A conveyor belt constant pressure cleaning system with intelligent controller

Abstract

The present invention relates to the technical field of conveyor belt cleaning, and discloses a conveyor belt constant pressure cleaning system with an intelligent controller, comprising a scraper, a rotating shaft, a mounting seat, a cantilever, a double-chamber hydraulic cylinder and an oil pressure drive device, the double-chamber hydraulic cylinder comprising a rod chamber and a rodless chamber, and a telescopic rod is provided in the rod chamber; the scraper is mounted on the rotating shaft, and both ends of the rotating shaft are rotatably mounted on two mounting seats, the telescopic rod is hinged to one end of the cantilever, and the other end of the cantilever is connected to one end of the rotating shaft, and the oil pressure drive device is connected to the double-chamber hydraulic cylinder for providing constant oil pressure to the rod chamber and adjustable oil pressure to the rodless chamber; in actual use, the present invention drives the scraper to rotate by adopting an oil pressure method, so that when the scraper encounters a hard foreign object, there will be oil to buffer, and there is no need to worry about external force causing damage to the driving components like when using a motor drive.

Description

Technical Field

[0001] The present invention relates to the technical field of conveyor belt cleaning, and in particular to a conveyor belt constant pressure cleaning system with an intelligent controller. Background Art

[0002] Belt conveyors are commonly used for conveying coal, cement, sand, and ore. These conveyors consist of rollers, idler bearings, and the conveyor belts that rest on them. If residual material remains on the belt during conveying, it can enter the rollers or idler bearings, accelerating bearing wear. It can also tear and roughen the belt's rubber, accelerating wear and damage. Furthermore, if material forms agglomerates on the tailgate pulley or vertical take-up pulley, it can cause the belt to deviate, increase belt wear, and tear the pulley's rubber coating.

[0003] In order to extend the service life of belt conveyors, ensure their operational reliability, and reduce equipment failure rates, belt conveyor cleaners are used to clean residual materials on the conveyor belts. Existing belt conveyor cleaners can be divided into mechanical and electric types according to their drive type.

[0004] Among them, the mechanical sweeper uses a spring compression method to achieve cleaning. Its structure is simple and the cost is low, but it has problems such as poor dynamic performance, the need for regular manual on-site adjustment and maintenance, and easy damage to the belt. In addition, since the scraper cannot automatically compensate for the pressure on the conveyor belt, it cannot achieve constant force control, which greatly reduces the cleaning effectiveness.

[0005] Electric sweepers use a motor, reducer, and torque sensor to achieve closed-loop control of the rotational extrusion force, thus achieving intelligent cleaning. However, in actual use, electric sweepers have the following problems: large size, low adjustment accuracy, and poor cleaning performance. When the scraper is subjected to external force (foreign objects on the belt), the external force is quickly transmitted to the drive shaft and the motor reducer, causing damage. Summary of the Invention

[0006] In view of the shortcomings of the background technology, the present invention provides a conveyor belt constant pressure cleaning system with an intelligent controller. The technical problem to be solved is that the control real-time performance of the existing conveyor belt cleaning system is poor in the rotation control accuracy of the scraper.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: a conveyor belt constant pressure cleaning system with an intelligent controller, comprising a scraper, a rotating shaft, a mounting base, a cantilever, a double-chamber hydraulic cylinder and an oil pressure drive device, wherein the double-chamber hydraulic cylinder includes a rod chamber and a rodless chamber, and a telescopic rod is provided in the rod chamber;

[0008] The scraper is mounted on the rotating shaft, and both ends of the rotating shaft are rotatably mounted on two mounting seats. The telescopic rod is hinged to one end of the cantilever, and the other end of the cantilever is connected to one end of the rotating shaft. The oil pressure drive device is connected to the double-chamber hydraulic cylinder for providing constant oil pressure to the rod chamber and adjustable oil pressure to the rodless chamber.

[0009] The oil pressure drive device includes an oil tank, a motor, an accumulator, a first proportional valve, a second proportional valve, a first pressure detection sensor, a second pressure detection sensor, a third pressure sensor and an encoder;

[0010] The controller is connected to the motor to control the rotation of the motor; when the motor rotates, the oil in the oil tank is pumped to the accumulator, the inlet of the first proportional valve and the inlet of the second proportional valve through the oil outlet pipe, the oil outlet of the accumulator is connected to the inlet of the first proportional valve and the inlet of the second proportional valve respectively, the outlet of the first proportional valve is connected to the rod chamber through a first connecting pipe, and the outlet of the second proportional valve is connected to the rodless chamber through a second connecting pipe;

[0011] The controller is connected to the first proportional valve and the second proportional valve, and is used to control the opening ratio of the first proportional valve and the second proportional valve;

[0012] The first pressure detection sensor is used to detect the oil pressure at the outlet of the first proportional valve and send a first detection signal to the controller; the second pressure detection sensor is used to detect the oil pressure at the outlet of the second proportional valve and send a second detection signal to the controller; the third pressure detection sensor is used to detect the oil pressure in the accumulator and send a third detection signal to the controller;

[0013] The encoder is mounted on the rotating shaft and rotates along with the rotating shaft. The encoder is electrically connected to the controller.

[0014] In a certain embodiment, the controller calculates the rotation angle of the scraper based on the output signal of the encoder, and adjusts the opening ratio of the first proportional valve and the second proportional valve based on the rotation angle of the scraper and the torque applied by the scraper to the conveyor belt, so that the torque applied by the scraper to the conveyor belt is constant.

[0015] In a certain embodiment, the controller is also electrically connected to a touch display unit; the touch display unit is used to set scraper parameters, display information and display alarms; the scraper parameters include the torque applied by the scraper to the conveyor belt; the information display includes displaying the oil pressure at the outlet of the first proportional valve, displaying the oil pressure at the outlet of the second proportional valve, displaying the oil pressure in the accumulator, displaying the current working mode, the scraper usage time, the scraper status, displaying the shaft set torque and displaying the shaft current torque; the alarm display includes a shaft torque mutation alarm display, a scraper replacement alarm display and a sweeper abnormal operation display.

[0016] In a certain embodiment, the present invention further includes a host computer, and the controller is communicatively connected to the host computer for sending terminal data to the host computer and receiving remote data sent by the host computer, wherein the remote data includes control instructions.

[0017] In a certain embodiment, the host computer includes a data management layer, a function support layer and a business display layer;

[0018] The data management layer includes a storage unit for storing data and a query unit for data query;

[0019] The functional support layer includes a 3D rendering module, a data acquisition module, an alarm management module, and a report / printing module; the 3D rendering module is used to generate a 3D model of the sweeper, and provides positioning, scaling, rotation, and selection operations for the 3D model of the sweeper, and drives the execution of actions of the 3D model of the sweeper based on data changes; the data acquisition module obtains the driving torque information, shaft rotation angle information, alarm information, and alarm confirmation information reported by the sweeper based on the MQTT protocol; the alarm module is used to query the alarm records of the sweeper;

[0020] The business display layer includes a 3D display interface, a working window, an alarm window, a report window and a manual viewing window. The 3D display interface is used to display the 3D model of the sweeper, the working window is used to display the working status of the sweeper, the alarm window is used to display the alarm record of the sweeper, the report window is used to display the report, and the manual viewing window is used to view the manual.

[0021] In a certain embodiment, the controller regularly collects pressure information through the first pressure detection sensor, the second pressure detection sensor, and the third pressure detection sensor, and performs torque calculation, and collects the scraper angle and the solenoid valve current of the first proportional valve and the second proportional valve through the encoder;

[0022] The controller immediately sends an alarm message to the upper computer when an alarm occurs in the sweeper, and periodically sends torque information, pressure information and scraper angle information to the upper computer.

[0023] In a certain embodiment, the controller determines the type of the control instruction after receiving the control instruction;

[0024] If the control instruction is a mode setting control instruction, the controller sets the sweeper to enter the automatic mode, the stop mode or the manual mode based on the control instruction, and the sweeper can manually adjust the pressure applied by the scraper to the conveyor belt after entering the manual mode;

[0025] If the control instruction is an alarm confirmation instruction, the controller performs alarm status confirmation;

[0026] If the control instruction is a parameter setting instruction, the controller first determines whether the parameter setting instruction is an alarm parameter setting instruction. If it is, the controller updates the alarm setting parameters. If not, the controller updates the basic parameters when the parameter setting instruction is a basic parameter setting instruction, updates the system parameters when the parameter setting instruction is a system parameter setting instruction, and updates the torque parameters when the parameter setting instruction is a torque parameter setting instruction.

[0027] In a certain embodiment, the controller first determines the current working mode state of the sweeper when controlling the scraper;

[0028] If the sweeper is working in automatic mode, the controller determines whether the scraper exceeds the limit based on the output signal of the encoder. If the scraper does not exceed the limit, the controller controls the scraper torque. The scraper torque control process is as follows:

[0029] S10: First, perform constant pressure control on the rod cavity to keep the pressure of the rod cavity constant;

[0030] S11: setting the desired torque of the scraper to the desired pressure of the rod chamber;

[0031] S12: Determine whether it is in the pressure control cycle of the rodless chamber, if yes, proceed to step S13, otherwise proceed to step S14;

[0032] S13: Closed-loop control of the pressure in the rodless cavity;

[0033] S14: performing closed-loop control on the rotation speed of the scraper;

[0034] S15: performing closed-loop control on the currents of the first proportional valve and the second proportional valve;

[0035] S16: driving the first proportional valve and the second proportional valve to operate;

[0036] After the scraper torque control is completed, the scraper desired angle is set to the current position;

[0037] If the scraper exceeds the limit, do the following:

[0038] S20: First, the expected angle of the scraper is judged. If the expected angle of the scraper is less than the lower limit, the expected angle of the scraper is set to the lower limit. If the expected angle of the scraper is greater than the upper limit, the expected angle of the scraper is set to the upper limit. If the expected angle of the scraper is between the upper limit and the lower limit, no processing is performed on the expected angle of the scraper.

[0039] S21: Control the angle of the scraper. The process is as follows:

[0040] S210: Constant pressure control of the rod cavity;

[0041] S211: Determine whether the current period is the angle control period, if yes, execute step S212, otherwise execute step S213;

[0042] S212: Closed-loop control of the scraper angle;

[0043] S213: performing closed-loop control on the rotation speed of the scraper;

[0044] S214: Performing closed-loop control on the currents of the first proportional valve and the second proportional valve;

[0045] S215: driving the first proportional valve and the second proportional valve to operate;

[0046] If the sweeper is operating in manual mode, then execute steps S20 and S21;

[0047] If the sweeper is operating in the stop mode, the desired angle of the scraper is set as the initial position, and then steps S20 and S21 are performed.

[0048] Compared with the prior art, the present invention has the following advantages: first, the present invention drives the scraper to rotate by adopting oil pressure, so when the scraper encounters hard foreign objects, there will be oil to buffer, and there is no need to worry about external force causing damage to the driving components like when using motor drive; in addition, the present invention adopts a double-chamber hydraulic cylinder, which can simultaneously control the oil inflow and outflow of the rod chamber and rodless chamber of the double-chamber hydraulic cylinder in actual use, thereby improving the real-time responsiveness of the scraper rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A structural schematic diagram of the present invention;

[0050] Figure 2 It is a structural diagram of a double-chamber hydraulic cylinder;

[0051] Figure 3 This is a schematic diagram of the connection between the installation pipe and the fixing plate;

[0052] Figure 4It is a structural diagram of the oil pressure drive device;

[0053] Figure 5 This is a schematic diagram of the connection between the controller and external devices;

[0054] Figure 6 This is a structural diagram of the host computer.

[0055] 1. Scraper, 2. Rotating shaft, 3. Mounting seat, 4. Double-chamber hydraulic cylinder, 5. Cantilever, 6. Mounting tube, 7. Fixed plate, 9. Motor, 10. Oil tank, 11. Accumulator, 12. First pressure detection sensor, 13. Second pressure detection sensor, 14. First proportional valve, 15. Second proportional valve, 16. Third pressure detection sensor, 17. Encoder, 18. Touch display unit, 19. Controller, 20. Host computer, 40. First oil port, 41. Second oil port, 42. Rod chamber, 43. Rodless chamber, 44. Telescopic rod, 70. Screw hole. DETAILED DESCRIPTION

[0056] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0057] like Figure 1-5 As shown, a conveyor belt constant pressure cleaning system with an intelligent controller includes a scraper 1, a rotating shaft 2, a mounting base 3, a cantilever 5, a double-chamber hydraulic cylinder 4 and an oil pressure drive device, wherein the structural diagram of the double-chamber hydraulic cylinder 4 is shown in FIG. Figure 2 As shown, the double-chamber hydraulic cylinder 4 includes a first oil port 40, a second oil port 41, a rod chamber 42 and a rodless chamber 43. The first oil port 40 is connected to the rod chamber 42, the second oil port 41 is connected to the rodless chamber 43, and a telescopic rod 44 is provided in the rod chamber 42.

[0058] The scraper 1 is mounted on the rotating shaft 2, and the two ends of the rotating shaft 2 are rotatably mounted on the two mounting seats 3. The telescopic rod 44 is hinged to one end of the cantilever 5, and the other end of the cantilever 5 is connected to one end of the rotating shaft 2. The oil pressure drive device is connected to the double-chamber hydraulic cylinder 4, and a constant oil pressure is provided to the rod chamber 42 through the first oil port 40 and an adjustable oil pressure is provided to the rodless chamber 43 through the second oil port 41. The structural diagram of the oil pressure drive device is shown in FIG. Figure 4 shown.

[0059] In actual use, since a telescopic rod 44 is provided in the rod chamber 42, pushing and pulling operations are performed through the telescopic rod 44, and providing constant oil pressure to the rod chamber 42 can ensure the stable movement of the telescopic rod 44 and avoid excessive friction and wear; since the rodless chamber 43 is the other part of the double-chamber hydraulic cylinder 4 and does not include the telescopic rod 44, there is no support requirement for the telescopic rod 44 when supplying oil to the rodless chamber 43, so adjustable oil pressure is provided to the rodless chamber 43 to realize the moving speed control and force control of the telescopic rod 44.

[0060] In actual use, the present invention drives the scraper 1 to rotate by adopting oil pressure, so when the scraper 1 hits a hard foreign object, there will be oil to buffer it, and there is no need to worry about external force causing damage to the driving components like when using a motor drive.

[0061] In actual use, the extension or retraction of the telescopic end of the double-chamber hydraulic cylinder 4 drives the cantilever 5 to rotate, thereby driving the rotation shaft 2 to rotate, and then driving the scraper 1 to rotate, so that the scraper 1 is pressed against the conveyor belt of the belt conveyor, thereby achieving the purpose of cleaning the residue on the conveyor belt. Figure 1 Only one end of the rotating shaft 2 is shown to be connected to the telescopic end of a double-chamber hydraulic cylinder 4. In a certain embodiment, the two ends of the rotating shaft 2 can be respectively connected to the telescopic end of a double-chamber hydraulic cylinder 4, so that two double-chamber hydraulic cylinders 4 can be used to drive the scraper 1 to rotate.

[0062] exist Figure 1 In the embodiment, the present invention further comprises a mounting tube 6 and a fixing plate 7, the rotating shaft 2 passes through the mounting tube 7, the rotating shaft 3 is connected to the mounting tube 7 by screws, the outer wall of the mounting tube 6 is connected to the fixing plate 7, and the scraper 1 is fixed to the fixing plate 7 by screws. The structural diagram of the fixing plate 7 being installed on the mounting tube 6 is shown in FIG. Figure 3 As shown, in Figure 3 In the embodiment, the fixing plate 7 is provided with screw holes 70 for installing screws.

[0063] Specifically, if Figure 4 As shown, the oil pressure drive device includes an oil tank 10, a motor 9, an accumulator 11, a first proportional valve 14, a second proportional valve 15, a first pressure detection sensor 12, a second pressure detection sensor 13, a third pressure sensor 16, an encoder 17 and a controller 19;

[0064] The controller 19 is connected to the motor 9 to control the rotation of the motor 9. When the motor 9 rotates, the oil in the oil tank 10 is pumped to the accumulator 11, the inlet of the first proportional valve 14 and the inlet of the second proportional valve 15 through the oil outlet pipe. The oil outlet of the accumulator 11 is connected to the inlet of the first proportional valve 14 and the inlet of the second proportional valve 15 respectively. The outlet of the first proportional valve 14 is connected to the first oil port 40 through the first connecting pipe, and oil is supplied to the rod chamber 42 through the first oil port 40. The outlet of the second proportional valve 15 is connected to the second oil port 41 through the second connecting pipe, and is connected to the rodless chamber 43 through the second oil port 41.

[0065] The controller 19 is connected to the first proportional valve 14 and the second proportional valve 15 to control the opening ratio of the first proportional valve 14 and the second proportional valve 15;

[0066] The first pressure detection sensor 12 is used to detect the oil pressure at the outlet of the first proportional valve 14 and send a first detection signal to the controller 19; the second pressure detection sensor 13 is used to detect the oil pressure at the outlet of the second proportional valve 15 and send a second detection signal to the controller 19; the third pressure detection sensor 16 is used to detect the oil pressure in the accumulator 11 and send a third detection signal to the controller 19;

[0067] The encoder 17 is mounted on the rotating shaft 2 and rotates along with the rotating shaft 2 . The encoder 17 is electrically connected to the controller 19 .

[0068] In actual use, the controller 19 can adjust the oil pressure in the rod chamber 42 and the rodless chamber 43 by controlling the opening ratio of the first proportional valve 14 and the second proportional valve. By adjusting the oil pressure in the rod chamber 42 and the rodless chamber 43, the rotation angle of the rotating shaft 2 can be adjusted, that is, the rotation angle of the scraper 1 can be adjusted. When the scraper 1 is against the conveyor belt, the oil pressure in the rod chamber 42 and the rodless chamber 43 can be adjusted to adjust the torque applied by the scraper 1 to the conveyor belt.

[0069] In actual use, the controller 19 can adjust the opening ratio of the first proportional valve 14 and the second proportional valve 15 according to the torque applied to the conveyor belt by the set scraper, and can perform closed-loop feedback control through the pressure signals detected by the first pressure detection sensor 12 and the second pressure detection sensor 13.

[0070] In actual use, the controller 19 can first draw the oil in the oil tank 10 into the accumulator 11, the rod chamber 42 and the rodless chamber 43 through the motor 9. When the controller 19 detects that the oil pressure in the accumulator 11 reaches the requirement through the third pressure detection sensor 16, the controller 19 stops the rotation of the motor 9 and allows the accumulator 11 to supply oil to the first proportional valve 14 and the second proportional valve. If the third pressure detection sensor 16 detects that the oil pressure in the accumulator is lower than the requirement, the controller 19 controls the motor 9 to rotate and supply oil to the accumulator 11 again until the oil pressure in the accumulator 11 meets the requirement.

[0071] In addition, the controller 19 calculates the rotation angle of the scraper 1 based on the output signal of the encoder 17, and adjusts the opening ratio of the first proportional valve 14 and the second proportional valve 15 based on the rotation angle of the scraper 1 and the torque applied by the scraper to the conveyor belt, so that the torque applied by the scraper 1 to the conveyor belt is constant.

[0072] like Figure 5 As shown, in this embodiment, the controller 19 is also electrically connected to the touch display unit 18. During actual use, human-computer interaction is performed through the touch display unit 18, wherein the touch display unit 18 is used to set scraper parameters, display information and display alarms; the scraper parameters include the torque applied by the scraper to the conveyor belt; the information display includes displaying the oil pressure at the outlet of the first proportional valve 14, displaying the oil pressure at the outlet of the second proportional valve 15, displaying the oil pressure in the accumulator 11, displaying the current working mode, the usage time of the scraper 1, the status of the scraper 1, displaying the set torque of the shaft and displaying the current torque of the shaft; the alarm display includes a shaft torque mutation alarm display, a scraper replacement alarm display and a sweeper abnormal operation display.

[0073] exist Figure 5 In the present invention, the present invention further includes a host computer 20, and the controller 19 is in communication connection with the host computer 20, and is used to send terminal data to the host computer 20 and receive remote data sent by the host computer 20, and the remote data includes control instructions.

[0074] The structural diagram of the host computer is as follows Figure 6 As shown, the host computer 20 includes a data management layer, a function support layer and a business display layer;

[0075] The data management layer includes a storage unit for storing data and a query unit for data query;

[0076] The functional support layer includes a 3D rendering module, a data acquisition module, an alarm management module, and a report / printing module. The 3D rendering module is used to generate a 3D model of the sweeper and provides positioning, scaling, rotation, and selection operations for the 3D model. It also drives the execution of the sweeper's actions based on data changes. The data acquisition module uses the MQTT protocol to obtain the driving torque information, shaft rotation angle information, alarm information, and alarm confirmation information reported by the sweeper. The alarm module is used to query the sweeper's alarm records.

[0077] The business display layer includes a 3D display interface, a work window, an alarm window, a report window, and a manual viewing window. The 3D display interface is used to display the 3D model of the sweeper, the work window is used to display the working status of the sweeper, the alarm window is used to display the alarm record of the sweeper, the report window is used to display the report, and the manual viewing window is used to view the manual.

[0078] Specifically, in this embodiment, the controller 19 regularly collects pressure information through the first pressure detection sensor 12, the second pressure detection sensor 13, and the third pressure detection sensor 16, and performs torque calculation, and regularly collects the angle of the scraper 1 through the encoder 17 and the solenoid valve current of the first proportional valve 14 and the second proportional valve 15;

[0079] When an alarm occurs in the sweeper, the controller 19 immediately sends an alarm message to the upper computer 20, and periodically sends torque information, pressure information and scraper angle information to the upper computer 20.

[0080] In this embodiment, the controller 19 determines the type of control instruction after receiving the control instruction sent by the host computer;

[0081] If the control instruction is a mode setting control instruction, the controller 19 sets the sweeper to enter the automatic mode, the stop mode or the manual mode based on the control instruction. After entering the manual mode, the sweeper can manually adjust the pressure applied by the scraper 1 to the conveyor belt;

[0082] If the control instruction is an alarm confirmation instruction, the controller 19 performs alarm status confirmation;

[0083] If the control instruction is a parameter setting instruction, the controller 19 first determines whether the parameter setting instruction is an alarm parameter setting instruction. If it is, the controller updates the alarm setting parameters. If not, the controller updates the basic parameters when the parameter setting instruction is a basic parameter setting instruction, updates the system parameters when the parameter setting instruction is a system parameter setting instruction, and updates the torque parameters when the parameter setting instruction is a torque parameter setting instruction.

[0084] In certain embodiments, the controller first determines the current working mode state of the sweeper when controlling the scraper;

[0085] If the sweeper is working in automatic mode, the controller determines whether the scraper exceeds the limit based on the output signal of the encoder. If the scraper does not exceed the limit, the controller controls the scraper torque. The scraper torque control process is as follows:

[0086] S10: First, constant pressure control is performed on the rod chamber 42 to keep the pressure of the rod chamber 42 constant. The constant pressure control process is as follows: the controller 19 detects the pressure in the rod chamber 42 through the first pressure detection sensor 12, and compares the detected pressure with the desired pressure of the rod chamber 42. When the detected pressure is lower than the desired pressure of the rod chamber 42, the controller 19 controls the first proportional valve 14 to increase the cross-sectional area of ​​the flow channel. When the detected pressure is higher than the pressure of the rod chamber 42, the controller 19 controls the first proportional valve 14 to decrease the cross-sectional area of ​​the flow channel, thereby increasing or decreasing the pressure to keep the pressure of the rod chamber 42 constant.

[0087] S11: setting the desired torque of the scraper to the desired pressure of the rod chamber;

[0088] S12: Determine whether it is in the pressure control cycle of the rodless chamber 43. If so, proceed to step S13, otherwise proceed to step S14; wherein the pressure control cycle is determined based on the pressure value detected by the third pressure detection sensor 16. If the pressure value is within a preset interval, it is considered to be in the pressure control cycle of the rodless chamber. If the pressure value is outside the preset interval, it is considered to be out of the pressure control cycle of the rodless chamber 43.

[0089] S13: Closed-loop control is performed on the pressure of the rodless chamber 43; when the closed-loop control is performed on the rodless chamber 43, the controller 19 obtains the pressure of the rodless chamber 43 according to the second pressure detection sensor 13, compares the pressure with the preset pressure of the rodless chamber 43, and performs negative feedback control according to the comparison result, so that the pressure of the rodless chamber 43 reaches the required level;

[0090] S14: Closed-loop control of the rotation speed of the scraper 1 is performed as follows: the controller 19 obtains the rotation speed of the scraper 1 through the encoder 17, compares the rotation speed with the preset rotation speed of the scraper 1, and performs negative feedback control based on the comparison result to ensure that the rotation speed of the scraper 1 meets the requirements;

[0091] S15: Closed-loop control is performed on the currents of the first proportional valve 14 and the second proportional valve 15; specifically, the controller 19 adjusts the current of the first proportional valve 14 by negative feedback based on the difference between the actual current of the first proportional valve 14 and the preset current, and the controller 19 adjusts the current of the second proportional valve 15 by negative feedback based on the difference between the actual current of the second proportional valve 15 and the preset current;

[0092] S16: driving the first proportional valve 14 and the second proportional valve 15 to operate;

[0093] After the torque control of scraper 1 is completed, the desired angle of scraper 1 is set to the current position;

[0094] If scraper 1 exceeds the limit, the following steps are performed:

[0095] S20: First, the expected angle of the scraper 1 is judged. If the expected angle of the scraper 1 is less than the lower limit, the expected angle of the scraper 1 is set to the lower limit. If the expected angle of the scraper 1 is greater than the upper limit, the expected angle of the scraper 1 is set to the upper limit. If the expected angle of the scraper 1 is between the upper limit and the lower limit, no processing is performed on the expected angle of the scraper.

[0096] S21: Control the angle of the scraper 1. The process is as follows:

[0097] S210: Constant pressure control is performed on the rod chamber 42; the constant pressure control of the rod chamber 42 in this step refers to step S10;

[0098] S211: Determine whether the current period is the angle control period, if yes, execute step S212, otherwise execute step S213;

[0099] S212: Closed-loop control of the scraper 1 angle;

[0100] S213: Closed-loop control of the rotation speed of the scraper 1; refer to step S14 for the closed-loop control of the rotation speed of the scraper 1

[0101] S214: performing closed-loop control on the current of the first proportional valve 14 and the second proportional valve 15; the closed-loop control of the first proportional valve 14 and the second proportional valve 15 refers to step S15;

[0102] S215: driving the first proportional valve and the second proportional valve to operate;

[0103] If the sweeper is operating in manual mode, then execute steps S20 and S21;

[0104] If the sweeper is operating in the stop mode, the desired angle of the scraper 1 is set as the initial position, and then steps S20 and S21 are performed.

[0105] The above description is for inspiration. Based on the above description, relevant personnel can make various changes and modifications without departing from the technical concept of this invention. The technical scope of this invention is not limited to the content of the specification, but must be determined according to the scope of the claims.

Claims

1. A conveyor belt constant pressure cleaning system with an intelligent controller, characterized in that: It includes a scraper, a rotating shaft, a mounting seat, a cantilever, a double-chamber hydraulic cylinder and an oil pressure drive device. The double-chamber hydraulic cylinder includes a rod chamber and a rodless chamber. The rod chamber is provided with a telescopic rod. The scraper is mounted on the rotating shaft, and both ends of the rotating shaft are rotatably mounted on two mounting seats. The telescopic rod is hinged to one end of the cantilever, and the other end of the cantilever is connected to one end of the rotating shaft. The oil pressure drive device is connected to the double-chamber hydraulic cylinder for providing a constant oil pressure to the rod chamber and an adjustable oil pressure to the rodless chamber. The oil pressure drive device includes an oil tank, a motor, an accumulator, a first proportional valve, a second proportional valve, a first pressure detection sensor, a second pressure detection sensor, a third pressure sensor and an encoder; The controller is connected to the motor to control the rotation of the motor; when the motor rotates, the oil in the oil tank is pumped to the accumulator, the inlet of the first proportional valve and the inlet of the second proportional valve through the oil outlet pipe, the oil outlet of the accumulator is connected to the inlet of the first proportional valve and the inlet of the second proportional valve respectively, the outlet of the first proportional valve is connected to the rod chamber through a first connecting pipe, and the outlet of the second proportional valve is connected to the rodless chamber through a second connecting pipe; The controller is connected to the first proportional valve and the second proportional valve, and is used to control the opening ratio of the first proportional valve and the second proportional valve; The first pressure detection sensor is used to detect the oil pressure at the outlet of the first proportional valve and send a first detection signal to the controller; the second pressure detection sensor is used to detect the oil pressure at the outlet of the second proportional valve and send a second detection signal to the controller; the third pressure detection sensor is used to detect the oil pressure in the accumulator and send a third detection signal to the controller; The encoder is mounted on the rotating shaft and rotates along with the rotating shaft. The encoder is electrically connected to the controller.

2. A conveyor belt constant pressure cleaning system with an intelligent controller according to claim 1, characterized in that: The controller calculates the rotation angle of the scraper based on the output signal of the encoder, and adjusts the opening ratio of the first proportional valve and the second proportional valve based on the rotation angle of the scraper and the torque applied by the scraper to the conveyor belt, so that the torque applied by the scraper to the conveyor belt is constant.

3. A conveyor belt constant pressure cleaning system with an intelligent controller according to claim 1 or 2, characterized in that: The controller is also electrically connected to a touch display unit; the touch display unit is used to set scraper parameters, display information and display alarms; the scraper parameters include the torque applied by the scraper to the conveyor belt; the information display includes displaying the oil pressure at the outlet of the first proportional valve, displaying the oil pressure at the outlet of the second proportional valve, displaying the oil pressure in the accumulator, displaying the current working mode, the scraper usage time, the scraper status, displaying the shaft set torque and displaying the shaft current torque; the alarm display includes a shaft torque mutation alarm display, a scraper replacement alarm display and a sweeper abnormal operation display.

4. A conveyor belt constant pressure cleaning system with an intelligent controller according to claim 3, characterized in that: It also includes a host computer, and the controller is communicatively connected to the host computer and is used to send terminal data to the host computer and receive remote data sent by the host computer, wherein the remote data includes control instructions.

5. A conveyor belt constant pressure cleaning system with an intelligent controller according to claim 4, characterized in that: The host computer includes a data management layer, a function support layer and a business display layer; The data management layer includes a storage unit for storing data and a query unit for data query; The functional support layer includes a 3D rendering module, a data acquisition module, an alarm management module, and a report / printing module; the 3D rendering module is used to generate a 3D model of the sweeper, and provides positioning, scaling, rotation, and selection operations for the 3D model of the sweeper, and drives the execution of actions of the 3D model of the sweeper based on data changes; the data acquisition module obtains the driving torque information, shaft rotation angle information, alarm information, and alarm confirmation information reported by the sweeper based on the MQTT protocol; the alarm management module is used to query the alarm records of the sweeper; The business display layer includes a 3D display interface, a working window, an alarm window, a report window and a manual viewing window. The 3D display interface is used to display the 3D model of the sweeper, the working window is used to display the working status of the sweeper, the alarm window is used to display the alarm record of the sweeper, the report window is used to display the report, and the manual viewing window is used to view the manual.

6. A conveyor belt constant pressure cleaning system with an intelligent controller according to claim 4, characterized in that: The controller regularly collects pressure information through the first pressure detection sensor, the second pressure detection sensor, and the third pressure detection sensor, and performs torque calculation, and collects the scraper angle and the solenoid valve current of the first proportional valve and the second proportional valve through the encoder; The controller immediately sends an alarm message to the upper computer when an alarm occurs in the sweeper, and periodically sends torque information, pressure information and scraper angle information to the upper computer.

7. A conveyor belt constant pressure cleaning system with an intelligent controller according to claim 4, characterized in that: The controller determines the type of the control instruction after receiving the control instruction; If the control instruction is a mode setting control instruction, the controller sets the sweeper to enter the automatic mode, the stop mode or the manual mode based on the control instruction, and the sweeper can manually adjust the pressure applied by the scraper to the conveyor belt after entering the manual mode; If the control instruction is an alarm confirmation instruction, the controller performs alarm status confirmation; If the control instruction is a parameter setting instruction, the controller first determines whether the parameter setting instruction is an alarm parameter setting instruction. If it is, the controller updates the alarm setting parameters. If not, the controller updates the basic parameters when the parameter setting instruction is a basic parameter setting instruction, updates the system parameters when the parameter setting instruction is a system parameter setting instruction, and updates the torque parameters when the parameter setting instruction is a torque parameter setting instruction.

8. A conveyor belt constant pressure cleaning system with an intelligent controller according to claim 4, characterized in that: The controller first determines the current working mode state of the sweeper when controlling the scraper; If the sweeper is working in automatic mode, the controller determines whether the scraper exceeds the limit based on the output signal of the encoder. If the scraper does not exceed the limit, the controller controls the scraper torque. The scraper torque control process is as follows: S10: First, perform constant pressure control on the rod cavity to keep the pressure of the rod cavity constant; S11: setting the desired torque of the scraper to the desired pressure of the rod chamber; S12: Determine whether it is in the pressure control cycle of the rodless chamber, if yes, proceed to step S13, otherwise proceed to step S14; S13: Closed-loop control of the pressure in the rodless cavity; S14: performing closed-loop control on the rotation speed of the scraper; S15: performing closed-loop control on the currents of the first proportional valve and the second proportional valve; S16: driving the first proportional valve and the second proportional valve to operate; After the scraper torque control is completed, the scraper desired angle is set to the current position; If the scraper exceeds the limit, do the following: S20: First, the expected angle of the scraper is judged. If the expected angle of the scraper is less than the lower limit, the expected angle of the scraper is set to the lower limit. If the expected angle of the scraper is greater than the upper limit, the expected angle of the scraper is set to the upper limit. If the expected angle of the scraper is between the upper limit and the lower limit, no processing is performed on the expected angle of the scraper. S21: Control the angle of the scraper. The process is as follows: S210: Constant pressure control of the rod cavity; S211: Determine whether the current angle control cycle, if it is in step S212, otherwise execute step S213; S212: Closed-loop control of the scraper angle; S213: performing closed-loop control on the rotation speed of the scraper; S214: Performing closed-loop control on the currents of the first proportional valve and the second proportional valve; S215: driving the first proportional valve and the second proportional valve to operate; If the sweeper is operating in manual mode, then execute steps S20 and S21; If the sweeper is operating in the stop mode, the desired angle of the scraper is set as the initial position, and then steps S20 and S21 are performed.

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