Its transportation capacity directly determines the output of the entire coal mining enterprise.

[0003] However, multi-point and multi-motor belt conveyors may have their transportation capacity limited due to the excessive or insufficient operating current of a certain motor. In severe cases, it may lead to equipment damage and affect production.

[0004] Excessive or insufficient operating current of a motor is a manifestation of power imbalance. After a period of operation with the driving pulley lagging, one or more driving pulleys of the conveyor may experience varying degrees of wear, leading to a significant difference in the operating current of individual motors compared to others. As the transportation capacity increases, the difference will also gradually increase. Existing technology can only ensure power balance during the commissioning and operation of new equipment, and cannot achieve power balance throughout the entire life cycle of the belt conveyor. Object of the Invention [0004a] It is an object of the present invention to substantially overcome or ameliorate one or more of the abovementioned drawbacks, or at least provide a useful alternative. Summary of the Invention

[0005] In view of the above, one embodiment of the present invention provides a mining main inclined shaft belt conveyor and power balance adaptive control method therefor. [0005a] A first aspect of the present invention provides a mining main inclined shaft belt conveyor, wherein the belt conveyor includes a head unloading pulley, a middle unloading pulley, and a tail pulley, a conveying belt is wound around the head unloading pulley, the middle unloading pulley, and the tail pulley, a head conveying section is formed between the head unloading pulley and the middle unloading pulley, 2024386579   11 Sep 2026 and a tail conveying section is formed between the middle unloading pulley and the tail pulley, a first middle driving pulley, a second middle driving pulley, and a third middle driving pulley are sequentially arranged downstream of the middle unloading pulley and located below the tail conveying section, a first head driving pulley and a second head driving pulley are sequentially arranged downstream of the head unloading pulley and located below the head conveying section, wherein the belt conveyor has a control system, the control system includes a head control master station, a middle control sub-station, and a tail control sub-station, the head control master station, the middle control sub-station, and the tail control substation realize control and signal acquisition through bus communication; wherein the first head driving pulley and the second head driving pulley are located on the ground, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley are located underground in a coal mine, a belt weigher is arranged at the tail of the belt conveyor, the analog input / output module of the tail control sub-station reads the belt weigher coal quantity from the belt weigher via a belt weigher controller, a tensioning device is arranged at the head of the belt conveyor, the analog input / output module of the head control master station controls the tensioning device via a tensioning device controller, and the head control master station adjusts the tension of the tensioning device and sends a speed giving compensation signal to the frequency converter with the largest current difference among the motors based on the belt weigher coal quantity, the tension value of the tensioning device, and the current data of the motors at the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley and the third middle driving pulley according to a preset rule, so as to keep the power balance above 95%; wherein the preset rule is as follows: Step S1: the head control master station controls the motor frequency converters of the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley according to a given standard speed; Step S2: obtain the belt weigher coal quantity of the belt weigher, the tension value of the tensioning device, and the current values of the motor frequency converters in real time; Step S3: take the average value of the current values of the motor frequency converters as the reference current, compare the current values of each frequency converter with the reference current, save the data of the frequency converter with the worst power balance, and determine whether its ratio exceeds the preset power balance, if yes, proceed to Step S4, otherwise, repeat Step S3; Step S4: determine whether to adjust the belt tension based on the belt weigher coal quantity of the belt weigher and the tension value of the tensioning device, if yes, proceed to Step S5, otherwise, proceed to Step S6; Step S5: the analog input / output module of the head control master station outputs an 2024386579   11 Sep 2026 analog current transmission signal to the tension controller of the tensioning device for tension adjustment; Step S6: speed giving compensation is performed for the frequency converter with the worst power balance, determine whether the power balance of the frequency converter with the worst power balance is better than the previous power balance, if yes, proceed to Step S7, otherwise, proceed to Step S9; Step S7: determine whether the power balance of the frequency converter with the worst power balance meets the balance requirement, if yes, the current adjustment is completed, otherwise, proceed to Step S8; Step S8: repeat Step S6 until the power balance of the frequency converter with the worst power balance meets the power balance requirement or is worse than the previous data; Step S9: the head control master station controls the frequency converter with the worst power balance according to the given standard speed plus the compensation speed, and restores the previous adjustment.

[0006] One embodiment of the present invention provides a mining main inclined shaft belt conveyor, wherein the belt conveyor includes a head unloading pulley, a middle unloading pulley, and a tail pulley, a conveying belt is wound around the head unloading pulley, the middle unloading pulley, and the tail pulley, a head conveying section is formed between the head unloading pulley and the middle unloading pulley, and a tail conveying section is formed between the middle unloading pulley and the tail pulley, a first middle driving pulley, a second middle driving pulley, and a third middle driving pulley are sequentially arranged downstream of the middle unloading pulley and located below the tail conveying section, a first head driving pulley and a second head driving pulley are sequentially arranged downstream of the head unloading pulley and located below the head conveying section.

[0007] In the aforementioned belt conveyor, optionally, the first head driving pulley is located upstream of the second head driving pulley, and the first head driving pulley and the second head driving pulley adopt a 2:1 power distribution arrangement, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley adopt a 1:1:1 power distribution arrangement.

[0008] In the aforementioned belt conveyor, optionally, the belt conveyor has a control system, the control system includes a head control master station, a middle control substation, and a tail control sub-station, the head control master station, the middle control sub-station, and the tail control sub-station realize control and signal acquisition through bus communication.

[0009] In the aforementioned belt conveyor, optionally, the first head driving pulley 2024386579   11 Sep 2026 and the second head driving pulley are located on the ground, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley are located underground in a coal mine, a belt weigher is arranged at the tail of the belt conveyor, the analog input / output module of the tail control sub-station reads the belt weigher coal quantity from the belt weigher via a belt weigher controller, a tensioning device is arranged at the head of the belt conveyor, the analog input / output module of the head control master station controls the tensioning device via a tensioning device controller, and the head control master station adjusts the tension of the tensioning device and sends a speed giving compensation signal to the frequency converter with the largest current difference among the motors based on the belt weigher coal quantity, the tension value of the tensioning device, and the current data of the motors at the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley according to a preset rule, so as to keep the power balance above 95%.

[0010] In the aforementioned belt conveyor, optionally, the preset rule is as follows: Step S1: the head control master station controls the motor frequency converters of the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley according to a given standard speed; Step S2: obtain the belt weigher coal quantity of the belt weigher, the tension value of the tensioning device, and the current values of the motor frequency converters in real time; Step S3: take the average value of the current values of the motor frequency converters as the reference current, compare the current values of each frequency converter with the reference current, save the data of the frequency converter with the worst power balance, and determine whether its ratio exceeds the preset power balance, if yes, proceed to Step S4, otherwise, repeat Step S3; Step S4: determine whether to adjust the belt tension based on the belt weigher coal quantity of the belt weigher and the tension value of the tensioning device, if yes, proceed to Step S5, otherwise, proceed to Step S6; Step S5: the analog input / output module of the head control master station outputs an analog current transmission signal to the tension controller of the tensioning device for tension adjustment; Step S6: speed giving compensation is performed for the frequency converter with the worst power balance, determine whether the power balance of the frequency converter with the worst power balance is better than the previous power balance, if yes, proceed to Step S7, otherwise, proceed to Step S9; Step S7: determine whether the power balance of the frequency converter with the worst power balance meets the balance requirement, if yes, the current adjustment is completed, otherwise, proceed to Step S8; Step S8: repeat Step S6 until the power balance of the frequency converter with the worst power balance meets the power balance requirement or is worse than the previous data; Step S9: the head control master station controls the frequency converter with the worst power balance according to the given standard speed plus the compensation speed, and restores the previous adjustment.

[0011] In the aforementioned belt conveyor, optionally, in Step S6, the speed giving compensation is performed by the head control master station controlling the frequency converter with the worst power balance according to the given standard speed minus the compensation speed, with a delay of 20 seconds.

[0012] To achieve the aforementioned objectives, the second aspect of the present invention provides a power balance adaptive control method for a belt conveyor, wherein the belt conveyor includes a head unloading pulley, a middle unloading pulley, and a tail pulley, with a conveying belt wound around the head unloading pulley, the middle unloading pulley, and the tail pulley, a head conveying section is formed between the head unloading pulley and the middle unloading pulley, and a tail conveying section is formed between the middle unloading pulley and the tail pulley, and a first middle driving pulley, a second middle driving pulley, and a third middle driving pulley are sequentially arranged downstream of the middle unloading pulley and located below the tail conveying section, a first head driving pulley and a second head driving pulley are sequentially arranged downstream of the head unloading pulley and located below the head conveying section, the first head driving pulley is located upstream of the second head driving pulley, a belt weigher is arranged at the tail of the belt conveyor, and a tensioning device is arranged at the head of the belt conveyor, moreover, the belt conveyor has a control system, the control system includes a head control master station, a middle control sub-station, and a tail control sub-station, the head control master station, the middle control sub-station, and the tail control sub-station communicate to realize control and signal acquisition, the analog input / output module of the tail control sub-station reads the belt weigher coal quantity from the belt weigher via a belt weigher controller, the analog input / output module of the head control master station controls the tensioning device via a tensioning device controller, wherein the method includes the following steps: Step S1: the head control master station controls the motor frequency converters of the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley according to a given standard speed; Step S2: obtain the belt weigher coal quantity of the belt weigher, the tension value of the tensioning device, and the current values of the motor frequency converters in real time; Step S3: take the average value of the current values of the motor frequency converters as the reference current, compare the current values of each frequency converter with the reference current, save the data of the frequency converter with the worst power balance, and determine whether its ratio exceeds the preset power balance, if yes, proceed to Step S4, otherwise, repeat Step S3; Step S4: determine whether to adjust the belt tension based on the belt weigher coal quantity of the belt weigher and the tension value of the tensioning device, if yes, proceed to Step S5, otherwise, proceed to Step S6; Step S5: the analog input / output module of the head control master station outputs a 4-20mA current signal to the tension controller of the tensioning device for tension adjustment; Step S6: speed giving compensation is performed for the frequency converter with the worst power balance, determine whether the power balance of the frequency converter with the worst power balance is better than the previous power balance, if yes, proceed to Step S7, otherwise, proceed to Step S9; Step S7: determine whether the power balance of the frequency converter with the worst power balance meets the balance requirement, if yes, the current adjustment is completed, otherwise, proceed to Step S8; Step S8: repeat Step S6 until the power balance of the frequency converter with the worst power balance meets the power balance requirement or is worse than the previous data; Step S9: the head control master station controls the frequency converter with the worst power balance according to the given standard speed plus the compensation speed, and restores the previous adjustment.

[0013] In the aforementioned method, optionally, in Step S6, the speed giving compensation is performed by the head control master station controlling the frequency converter with the worst power balance according to the given standard speed minus the compensation speed, with a delay of 20 seconds.

[0014] In the aforementioned method, optionally, the first head driving pulley is located upstream of the second head driving pulley, and the first head driving pulley and the second head driving pulley adopt a 2:1 power distribution arrangement, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley adopt a 1:1:1 power distribution arrangement.

[0015] In the aforementioned method, optionally, the head control master station adjusts the tension value of the tensioning device and sends a speed giving compensation signal to the frequency converter with the largest current difference among the motors based on the belt weigher coal quantity, the tension value of the tensioning device, and the current data of the motors at the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley according to a preset rule, so as to keep the power balance above 95%.

[0016] The present invention provides a mining main inclined shaft belt conveyor and power balance adaptive control method therefor. The control system adjusts the tension value of the tensioning device and compensates the giving speed to the frequency converter with the worst balance according to a preset rule based on the obtained belt weigher coal quantity, tension value of the tensioning device, and current value of the high-voltage frequency converter, realizing a motor power balance of not less than 95%. The power balance adaptive method of the belt conveyor runs through the entire life cycle of the equipment, effectively ensuring the coal mine production of the belt conveyor. Brief Description of the Drawings

[0017] With reference to the accompanying drawings, the disclosure of the present invention will become more apparent. It should be understood that these drawings are provided for illustrative purposes only and are not intended to limit the scope of the present invention.In the drawings: Figure 1 is a schematic structural diagram of an embodiment of the main inclined shaft belt conveyor of the present invention; Figure 2 is a flowchart of an embodiment of the power balance adaptive control method of the present invention.

[0018] Reference numerals: 1-head unloading pulley, 2-first head driving pulley, 3-second head driving pulley, 4-first bend pulley, 5-second bend pulley, 6-middle unloading pulley, 7-second middle driving pulley, 8-first middle driving pulley, 9-third middle driving pulley, 10-tail pulley, 11-belt weigher, 12-tensioning device. Detailed Description of the Embodiments

[0019] With reference to the accompanying drawings and specific embodiments, the structure, composition, characteristics, advantages, etc., of the mining main inclined shaft belt conveyor and power balance adaptive control method therefor of the present invention will be described hereinafter by way of example. However, all descriptions should not be used to form any limitation on the present invention.

[0020] Furthermore, with respect to any individual technical feature described or implied in the embodiments herein, or any individual technical feature shown or implied in the accompanying drawings, the present invention still permits any continued combination or omission among such features (or their equivalents) without any technical obstacles. Therefore, it should be understood that additional embodiments of the present invention based on such combinations or omissions are also within the scope of the disclosure herein.

[0021] It should also be noted that terms such as "below" and "downstream" indicating the orientation or positional relationships are based on the orientation or positional relationships of the main inclined shaft belt conveyor and the direction of belt operation as shown in the accompanying drawings. These terms are used solely for the convenience of describing and simplifying the description of the present disclosure and do not indicate or imply that the devices or components referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of the present disclosure.

[0022] In addition, terms such as "first," "second," and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined with "first," "second," and "third" may explicitly or implicitly include at least one such feature.

[0023] Figure 1 is a schematic structural diagram of an embodiment of the main inclined shaft belt conveyor of the present invention.

[0024] As shown in Figure 1, the main inclined shaft belt conveyor may include a head unloading pulley 1, a first head driving pulley 2, a second head driving pulley 3, a first bend pulley 4, a second bend pulley 5, a middle unloading pulley 6, a first middle driving pulley 8, a second middle driving pulley 7, a third middle driving pulley 9, a tail pulley 10, a belt weigher 11, and a tensioning device 12. Wherein the head driving section composed of the first head driving pulley 2 and the second head driving pulley 3 may be located on the ground, while the middle driving section composed of the first middle driving pulley 8, the second middle driving pulley 7, and the third middle driving pulley 9 may be located underground in a coal mine. With this arrangement, the distance between the head driving section and the middle driving section can be greater than 2000 meters, making it suitable for complex terrain applications and enabling the drive for long-distance transportation. In this embodiment, the distance is approximately 2100 meters. In other optional embodiments, a person skilled in the art can set the distance between the head driving section and the middle driving section based on the actual working environment.

[0025] Specifically, a belt for conveying coal is wound around the head unloading pulley 1, the middle unloading pulley 6, and the tail pulley 10. Wherein a head conveying section is formed between the head unloading pulley 1 and the middle unloading pulley 6, and a tail conveying section is formed between the middle unloading pulley 6 and the tail pulley 10.

[0026] Downstream of the middle unloading pulley 6, a first middle driving pulley 8, a second middle driving pulley 7, and a third middle driving pulley 9 are sequentially arranged below the tail conveying section. Downstream of the head unloading pulley 1, a first bend pulley 4, a first head driving pulley 2, a second head driving pulley 3, and a second bend pulley 5 are sequentially arranged below the head conveying section. The first bend pulley 4 and the second bend pulley 5 are located below the head conveying section. Specifically, the first bend pulley 4 is located downstream of the head unloading pulley 1, the first head driving pulley 2 is located downstream of the first bend pulley 4, the second head driving pulley 3 is located downstream of the first head driving pulley 2, and the second bend pulley 5 is located downstream of the second head driving pulley 3.

[0027] In this embodiment, both sides of the first head driving pulley 2 can be connected to two motors via shafts, the second head driving pulley 3 can be connected to one motor via a shaft, and the first middle driving pulley 8, the second middle driving pulley 7, and the third middle driving pulley 9 can each be connected to one motor via a shaft. There are a total of six motors in the entire belt conveyor, each equipped with a frequency converter, and the initial power of these six frequency converters is the same. In addition, the first head driving pulley 2 and the second head driving pulley 3 adopt a 2:1 power distribution arrangement, and the first middle driving pulley 8, the second middle driving pulley 7, and the third middle driving pulley 9 adopt a 1:1:1 power distribution arrangement. It should be noted here that in this embodiment, the power distribution arrangement is achieved by using frequency converters with the same power but different quantities. In other optional embodiments, a person skilled in the art can achieve the power distribution arrangement in other ways, and the specific power distribution ratio can also be set according to actual work requirements.

[0028] The bend pulleys 4 and 5 are mainly used to change the running direction of the conveyor belt. In addition, the bend pulleys 4 and 5 can be used to press the conveyor belt and increase the wrap angle between the belt and the driving pulleys 2 and 3. Since the conveyor belt and the driving pulleys 2 and 3 are prone to slipping therebetween, which may cause wear of the belt's lagging, and in severe cases, can lead to belt burning and even fire accidents. Therefore, in this embodiment, two bend pulleys 4 and 5 are added near the driving pulleys 2 and 3. The belt conveyor can change the belt conveying direction by altering the rotation of the first bend pulley 4 and the second bend pulley 5, effectively preventing the occurrence of belt slipping.

[0029] In this embodiment, the belt conveyor may also have a control system. Specifically, the control system may include a head control master station, a middle control sub-station, and a tail control sub-station. The head control master station, the middle control sub-station, and the tail control sub-station realize control and signal acquisition through bus communication. Analog input / output modules are respectively arranged in the head control master station, the middle control sub-station, and the tail control sub-station. The analog input / output modules are used for data acquisition and control. The modules may include one or more analog input channels, which can convert signals from sensors, such as the belt weigher 11 and the tensioning device 12 in this embodiment, into digital signals for processing in the control system. Similarly, analog output channels can convert digital signals into electrical signals from the control system, output controllable analog transmission currents, and send them to frequency converters to control corresponding actuators such as the tensioning device 12 or motors.

[0030] In this embodiment, the three communicate via a ProfiBus bus and respectively collect data from the belt weigher 11 and the tensioning device 12. In other optional embodiments, a person skilled in the art may select other buses for communication based on actual needs.

[0031] Specifically, in the embodiment shown in Figure 1, the analog input / output module of the tail control sub-station reads the coal quantity of the belt weigher 11 in real time via a belt weigher controller from the belt weigher 11 arranged at the tail of the belt conveyor. The analog input / output module of the head control master station controls the tensioning device 12 located at the head of the belt conveyor via a tensioning device controller. In this embodiment, the belt weigher 11 is an explosion-proof electronic belt weigher. In other optional embodiments, a person skilled in the art can adjust the specific deployment locations and models of the belt weigher 11 and the tensioning device 12 based on actual working conditions.

[0032] In this embodiment, the aforementioned six frequency converters are all located in a ground-level frequency converter room. The ground-level frequency converter room is approximately 2180 meters away from the middle unloading pulley 6. The high-voltage frequency converters can supply power over a long distance to the first head driving pulley 2, the second head driving pulley 3, the first middle driving pulley 8, the second middle driving pulley 7, and the third middle driving pulley 9. In this embodiment, the frequency converters are selected from Siemens Robicon, with an input voltage of 10kV and an output voltage of 6kV. In other optional embodiments, a person skilled in the art can set the number of high-voltage frequency converters, select the models of frequency converters, and adjust the distance between the ground-level frequency converter room and the middle unloading pulley 6 based on actual work requirements and environment.

[0033] In addition, the high-voltage frequency converters can also adjust the power balance of the aforementioned six motors. Specifically, each motor corresponds to adjusting and controlling the power of one high-voltage frequency converter. The head control master station adjusts the tension of the tensioning device 12 and sends a speed giving compensation signal to the frequency converter with the largest current difference among the motors based on the belt weigher coal quantity, the tension value of the tensioning device 12, and the current data of the motors at the first head driving pulley 2, the second head driving pulley 3, the first middle driving pulley 8, the second middle driving pulley 7, and the third middle driving pulley 9 according to a preset rule, so as to minimize the current difference between the frequency converters and achieve power balance among the motors. The specific preset rule and control methods will be described in detail below and will not be repeated here. The power balance between the motors can be adaptively controlled and maintained above 95%, running through the entire life cycle of the belt conveyor.

[0034] Figure 2 is a flowchart of an embodiment of the power balance adaptive control method of the present invention.

[0035] The 1#-6# frequency converters in the figure are the six frequency converters corresponding to the aforementioned six motors.

[0036] The present invention provides a power balance adaptive control method for a belt conveyor. The components and structural connections of the belt conveyor have been detailed in the embodiment of Figure 1 and will not be repeated here.

[0037] The power balance adaptive control method for the belt conveyor, i.e., the aforementioned preset rule, may specifically include the following steps: Step S1: the head control master station controls the motor frequency converters of the first head driving pulley 2, the second head driving pulley 3, the first middle driving pulley 8, the second middle driving pulley 7, and the third middle driving pulley 9 according to a given standard speed; Step S2: obtain the belt weigher coal quantity of the belt weigher 11, the tension value of the tensioning device 12, and the current values of the motor frequency converters in real time; Step S3: take the average value of the current values of the motor frequency converters as the reference current, compare the current values of each frequency converter with the reference current, save the data of the frequency converter with the worst power balance, and determine whether its ratio exceeds the preset power balance, if yes, proceed to Step S4, otherwise, repeat Step S3; Step S4: determine whether to adjust the belt tension based on the belt weigher coal quantity of the belt weigher 11 and the tension value of the tensioning device 12, if yes, proceed to Step S5, otherwise, proceed to Step S6; Step S5: the analog input / output module of the head control master station outputs an analog current transmission signal to the tension controller of the tensioning device 12 for tension adjustment; Step S6: speed giving compensation is performed for the frequency converter with the worst power balance, determine whether the power balance of the frequency converter with the worst power balance is better than the previous power balance, if yes, proceed to Step S7, otherwise, proceed to Step S9; Step S7: determine whether the power balance of the frequency converter with the worst power balance meets the balance requirement, if yes, the current adjustment is completed, otherwise, proceed to Step S8; Step S8: repeat Step S6 until the power balance of the frequency converter with the worst power balance meets the power balance requirement or is worse than the previous data; Step S9: the head control master station controls the frequency converter with the worst power balance according to the given standard speed plus the compensation speed, and restores the previous adjustment.

[0038] In this embodiment, Step S1 is issued at 100% of the standard speed, and the frequency converter adjusts the power balance according to its own "droop control" function. In Step S3, the preset power balance can be set to different values by a person skilled in the art based on different situations in other optional embodiments.

[0039] In this embodiment, in Step S5 the analog output current of the head control master station is between 4-20mA, and the corresponding current value is compensated based on the current value of the frequency converter with the worst power balance. In this embodiment, the range of the analog output current is used to reduce the error generated by the adjustment of the frequency converter power balance. In other optional embodiments, a person skilled in the art can set the range of the analog output current based on actual needs.

[0040] In Step S6, the speed giving compensation is performed by the head control master station according to the given standard speed minus the compensation speed and sending it to the frequency converter with the worst power balance, with a delay of 20 seconds. In this embodiment, the compensation speed is set to 0.1% of the standard speed. In other optional embodiments, a person skilled in the art can select different percentages of the standard speed and delay times for issuance based on different situations.

[0041] In summary, the present invention collaboratively controls and adjusts the giving speeds of multiple frequency converters through controllers such as the belt weigher controller and the tensioning device controller, in coordination with the tensioning device 12, to achieve a power balance of the belt conveyor above 95%. It adopts long-distance power supply technology for frequency converters, runs through the entire life cycle of the belt conveyor, and increases the transportation capacity of the belt conveyor.

[0042] The technical scope of the present invention is not limited to the content in the above description. A person skilled in the art can make various modifications and changes to the above embodiments without departing from the technical spirit of the present invention, and these modifications and changes should all fall within the scope of the present invention.

Claims

1. A mining main inclined shaft belt conveyor, wherein the belt conveyor includes a head unloading pulley, a middle unloading pulley, and a tail pulley, a conveying belt is wound around the head unloading pulley, the middle unloading pulley, and the tail pulley, a head conveying section is formed between the head unloading pulley and the middle unloading pulley, and a tail conveying section is formed between the middle unloading pulley and the tail pulley, a first middle driving pulley, a second middle driving pulley, and a third middle driving pulley are sequentially arranged downstream of the middle unloading pulley and located below the tail conveying section, a first head driving pulley and a second head driving pulley are sequentially arranged downstream of the head unloading pulley and located below the head conveying section,wherein the belt conveyor has a control system, the control system includes a head control master station, a middle control sub-station, and a tail control sub-station, the head control master station, the middle control sub-station, and the tail control substation realize control and signal acquisition through bus communication;wherein the first head driving pulley and the second head driving pulley are located on the ground, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley are located underground in a coal mine, a belt weigher is arranged at the tail of the belt conveyor, the analog input / output module of the tail control sub-station reads the belt weigher coal quantity from the belt weigher via a belt weigher controller, a tensioning device is arranged at the head of the belt conveyor, the analog input / output module of the head control master station controls the tensioning device via a tensioning device controller, and the head control master station adjusts the tension of the tensioning device and sends a speed giving compensation signal to the frequency converter with the largest current difference among the motors based on the belt weigher coal quantity, the tension value of the tensioning device, and the current data of the motors at the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley and the third middle driving pulley according to a preset rule, so as to keep the power balance above 95%; wherein the preset rule is as follows:Step S1: the head control master station controls the motor frequency converters of the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley according to a given standard speed;Step S2: obtain the belt weigher coal quantity of the belt weigher, the tension value of the tensioning device, and the current values of the motor frequency converters in real time;Step S3: take the average value of the current values of the motor frequency converters as the reference current, compare the current values of each frequency converter with the reference current, save the data of the frequency converter with the worst power balance, and determine whether its ratio exceeds the preset power balance, if yes, proceed to Step S4, otherwise, repeat Step S3;Step S4: determine whether to adjust the belt tension based on the belt weigher coal2024386579   11 Sep 2026quantity of the belt weigher and the tension value of the tensioning device, if yes, proceed to Step S5, otherwise, proceed to Step S6;Step S5: the analog input / output module of the head control master station outputs an analog current transmission signal to the tension controller of the tensioning device for tension adjustment;Step S6: speed giving compensation is performed for the frequency converter with the worst power balance, determine whether the power balance of the frequency converter with the worst power balance is better than the previous power balance, if yes, proceed to Step S7, otherwise, proceed to Step S9;Step S7: determine whether the power balance of the frequency converter with the worst power balance meets the balance requirement, if yes, the current adjustment is completed, otherwise, proceed to Step S8;Step S8: repeat Step S6 until the power balance of the frequency converter with the worst power balance meets the power balance requirement or is worse than the previous data;Step S9: the head control master station controls the frequency converter with the worst power balance according to the given standard speed plus the compensation speed, and restores the previous adjustment.

2. The belt conveyor according to claim 1, wherein the first head driving pulley is located upstream of the second head driving pulley, and the first head driving pulley and the second head driving pulley adopt a 2:1 power distribution arrangement, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley adopt a 1:1:1 power distribution arrangement.

3. The belt conveyor according to claim 1, wherein, in Step S6, the speed giving compensation is performed by the head control master station controlling the frequency converter with the worst power balance according to the given standard speed minus the compensation speed, with a delay of 20 seconds.

4. A power balance adaptive control method for a belt conveyor, wherein the belt conveyor includes a head unloading pulley, a middle unloading pulley, and a tail pulley, with a conveying belt wound around the head unloading pulley, the middle unloading pulley, and the tail pulley, a head conveying section is formed between the head unloading pulley and the middle unloading pulley, and a tail conveying section is formed between the middle unloading pulley and the tail pulley, and a first middle driving pulley, a second middle driving pulley, and a third middle driving pulley are sequentially arranged downstream of the middle unloading pulley and located below the tail conveying section, a first head driving pulley and a second head driving pulley are sequentially arranged downstream of the head unloading pulley and located below the head conveying section, the first head driving pulley is located upstream of the second head driving pulley, a belt weigher is arranged at the tail of the belt conveyor, and a tensioning device is arranged at the head of the belt conveyor,moreover, the belt conveyor has a control system, the control system includes a head2024386579   11 Sep 2026control master station, a middle control sub-station, and a tail control sub-station, the head control master station, the middle control sub-station, and the tail control substation communicate to realize control and signal acquisition, the analog input / output module of the tail control sub-station reads the belt weigher coal quantity from the belt weigher via a belt weigher controller, the analog input / output module of the head control master station controls the tensioning device via a tensioning device controller, wherein the method includes the following steps:Step S1: the head control master station controls the motor frequency converters of the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley according to a given standard speed;Step S2: obtain the belt weigher coal quantity of the belt weigher, the tension value of the tensioning device, and the current values of the motor frequency converters in real time;Step S3: take the average value of the current values of the motor frequency converters as the reference current, compare the current values of each frequency converter with the reference current, save the data of the frequency converter with the worst power balance, and determine whether its ratio exceeds the preset power balance, if yes, proceed to Step S4, otherwise, repeat Step S3;Step S4: determine whether to adjust the belt tension based on the belt weigher coal quantity of the belt weigher and the tension value of the tensioning device, if yes, proceed to Step S5, otherwise, proceed to Step S6;Step S5: the analog input / output module of the head control master station outputs a 420mA current signal to the tension controller of the tensioning device for tension adjustment;Step S6: speed giving compensation is performed for the frequency converter with the worst power balance, determine whether the power balance of the frequency converter with the worst power balance is better than the previous power balance, if yes, proceed to Step S7, otherwise, proceed to Step S9;Step S7: determine whether the power balance of the frequency converter with the worst power balance meets the balance requirement, if yes, the current adjustment is completed, otherwise, proceed to Step S8;Step S8: repeat Step S6 until the power balance of the frequency converter with the worst power balance meets the power balance requirement or is worse than the previous data;Step S9: the head control master station controls the frequency converter with the worst power balance according to the given standard speed plus the compensation speed, and restores the previous adjustment.

5. The method according to claim 4, wherein, in Step S6, the speed giving compensation is performed by the head control master station controlling the frequency converter with the worst power balance according to the given standard speed minus the compensation speed, with a delay of 20 seconds.2024386579   11 Sep 20266. The method according to claim 4, wherein the first head driving pulley is located upstream of the second head driving pulley, and the first head driving pulley and the second head driving pulley adopt a 2:1 power distribution arrangement, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley adopt a 1:1:1 power distribution arrangement.

7. The method according to claim 6, wherein the head control master station adjusts the tension value of the tensioning device and sends a speed giving compensation signal to the frequency converter with the largest current difference among the motors based on the belt weigher coal quantity, the tension value of the tensioning device, and the current data of the motors at the first head driving pulley, the second head driving pulley, the first middle driving pulley, the second middle driving pulley, and the third middle driving pulley according to a preset rule, so as to keep the power balance above 95%.

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