Automatic adjustment method of material drop point of reclaimer

Abstract

The present invention provides an automatic adjustment method for the drop point of a reclaimer, and relates to the technical field of material transportation. The method comprises: respectively obtaining a belt position signal and a signal cache duration; calculating a belt position offset according to the belt position signal, and when the belt position offset is greater than zero, calculating the overlap width ratio between the side of the belt close to the center line of the belt conveyor and the reclaimer baffle plate; judging the belt area according to the overlap width ratio; respectively obtaining a push rod extension amount and a material flow ratio; and adjusting the drop point according to the signal cache duration, the belt area, the push rod extension amount and the material flow ratio. The present invention changes the traditional method of manually controlling the adjustment rod, and can control the extension of the adjustment plate according to multiple data such as the signal cache duration, the belt area, the push rod extension amount and the material flow ratio, so as to realize automatic adjustment of the drop point. The method realizes automatic monitoring and adjustment of the drop point, has a high degree of automation, and is more timely than manual adjustment.

Description

Technical Field

[0001] The invention relates to the technical field of material transportation, and in particular to an automatic adjustment method for a material drop point of a reclaimer. Background Art

[0002] Reclaimers are the most commonly used heavy machinery for loading bulk cargo such as ore, coal, and grain. They are used in conjunction with attached ground conveyors to transport materials over long distances. When materials slide from the reclaimer hopper to the conveyor belt, the location of the drop point determines whether the conveyor belt will deviate and the size of the material flow ratio of the entire conveying process. The drop point adjustment device is generally a push rod driven receiving plate, commonly known as a seasoning plate.

[0003] When the reclaimer is loaded with materials of different positions and characteristics, the belt often deviates due to uneven force. Especially for ground belt conveyors with two-way transportation functions, changing the material conveying direction will also cause the drop point to change frequently. This requires on-site personnel to continuously track the belt position, coordinate with the reclaimer driver in a timely manner, and adjust the drop point by manually controlling the adjustment plate. However, manual adjustment will be relatively delayed, seriously affecting the operating flow of the reclaimer. Patent CN201710516273.5 A mechanical contact belt deviation detection device and its measurement method realize automatic detection of belt deviation, but this method is limited to detecting whether the belt is deviated, and cannot realize automatic belt correction, and still requires manual adjustment. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a method for automatically adjusting the material drop point of a reclaimer to solve the above-mentioned problem.

[0005] Based on the above purpose, the present invention provides a method for automatically adjusting the material drop point of a reclaimer, which is performed according to the following steps:

[0006] S1. Obtain the belt position signal and signal cache duration respectively.

[0007] S2. Calculate the belt position offset according to the belt position signal. When the belt position offset is greater than zero, calculate the overlap width ratio between the side of the belt close to the center line of the belt conveyor and the material baffle of the reclaimer.

[0008] S3. Determine the belt area based on the overlap width ratio.

[0009] S4. Obtain the push rod extension amount and material flow ratio respectively.

[0010] S5. Adjust the drop point according to the signal buffering time, belt area, push rod extension and material flow ratio.

[0011] Compared with the prior art, the beneficial effects of the present invention are: real-time monitoring of the belt position, obtaining the belt offset, and adjusting the drop point accordingly according to the belt offset. The present invention changes the traditional way of manually controlling the adjustment rod, and can control the extension and retraction of the seasoning plate according to multiple data such as the signal cache duration, belt area, push rod extension, and material flow ratio, so as to achieve automatic adjustment of the drop point. This method realizes automatic monitoring and adjustment of the drop point, has a high degree of automation, saves manpower, and is more timely and reliable than manual adjustment.

[0012] Furthermore, the specific steps of obtaining the belt position signal in S1 include: determining the scanning cycle, the denoising threshold and the number of signals a; collecting a first coded signal from the belt deviation detection devices installed on both sides of the belt travel direction according to the scanning cycle, and calculating the first difference between the first coded signal and the first coded signal collected in the previous scanning cycle, and when the first difference is less than or equal to the denoising threshold, putting the first coded signal into a first coded signal set; according to the collection time, calculating the average value of a most recently collected first coded signals in the first coded signal set as the belt position signal.

[0013] Furthermore, taking the minimum scanning cycle as the initial scanning cycle, collecting the second coded signal from the belt deviation detection device, and gradually increasing the initial scanning cycle until the continuous second coded signal presents the overall position change curve of the belt, and taking the corresponding initial scanning cycle as the scanning cycle; calculating the second difference of all two adjacent second coded signals within one rotation of the belt, counting the number of the same second difference, and selecting the smallest second difference among the second differences with a proportion less than 1% as the denoising threshold; obtaining the fluctuation period of the second coded signal, and calculating the number of second coded signals within a fluctuation period as the signal number a.

[0014] Furthermore, the signal buffering time length is the time length from when the material leaves the cantilever belt scale on the reclaimer to when the material contacts the mixing plate.

[0015] Furthermore, the specific steps of calculating the overlap width ratio between the side of the belt close to the center line of the belt conveyor and the material baffle plate of the feeder in S2 include: obtaining the overlap width between the side of the belt close to the center line of the belt conveyor and the material baffle plate when the belt is centered; obtaining the overlap width change, which is equal to the belt position offset; calculating the overlap width ratio, which = 100% × (overlap width - overlap width change) / overlap width.

[0016] Furthermore, the specific steps of S3 include: the belt area includes an area prone to spillage, an area to be adjusted, a transition area and a tracking and observation area; when the overlapping width accounts for less than or equal to 10%, the belt is determined to be in the area prone to spillage; when the overlapping width accounts for more than 10% and less than or equal to 40%, the belt is determined to be in the area to be adjusted; when the overlapping width accounts for more than 40% and less than or equal to 50%, the belt is determined to be in the transition area; when the overlapping width accounts for more than 50%, the belt is determined to be in the tracking and observation area.

[0017] Furthermore, the specific steps of S5 include: when the belt is in an area prone to spillage, controlling the touch screen in the driver's cab to sound an alarm; when the belt is in an area to be adjusted, calculating the duration for which the belt is in the area to be adjusted, and when the duration is greater than or equal to the signal cache duration and the material flow ratio is greater than or equal to 40%, controlling the material distribution plate to extend and retract to adjust the drop point.

[0018] Furthermore, the specific steps of controlling the extension and retraction of the seasoning plate and adjusting the drop point include: obtaining the stroke between the front and rear limit limits of the push rod; calculating the ratio of the extension amount of the push rod to the stroke of the seasoning plate on the same side of the belt away from the center line of the belt conveyor; when the ratio is less than 30%, controlling the seasoning plate on the same side of the belt away from the center line of the belt conveyor to retract completely, and controlling the seasoning plate on the same side of the belt close to the center line of the belt conveyor to gradually extend; when the belt is in the tracking observation area, the seasoning plate on the same side of the belt close to the center line of the belt conveyor stops, or when the material flow rate drops When the ratio is below 40%, the seasoning plate on the same side of the belt close to the center line of the belt conveyor is controlled to continue to extend, and it stops after the extension time is equal to the signal buffer time; when the ratio is greater than or equal to 30%, the seasoning plate on the same side of the belt away from the center line of the belt conveyor is controlled to gradually retract; when the belt is in the tracking and observation area, the seasoning plate on the same side of the belt away from the center line of the belt conveyor stops, or when the material flow ratio drops below 40%, the seasoning plate on the same side of the belt away from the center line of the belt conveyor is controlled to continue to retract, and it stops after the retraction time is equal to the signal buffer time.

[0019] Furthermore, the specific steps of obtaining the push rod extension amount in S4 include: obtaining the time t taken by the push rod to continuously extend the stroke; calculating the motion coefficient s=k / t, where s is the stroke; obtaining the time t1 taken by the push rod to extend the stroke s in b times; calculating the correction value t0=(t1-t) / b; obtaining the number of push rod extensions m, the total extension time T, the number of push rod retractions n and the total retraction time T1; calculating the push rod extension amount S=(T-T1+m×t0-n×t0)×k. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A side view of a material guide chute of a reclaimer in a method for automatically adjusting a material drop point of a reclaimer provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a belt deviation detection device for a method for automatically adjusting a material drop point of a reclaimer provided in an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of a reclaimer material adjustment plate for a reclaimer according to an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of overlapping areas of a method for automatically adjusting a material drop point of a reclaimer provided in an embodiment of the present invention;

[0024] Figure 5 A comparison curve diagram of the first coded signal processing of the automatic adjustment method for the material drop point of the reclaimer provided in an embodiment of the present invention.

[0025] The markings in the figure are: 1. chute; 2. belt deviation detection device; 3. seasoning plate; 4. ground belt conveyor; 5. rotating bearing; 6. vertical roller; 7. belt; 8. belt frame; 9. overlapping area; 10. push rod; 11. material guide trough; 12. material baffle plate. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0027] like Figures 1 to 4 As shown, a method for automatically adjusting the material drop point of a reclaimer proposed by the present invention is performed according to the following steps:

[0028] Before monitoring and adjusting the drop point, first install the belt deviation detection device 2 on both sides of the belt 7 in the travel direction, close to the bottom port of the reclaimer chute 1. When the ground belt conveyor 4 has a bidirectional operation function, the belt deviation detection device 2 is installed on the side of the belt 7 on both sides of the reclaimer chute 1, that is, a total of four belt deviation detection devices 2 are installed.

[0029] The belt deviation detection device 2 includes a rotating bearing 5, a vertical roller 6, a bracket and a single-turn absolute encoder. The bracket is an L-shaped structure, one end of the bracket is connected to the belt frame 8, and the other end of the bracket is rotatably connected to the end of the vertical roller 6 through the rotating bearing 5. When the belt 7 is centered, the vertical rollers 6 on both sides are in contact with the side of the belt 7. A single-turn absolute encoder is installed in the rotating bearing 5, and the single-turn absolute encoder is connected to the PLC controller. When the belt 7 deviates, the belt 7 on the side away from the center line of the belt 7 pushes the vertical roller 6 to swing outward, and the swing amount is encoded by the single-turn absolute encoder. The change in the encoding value is equivalent to the position offset of the belt 7.

[0030] The single-turn absolute encoder has continuous encoding and self-test functions. When the encoding value jumps from the minimum value to the maximum value, the encoding value is set to the current value minus the maximum encoding value of the encoder and displayed as a negative number; when the encoding value jumps from the maximum value to the minimum value, the encoder is set to the current value plus the maximum encoding value of the encoder.

[0031] When the belt 7 machine is running, the encoder continuously performs self-checks. If the following situations occur, an alarm prompt will be popped up to the human-machine interface in the driver's room through the controller: 1. When the encoding value remains unchanged for a long time, the deviation between this value and the basic value when the encoder does not touch the belt 7 exceeds ±2%; 2. The encoding value continues to exceed the variable position area of ​​the belt 7; 3. The two encoders located at the same end of the guide trough 11 both show that the belt 7 is offset outward; 4. During the period when the material reclaimer zeroes the belt 7 scale, the extension amount of the push rod 10 of the seasoning plate 3 is calibrated synchronously. When the deviation between the extension and retraction time and the theoretical value exceeds ±5%, the push rod 10 self-check fault alarm prompt will pop up to the human-machine interface in the driver's room; 5. When the front and rear limit limit actions of the push rod 10 are in action, the deviation between the theoretical calculated value and the initial actual stroke of the push rod 10 exceeds ±5%, and an alarm prompt will pop up to the human-machine interface in the driver's room.

[0032] S1. Obtain the belt 7 position signal and signal cache duration respectively. The signal cache duration is the time it takes for the material to reach the position of the seasoning plate 3 from the cantilever belt 7 scale on the reclaimer. For example, in actual measurement, the time it takes for the material to reach the position of the seasoning plate 3 from the cantilever belt 7 scale on the reclaimer is 7.9 seconds, and the time it takes for the material to fall from the position of the seasoning plate 3 to the belt 7 is 1.7 seconds, so the signal cache duration is set to 8 seconds.

[0033] The specific steps of obtaining the position signal of the belt 7 include: taking the minimum scanning cycle of the PLC controller as the initial scanning cycle, collecting the second coded signal from the belt deviation detection device 2. And gradually increasing the initial scanning cycle according to the repetition and change of the second coded signal, until the continuous second coded signal presents the overall position change curve of the belt 7, and taking the corresponding initial scanning cycle as the scanning cycle. For example, in actual use, the speed of the belt 7 is 3.75m / s, and the initial sampling cycle is expanded from 10ms to 1s, thereby reducing the effective calculation amount of the later PLC controller.

[0034] Calculate the second difference of all two adjacent second coded signals within one week of the operation of the belt 7 machine, count the number of the same second difference, and select the smallest second difference among the second differences with a proportion less than 1% as the denoising threshold. For example, a total of 1001 second coded signals are collected within one week of the operation of the belt 7 machine, and there are 1000 second differences between two adjacent second coded signals. Count the number of second coded signals with the same value, and select the second difference with a proportion less than 1%, that is, the number is less than 10. Then select the second difference with the smallest value from the selected second differences as the denoising threshold.

[0035] The fluctuation period of the second coded signal is obtained, and the number of second coded signals within one fluctuation period is calculated as the signal number a.

[0036] After the scanning cycle, denoising threshold and signal number a are determined, the first coded signal is collected from the belt deviation detection device 2 according to the scanning cycle, and the first difference between two adjacent first coded signals is calculated. When the first difference is greater than the denoising threshold, the first coded signal collected later has no reference value, and the first coded signal collected later is removed. The remaining first coded signals constitute the first coded signal set, thereby eliminating the noise signal caused by the notch or elastic force of the belt 7. The average value of the a latest first coded signals in the first coded signal set is calculated as the belt 7 position signal, thereby eliminating the periodic fluctuation of the first coded signal caused by the flexible material and mechanical vibration of the belt 7, such as Figure 5 shown.

[0037] S2. Calculate the position offset of belt 7 according to the position signal of belt 7. The position offset of belt 7 is equal to the difference between the current position signal of belt 7 and the initial encoding value of the encoder. When the position deviation of belt 7 is greater than zero, it means that belt 7 has been offset. At this time, calculate the overlap width ratio of the overlapping area 9 between the side of belt 7 close to the center line of belt 7 and the baffle plate 12 of the material reclaimer. The specific steps include: obtaining the overlap width between the side of belt 7 close to the center line of belt 7 and the baffle plate 12 when belt 7 is centered. The overlap width change is equal to the position offset of belt 7. Calculate the overlap width ratio, overlap width ratio = 100% × (overlap width - overlap width change) / overlap width.

[0038] S3, belt 7 area includes the easy spilling area, the waiting adjustment area, the transition area and the tracking observation area. When the overlapping width accounts for less than or equal to 10%, the belt 7 is judged to be in the easy spilling area; when the overlapping width accounts for more than 10% and less than or equal to 40%, the belt 7 is judged to be in the waiting adjustment area; when the overlapping width accounts for more than 40% and less than or equal to 50%, the belt 7 is judged to be in the transition area; when the overlapping width accounts for more than 50%, the belt 7 is judged to be in the tracking observation area. In order to keep the system stable, when the belt 7 remains in the same area for 3 seconds, it is judged that the belt 7 belongs to this area.

[0039] S4. Obtain the extension amount of the push rod 10 and the material flow ratio respectively, obtain the material flow in real time from the cantilever belt 7 scale on the reclaimer, and the ratio of the material flow to the rated flow of the reclaimer is the material flow ratio. In the actual process, when the material flow ratio is below 40% of the rated flow of the reclaimer, the seasoning plate 3 has no effect on adjusting the drop point. When the material flow ratio reaches 40% of the rated flow of the reclaimer and lasts for at least 8 seconds, the change in the drop point will have a significant impact on the trajectory of the belt 7. When it reaches 55%, the effect of the seasoning plate 3 is most significant; after the material flow ratio exceeds 70%, the effect of the seasoning plate 3 begins to decline.

[0040] According to the measurement data of the cantilever belt 7 scale, when the material flow ratio of the reclaimer is about 55% of the rated load, when the extension of the adjustment plate 3 reaches 30% of the total stroke, the drop point exceeds the center line of the belt 7 machine, which can play a significant regulatory role; when the extension is below 30%, the change of the drop point will not cause a significant change in the position of the belt 7.

[0041] The extension amount of the push rod 10 represents the position of the seasoning plate 3. The push rod 10 connected to the material reclaimer is an ordinary push rod 10 with a fixed telescopic speed. The step of obtaining the extension amount of the push rod 10 includes: obtaining the time t used by the push rod 10 to continuously extend the stroke, and calculating the motion coefficient s=k / t, where s is the stroke. Obtain the time t1 used by the push rod 10 to extend the stroke s b times, and calculate the correction value t0=(t1-t) / b. Obtain the number of extensions m, the total extension time T, the number of retractions n and the total retraction time T1 of the push rod 10, and calculate the extension amount S=(T-T1+m×t0-n×t0)×k of the push rod 10.

[0042] S5. When the belt 7 is in the area prone to spilling, the driver's cab touch screen is controlled to give an alarm. When the belt 7 is in the area to be adjusted, the duration of the belt 7 in the area to be adjusted is calculated. When the duration is greater than or equal to the signal buffering duration and the material flow ratio is greater than or equal to 40%, the material distribution plate 3 is controlled to be extended and retracted to adjust the drop point.

[0043] The adjustment process includes: obtaining the stroke between the front and rear limit limits of the push rod 10. Calculating the ratio of the extension amount of the push rod 10 of the seasoning plate 3 on the same side of the belt 7 as the side away from the center line of the belt 7 machine to the stroke. When the ratio is less than 30%, the seasoning plate 3 on the same side of the belt 7 as the side away from the center line of the belt 7 machine is controlled to be fully retracted, and the seasoning plate 3 on the same side of the belt 7 as the side close to the center line of the belt 7 machine is controlled to be gradually extended. When the belt 7 is in the tracking observation area, the seasoning plate 3 on the same side of the belt 7 as the side close to the center line of the belt 7 machine stops, or when the material flow ratio drops below 40%, the seasoning plate 3 on the same side of the belt 7 as the side close to the center line of the belt 7 machine is controlled to continue to extend, and the extended time is equal to the signal buffer time and then stops.

[0044] When the ratio is greater than or equal to 30%, the seasoning plate 3 on the same side of the belt 7 as the side away from the center line of the belt 7 is controlled to gradually retract. When the belt 7 is in the tracking observation area, the seasoning plate 3 on the same side of the belt 7 as the side away from the center line of the belt 7 stops, or when the material flow ratio drops below 40%, the seasoning plate 3 on the same side of the belt 7 as the side away from the center line of the belt 7 is controlled to continue to retract, and the retraction time is equal to the signal buffer time and then stops.

[0045] When the material flow rate ratio is lower than 10% of the rated value and the duration reaches 50% of the operation cycle of the ground belt conveyor 4, the belt 7 is in the adjustment area, and the seasoning plates 3 on both sides are fully retracted, the seasoning plate 3 on the same side of the belt 7 as the side close to the center line of the belt 7 is extended by 30%. For the adjustment of the seasoning plate 3, the action duration of each seasoning plate 3 is greater than or equal to the signal buffering duration.

[0046] It is also equipped with automatic alarm function and historical record function. After the reclaimer starts to reclaim materials, if any side push rod 10 receives a reciprocating command, such as extending, retracting, extending, or retracting, extending, retracting, within two consecutive cycles of belt 7 operation, it will send an alarm to the human-machine interface and exit the system. When the ground belt 7 is located in the tracking observation area for two consecutive operating cycles, the average material flow ratio reaches 55% of the rated value, and the position of the seasoning plate 3 remains unchanged, the PLC automatically records the current position of the seasoning plate 3 and related information, mainly including time, material information, stacking interval, operation mode and average operation flow, which is convenient for the driver to call directly.

[0047] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically adjusting the material drop point of a reclaimer, characterized in that: Follow these steps: S1, respectively obtain the belt position signal and signal cache duration; S2. Calculate the belt position offset according to the belt position signal. When the belt position offset is greater than zero, calculate the overlap width ratio between the side of the belt close to the center line of the belt conveyor and the material baffle of the reclaimer; S3, judging the belt area according to the overlap width ratio; S4, respectively obtaining the push rod extension amount and the material flow ratio; S5. Adjust the material drop point according to the signal buffering time, belt area, push rod extension and material flow ratio; The specific steps of obtaining the belt position signal in S1 include: Determine the scanning period, denoising threshold and signal number a; Collecting a first coded signal from a belt deviation detection device installed on both sides of the belt travel direction according to a scanning cycle, calculating a first difference between the first coded signal and the first coded signal collected in a previous scanning cycle, and placing the first coded signal into a first coded signal set when the first difference is less than or equal to a denoising threshold; According to the acquisition time, the average value of a most recently acquired first coded signals in the first coded signal set is calculated as the belt position signal; The specific steps of determining the scanning period, the denoising threshold and the number of signals a include: The minimum scanning cycle is used as the initial scanning cycle, the second coding signal is collected from the belt deviation detection device, and the initial scanning cycle is gradually increased until the continuous second coding signal presents the overall position change curve of the belt, and the corresponding initial scanning cycle is used as the scanning cycle; Calculate the second difference between all two adjacent second coded signals within one rotation of the belt, count the number of identical second differences, and select the smallest second difference among the second differences with a proportion less than 1% as the denoising threshold; Obtaining a fluctuation period of the second coded signal, and calculating the number of second coded signals within one fluctuation period as the number of signals a; After the scanning cycle, denoising threshold and signal number a are determined, the first coded signal is collected from the belt deviation detection device according to the scanning cycle, and the first difference between two adjacent first coded signals is calculated. When the first difference is greater than the denoising threshold, the first coded signal collected later has no reference value, and the first coded signal collected later is removed. The remaining first coded signals constitute a first coded signal set, thereby eliminating the noise signal caused by the belt notch or elastic force; the average value of the a latest first coded signals in the first coded signal set is calculated as the belt position signal, thereby eliminating the periodic fluctuation of the first coded signal caused by the flexible material of the belt and mechanical vibration.

2. The automatic adjustment method of the material drop point of the reclaimer according to claim 1, characterized in that: The signal buffering time is the time from when the material leaves the cantilever belt scale on the reclaimer to when the material contacts the mixing plate.

3. The automatic adjustment method of the material drop point of the reclaimer according to claim 1, characterized in that: The specific steps of calculating the overlap width ratio between the side of the belt close to the center line of the belt conveyor and the baffle plate of the reclaimer in S2 include: Get the overlap width between the side of the belt close to the center line of the belt conveyor and the baffle plate when the belt is centered; Get the overlap width change, which is equal to the belt position offset; Calculate the overlap width ratio, overlap width ratio = 100% × (overlap width - overlap width change) / overlap width.

4. The automatic adjustment method of the material drop point of the reclaimer according to claim 1, characterized in that: The specific steps of S3 include: The belt area includes the area prone to spillage, the area to be adjusted, the transition area and the tracking and observation area; When the overlap width ratio is less than or equal to 10%, the belt is judged to be in the area prone to spillage; When the overlap width ratio is greater than 10% and less than or equal to 40%, the belt is determined to be in the area to be adjusted; When the overlap width ratio is greater than 40% and less than or equal to 50%, the belt is judged to be in the transition zone; When the overlap width accounts for more than 50%, it is determined that the belt is in the tracking observation area.

5. The automatic adjustment method of the material drop point of the reclaimer according to claim 4, characterized in that: The specific steps of S5 include: When the belt is in the area prone to spillage, the touch screen in the driver's cab will sound an alarm; When the belt is in the area to be adjusted, calculate the duration of the belt being in the area to be adjusted. When the duration is greater than or equal to the signal buffer time and the material flow ratio is greater than or equal to 40%, control the adjustment plate to extend and retract and adjust the drop point.

6. The automatic adjustment method of the material drop point of the reclaimer according to claim 5, characterized in that: The specific steps of controlling the expansion and contraction of the mixing plate and adjusting the drop point include: Get the stroke between the front and rear limit positions of the push rod; Calculate the ratio of the push rod extension to the stroke of the feed plate on the same side of the belt as the side away from the center line of the belt conveyor; When the ratio is less than 30%, the seasoning plates on the same side of the belt far from the center line of the belt conveyor are controlled to be fully retracted, and the seasoning plates on the same side of the belt close to the center line of the belt conveyor are controlled to be gradually extended; when the belt is in the tracking observation area, the seasoning plates on the same side of the belt close to the center line of the belt conveyor stop, and when the material flow ratio drops below 40%, the seasoning plates on the same side of the belt close to the center line of the belt conveyor are controlled to continue to extend, and stop after the extension time is equal to the signal buffer time; When the ratio is greater than or equal to 30%, the seasoning plate on the same side of the belt away from the center line of the belt conveyor is controlled to gradually retract; when the belt is in the tracking observation area, the seasoning plate on the same side of the belt away from the center line of the belt conveyor stops, and when the material flow ratio drops below 40%, the seasoning plate on the same side of the belt away from the center line of the belt conveyor is controlled to continue to retract, and stops after the retraction time is equal to the signal cache time.

7. The automatic adjustment method of the material drop point of the reclaimer according to claim 6, characterized in that: The specific steps of obtaining the push rod extension amount in S4 include: Get the time t taken by the push rod to continuously extend the stroke; Calculate the motion coefficient s=k / t, where s is the stroke; Get the time t1 taken by the push rod to extend a stroke s in b times; Calculate the correction value t0=(t1-t) / b; Obtain the number of push rod extensions m, the total extension time T, the number of push rod retractions n and the total retraction time T1; Calculate the push rod extension S = (T-T1+m×t0-n×t0)×k.

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