TBM conveyor belt intelligent adjustment device and method thereof

Abstract

The present application relates to a kind of TBM conveying belt intelligent adjusting device, including monitoring module, central control module, display module, conveying belt adjusting mechanism.The conveying belt adjusting mechanism includes base, slide rail, hydraulic cylinder, carrier roller, carrier roller support, one end of the hydraulic cylinder is fixedly connected with the base, the other end is fixedly connected with the carrier roller support, the carrier roller support is slidably arranged on carrier roller support platform, the carrier roller support is arranged between two hydraulic cylinders, the slide rail is respectively connected with two bases at both ends, the carrier roller support side is provided with sliding groove, the slide rail is connected with the sliding groove, conveying belt is set on the upper surface of the carrier roller;Conveying belt adjusting mechanism is used to receive the instruction of the central control module, and the lateral position of carrier roller is automatically adjusted.The present application can monitor the position and linear state of conveying belt in real time, and visual display is carried out;Control system automatically adjusts the linear of conveying belt by adjusting device, to ensure the normal operation of conveying belt.

Description

Technical Field

[0001] This invention relates to the field of belt conveyor technology, and in particular to an intelligent adjustment device and method for a TBM conveyor belt. Background Technology

[0002] Belt conveyors are the main equipment for TBM muck removal, primarily consisting of conveyor belts, idlers, drums, power units, and supports. When the TBM is on a curve due to design flaws or tunneling errors, the conveyor belt will experience uneven stress on both sides, causing it to deviate and resulting in muck falling off; in severe cases, it may even overturn. Currently, on construction sites, the inspection, correction, and muck removal of the conveyor belt mainly rely on manual labor, which consumes a large amount of manpower and has low efficiency. Correction operations also pose significant safety hazards and cannot effectively guarantee the normal operation of the conveyor belt.

[0003] Existing technical document CN114572639A describes a conveyor belt alignment device, including a conveyor belt body, a base plate, and alignment rollers. The alignment rollers include an intermediate roller and side rollers symmetrically arranged on both sides of the intermediate roller. Both the intermediate roller and the side rollers are mounted on the base plate. The conveyor belt rests on the alignment rollers, and a rigid strip is provided at the middle position of the conveyor belt. The width of the rigid strip is adapted to the width of the intermediate roller. This invention adjusts the side rollers at both ends of the conveyor belt to maintain consistent pressure on the idler rollers. However, it cannot guarantee that the conveyor belt is in a horizontal state, and problems such as soil falling off the conveyor belt still occur. Summary of the Invention

[0004] To address the aforementioned issues, this invention discloses an intelligent adjustment device and method for a TBM conveyor belt. This device can monitor the position and alignment of the conveyor belt in real time, automatically adjust for belt misalignment, ensure normal operation of the conveyor belt, and reduce manual cleaning and belt adjustment work, thereby improving work efficiency.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] This invention relates to an intelligent adjustment device for a TBM conveyor belt, comprising a monitoring module, a central control module, a display module, and a conveyor belt adjustment mechanism. The conveyor belt adjustment mechanism includes a base, a slide rail, hydraulic cylinders, idlers, and an idler frame. Two bases and two hydraulic cylinders are symmetrically arranged on an idler support platform. One end of each hydraulic cylinder is fixedly connected to a base, and the other end is fixedly connected to the idler frame. The idler frame is slidably mounted on the idler support platform and positioned between the two hydraulic cylinders. Both ends of the slide rail are connected to the two bases respectively. A groove is provided on one side of the idler frame, and the slide rail engages with the groove to allow the idler frame to move guided by the slide rail. The idler is connected to the idler frame, and the conveyor belt rests on the upper surface of the idler. The central control module is communicatively connected to the conveyor belt adjustment mechanism, the monitoring module, and the display module. The conveyor belt adjustment mechanism receives commands from the central control module and automatically adjusts the lateral position of the idlers.

[0007] Furthermore, the monitoring module includes a first azimuth sensor set at intervals on a platform directly below the conveyor belt, a second azimuth sensor set at the center of the bottom of the conveyor belt at the idler position, a third azimuth sensor set at a displacement monitoring point on the tunnel sidewall, and pressure sensors set at the two edges of the conveyor belt at the idler position; it can collect azimuth data from the first azimuth sensor, the second azimuth sensor, and the third azimuth sensor, as well as real-time force data from both sides of the conveyor belt.

[0008] Furthermore, the central control module includes a data receiving unit, a modeling unit, and a control unit. The data receiving unit is used to collect the azimuth data from the first and second azimuth sensors acquired by the conveyor belt monitoring module, and convert the azimuth data into the actual position information of the first and second azimuth sensors on site, i.e., the real-time position information of the corresponding points of the TBM and the conveyor belt, based on the coordinate information of the displacement monitoring points on the tunnel sidewall. The modeling unit is used to create a TBM model and an actual conveyor belt alignment model based on the actual position information of the first and second azimuth sensors on site. The control unit is used to analyze the relative positional relationship between the actual conveyor belt model and the TBM idler model, the force values ​​on both sides of the conveyor belt, determine the distance that the idlers at each position need to be adjusted, and send adjustment commands to the conveyor belt adjustment device.

[0009] Furthermore, the display module is used to display the actual TBM alignment model, the real-time alignment model of the conveyor belt, the force values ​​on both sides of the conveyor belt, and the distance data that the idlers at each position need to be adjusted to prevent the conveyor belt from running off-track.

[0010] Furthermore, the intelligent conveyor belt adjustment device is configured in multiple ways, and the conveyor belt is mounted on multiple conveyor belt adjustment mechanisms.

[0011] Furthermore, the present invention also relates to a smart adjustment method for a TBM conveyor belt, characterized by the following usage process:

[0012] The first step is to create a TBM model, including a conveyor belt model, an idler roller model, and simplified models of other parts of the TBM. The TBM model is created using positioning points spaced apart on the platform directly below the conveyor belt. The TBM model's alignment can be changed based on these positioning points, which can be arranged according to the TBM's segment divisions.

[0013] The second step is that the control unit of the central control module determines the maximum lateral distance that the idler roller can move based on the relative positions of the various parts of the TBM model.

[0014] The third step involves setting a first orientation sensor on the TBM based on the positioning points described in the first step, arranging a second orientation sensor at the center of the bottom of the conveyor belt at the idler position, arranging pressure sensors on both sides of the conveyor belt at the idler position, and arranging a third orientation sensor at the tunnel sidewall displacement monitoring point.

[0015] Fourth step: The data receiving unit of the central control module collects the relative orientation information of the first orientation sensor and the second orientation sensor within the vicinity of the third-party position sensor, and then processes the data according to the actual coordinates of the third-party position sensor to obtain the actual coordinate data of the first orientation sensor and the second orientation sensor; The data receiving unit collects the data of the pressure sensor to obtain the pressure values ​​on both sides of the conveyor belt at each position.

[0016] Fifth step: The modeling unit of the central control module modifies the coordinate information of the TBM model positioning point according to the actual coordinate data of the first orientation sensor obtained in the third step, and obtains the actual TBM linear model.

[0017] Step 6: The modeling unit of the central control module creates an actual linear model of the conveyor belt based on the actual coordinate data of the second azimuth sensor obtained in step 3.

[0018] The seventh step involves the control unit of the central control module determining the distance that each idler needs to be adjusted laterally for conveyor belt correction by analyzing the collision between the actual conveyor belt model and the actual idler model, analyzing the pressure values ​​on both sides of the conveyor belt, and determining the maximum limit of the idler's lateral adjustment. The control unit then sends the adjustment command to the conveyor belt adjustment mechanism.

[0019] Step 8: Upon receiving the adjustment command from the central control module, the conveyor belt adjustment mechanism automatically adjusts the lateral movement of the idler rollers to complete the conveyor belt correction.

[0020] Step 9: Repeat the above steps to verify whether the conveyor belt position offset after the idler adjustment meets the requirements. If it still does not meet the requirements, manually adjust the idler that does not meet the requirements.

[0021] Furthermore, the arrangement of the positioning points according to the TBM segment division includes: one trailer has two positioning points arranged at the front and rear of the trailer and on the platform directly below the conveyor belt.

[0022] Furthermore, the display module displays the TBM model and the conveyor belt before and after adjustment in real time.

[0023] Compared with existing technologies, this invention can monitor the position and alignment of the conveyor belt in real time, and its modeling method facilitates visualization and control. The control system automatically adjusts the alignment of the conveyor belt through the conveyor belt adjustment mechanism, ensuring the normal operation of the conveyor belt, improving efficiency, and reducing manpower input. Attached Figure Description

[0024] Figure 1 Schematic diagram of the intelligent adjustment device for TBM conveyor belt of the present invention;

[0025] Figure 2 This is a top view schematic diagram of the monitoring device layout (trailer position) of the present invention;

[0026] Figure 3 This is a cross-sectional schematic diagram of the monitoring device arrangement (idler roller position) of the present invention;

[0027] Figure 4 This is a flowchart illustrating the implementation of the intelligent adjustment method for TBM conveyor belts of the present invention.

[0028] Explanation of reference numerals in the attached figures

[0029] 1-Conveyor belt; 2-Idler roller; 3-Idler roller frame; 4-Slide rail; 5-Hydraulic cylinder; 6-Base; 7-Idler roller support platform; 8-Tunnel wall; 9-Displacement observation mark; 10-First orientation sensor; 11-Second orientation sensor; 12-Third orientation sensor; 13-Pressure sensor; 14-Trailer 1 idler roller support platform; 15-Trailer 2 idler roller support platform Detailed Implementation

[0030] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0031] This invention discloses an intelligent adjustment device for a TBM conveyor belt, which includes a monitoring module, a central control module, a display module, and a conveyor belt adjustment mechanism. The central control module is communicatively connected to the conveyor belt adjustment mechanism, the monitoring module, and the display module. The conveyor belt adjustment mechanism receives commands from the central control module and automatically adjusts the lateral position of the idlers, thereby correcting conveyor belt misalignment and ensuring the conveyor belt is level and operating normally.

[0032] Combination Figure 1-3 As shown, the conveyor belt adjustment mechanism includes idler roller 2, idler roller frame 3, slide rail 4, hydraulic cylinder 5, and base 6. Two bases 6 and two hydraulic cylinders 5 are symmetrically arranged on the idler roller support platform 7. One end of each hydraulic cylinder 5 is fixedly connected to the base 6, and the other end is fixedly connected to the idler roller frame 3. The idler roller frame 3 is slidably arranged on the idler roller support platform 7 and is positioned between the two hydraulic cylinders 5. Both ends of the slide rail 4 are connected to the two bases 6 respectively. A groove is provided on one side of the idler roller frame 3, and the slide rail 4 is connected to the groove so that the idler roller frame 3 can move with the slide rail 4 as a guide. The idler roller 2 is connected to the idler roller frame 3, and the conveyor belt 1 is laid on the upper surface of the idler roller 2. The central control module performs linkage control on the two hydraulic cylinders 5. When the conveyor belt deviates from its position, for example, it deviates laterally to the left or tilts to the left, the central control module controls the piston rod of the hydraulic cylinder on the left to extend, and at the same time controls the piston rod of the hydraulic cylinder on the right to retract. At this time, the idler frame 3 moves laterally guided by the slide rail 4, and the position of the conveyor belt 1 on the upper surface of the idler 2 changes. The idler 2 supports the conveyor belt 1, so that the conveyor belt 1 can be angled to ensure that the conveyor belt is in a horizontal running state.

[0033] The monitoring module includes a first orientation sensor 10 positioned on a platform directly below the conveyor belt and spaced apart, a second orientation sensor 11 positioned at the center of the bottom of the conveyor belt at the idler position, a third orientation sensor 12 positioned at a displacement monitoring point on the tunnel sidewall, and pressure sensors 13 positioned at the two edges of the conveyor belt at the idler position. The third orientation sensor 12 can collect orientation data of the first orientation sensor 10, the second orientation sensor 11 and itself in its vicinity. The pressure sensor 13 can collect real-time force data on both sides of the conveyor belt.

[0034] The central control module includes a data receiving unit, a modeling unit, and a control unit. The data receiving unit collects azimuth data from the first and second azimuth sensors acquired by the conveyor belt monitoring module, and converts this azimuth data into the actual position information of the first and second azimuth sensors on-site, i.e., the real-time position information of the TBM and the corresponding points on the conveyor belt, based on the coordinate information of the tunnel sidewall displacement monitoring points. Simultaneously, the modeling unit creates a TBM model and an actual conveyor belt alignment model based on the actual position information of the first and second azimuth sensors on-site. The control unit analyzes the relative positional relationship between the actual conveyor belt model and the TBM idler model, the force values ​​on both sides of the conveyor belt, determines the distance that the idlers at each position need to be adjusted, and sends adjustment commands to the conveyor belt adjustment device. Modeling the intelligent conveyor belt adjustment device facilitates the visualization and corresponding control of the entire operation, allows for real-time monitoring of the conveyor belt's position and alignment status, and enables automatic adjustment of the conveyor belt alignment through the conveyor belt adjustment mechanism.

[0035] The display module is used to display the actual TBM alignment model, the real-time alignment model of the conveyor belt, the force values ​​on both sides of the conveyor belt, and the distance data that the idlers at each position need to be adjusted to prevent the conveyor belt from running off track.

[0036] The intelligent conveyor belt adjustment device is configured in multiple ways, and the conveyor belt is evenly distributed on multiple conveyor belt adjustment mechanisms to facilitate the overall stable operation of the conveyor belt.

[0037] Combination Figure 4 The present invention also relates to an intelligent adjustment method for a TBM conveyor belt, the method comprising the following steps:

[0038] The first step is to create a TBM model, including a conveyor belt model, an idler roller model, and simplified models of other parts of the TBM. The TBM model is created using positioning points spaced apart on the platform directly below the conveyor belt. The TBM model's alignment can be changed based on these positioning points, which can be arranged according to the TBM's segment divisions.

[0039] The second step is that the control unit of the central control module determines the maximum lateral distance that the idler roller can move based on the relative positions of the various parts of the TBM model.

[0040] The third step involves setting a first orientation sensor on the TBM based on the positioning points described in the first step, arranging a second orientation sensor at the center of the bottom of the conveyor belt at the idler position, arranging pressure sensors on both sides of the conveyor belt at the idler position, and arranging a third orientation sensor at the tunnel sidewall displacement monitoring point.

[0041] Fourth step: The data receiving unit of the central control module collects the relative orientation information of the first orientation sensor and the second orientation sensor within the vicinity of the third-party position sensor, and then processes the data according to the actual coordinates of the third-party position sensor to obtain the actual coordinate data of the first orientation sensor and the second orientation sensor; The data receiving unit collects the data of the pressure sensor to obtain the pressure values ​​on both sides of the conveyor belt at each position.

[0042] Fifth step: The modeling unit of the central control module modifies the coordinate information of the TBM model positioning point according to the actual coordinate data of the first orientation sensor obtained in the third step, and obtains the actual TBM linear model.

[0043] Step 6: The modeling unit of the central control module creates an actual linear model of the conveyor belt based on the actual coordinate data of the second azimuth sensor obtained in step 3.

[0044] The seventh step involves the control unit of the central control module determining the distance that each idler needs to be adjusted laterally for conveyor belt correction by analyzing the collision between the actual conveyor belt model and the actual idler model, analyzing the pressure values ​​on both sides of the conveyor belt, and determining the maximum limit of the idler's lateral adjustment. The control unit then sends the adjustment command to the conveyor belt adjustment mechanism.

[0045] Step 8: Upon receiving the adjustment command from the central control module, the conveyor belt adjustment mechanism automatically adjusts the lateral movement of the idler rollers to complete the conveyor belt correction.

[0046] Step 9: Repeat the above steps to verify whether the conveyor belt position offset after the idler adjustment meets the requirements. If it still does not meet the requirements, manually adjust the idler that does not meet the requirements.

[0047] The positioning points are arranged according to the TBM segment division in the following ways: two positioning points are arranged on the platform directly below the conveyor belt at the beginning and end of one trailer.

[0048] The display module displays the TBM model and the conveyor belt before and after adjustment in real time.

[0049] This invention utilizes a monitoring module, a receiving unit, a modeling unit, and a control unit to collect data, perform modeling analysis, and control accordingly on the intelligent conveyor belt adjustment device. When conveyor belt misalignment is detected, the system monitors and analyzes the conveyor belt data and enables the control unit to drive and control the hydraulic cylinders. This causes the piston rod of the hydraulic cylinder on the misaligned side to extend, while simultaneously retracting the piston rod of the hydraulic cylinder on the other side. This allows the idler frame to move laterally guided by the slide rail, changing the position of the conveyor belt on the idler. The idler supports the conveyor belt, thereby adjusting the conveyor belt angle to ensure it operates horizontally. The entire process involves real-time monitoring of the conveyor belt's position and alignment, which is visualized and facilitates automatic adjustment for smooth conveyor belt operation.

[0050] Compared with existing technologies, this invention can monitor the position and alignment of the conveyor belt in real time and display it visually; the control system automatically adjusts the alignment of the conveyor belt through the adjustment device to ensure the normal operation of the conveyor belt, improve efficiency, and reduce manpower input.

[0051] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any way. Any simple modifications, alterations, and equivalent changes made to the above embodiments based on the inventive essence shall still fall within the protection scope of the present invention.

Claims

1. A method for intelligent adjustment of a TBM conveyor belt, comprising a monitoring module, a central control module, a display module, and a conveyor belt adjustment mechanism. The conveyor belt adjustment mechanism includes a base, a slide rail, hydraulic cylinders, idlers, and an idler frame. Two bases and two hydraulic cylinders are symmetrically arranged on an idler support platform. One end of each hydraulic cylinder is fixedly connected to a base, and the other end is fixedly connected to the idler frame. The idler frame is slidably disposed on the idler support platform, positioned between the two hydraulic cylinders. Both ends of the slide rail are connected to the two bases respectively. A groove is provided on one side of the idler frame, and the slide rail engages with the groove to allow the idler frame to move guided by the slide rail. The idler is connected to the idler frame, and the conveyor belt rests on the upper surface of the idler. The central control module is communicatively connected to the conveyor belt adjustment mechanism, the monitoring module, and the display module. The conveyor belt adjustment mechanism receives commands from the central control module and automatically adjusts the lateral position of the idler. Its features are: This method includes the following usage flow, The first step is to create a TBM model, including a conveyor belt model, an idler roller model, and simplified models of other parts of the TBM. The TBM model is created using positioning points spaced apart on the platform directly below the conveyor belt. The TBM model's alignment can be changed based on these positioning points, which can be arranged according to the TBM's segment divisions. The second step is that the control unit of the central control module determines the maximum lateral distance that the idler roller can move based on the relative positions of the various parts of the TBM model. The third step involves setting a first orientation sensor on the TBM based on the positioning points described in the first step, arranging a second orientation sensor at the center of the bottom of the conveyor belt at the idler position, arranging pressure sensors on both sides of the conveyor belt at the idler position, and arranging a third orientation sensor at the tunnel sidewall displacement monitoring point. Fourth step: The data receiving unit of the central control module collects the relative orientation information of the first orientation sensor and the second orientation sensor within the vicinity of the third-party orientation sensor, and then processes the data to obtain the actual coordinate data of the first orientation sensor and the second orientation sensor based on the actual coordinates of the third-party orientation sensor. The data receiving unit collects data from the pressure sensor to obtain the pressure values ​​on both sides of the conveyor belt at each position. Fifth step: The modeling unit of the central control module modifies the coordinate information of the TBM model positioning point according to the actual coordinate data of the first azimuth sensor obtained in the third step, and obtains the actual TBM linear model. Step 6: The modeling unit of the central control module creates an actual linear model of the conveyor belt based on the actual coordinate data of the second azimuth sensor obtained in step 3. The seventh step involves the control unit of the central control module determining the distance that each idler needs to be adjusted laterally for conveyor belt correction by analyzing the collision between the actual conveyor belt model and the actual idler model, analyzing the pressure values ​​on both sides of the conveyor belt, and determining the maximum limit of the idler's lateral adjustment. The control unit then sends the adjustment command to the conveyor belt adjustment mechanism. Step 8: Upon receiving the adjustment command from the central control module, the conveyor belt adjustment mechanism automatically adjusts the lateral movement of the idler rollers to complete the conveyor belt correction. Step 9: Repeat the above steps to verify whether the conveyor belt position offset after the idler adjustment meets the requirements. If it still does not meet the requirements, manually adjust the idler that does not meet the requirements.

2. The intelligent adjustment method for TBM conveyor belts according to claim 1, characterized in that: The positioning points are arranged according to the TBM segment division in the following ways: two positioning points are arranged on the platform directly below the conveyor belt at the beginning and end of one trailer.

3. The intelligent adjustment method for TBM conveyor belts according to claim 1, characterized in that: The display module displays the TBM model and the conveyor belt before and after adjustment in real time.

4. The intelligent adjustment method for TBM conveyor belts according to claim 1, characterized in that: The display module is used to display the actual TBM alignment model, the real-time alignment model of the conveyor belt, the force values ​​on both sides of the conveyor belt, and the distance data that the idlers at each position need to be adjusted to prevent the conveyor belt from running off track.

5. The intelligent adjustment method for TBM conveyor belts according to claim 1, characterized in that: The conveyor belt intelligent adjustment mechanism is configured in multiple ways, and the conveyor belt is mounted on multiple conveyor belt adjustment mechanisms.

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