Method and device for controlling a belt conveyor and belt conveyor

Abstract

The application provides a control method and device of a belt conveyor and the belt conveyor. The method comprises: acquiring a current motor torque, a return tension and a current sag; determining a current tension; comparing the current tension with a value of the return tension and a value of the current sag respectively to obtain a comparison result; and adjusting a speed of a motor of a tensioning part at a current time according to the comparison result, so as to adjust the value of the tensioning force of the tensioning part at the current time to a preset tensioning force value or adjust the value of the sag of the belt conveyor at the current time to a preset tensioning force value. Thus, the phenomenon of over-tensioning of the belt conveyor or slipping of a belt surface is prevented, and the problem that the existing scheme cannot control the tensioning force of the tensioning part of the belt conveyor in real time and thus causes the phenomenon of over-tensioning of the belt conveyor or slipping of the belt surface is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of belt conveyors, in particular to a control method and device of a belt conveyor, a computer readable storage medium and a belt conveyor. BACKGROUND

[0002] The belt surface of the belt conveyor for coal mines is a rubber material, so the belt conveyor is a flexible body. The starting, running and stopping of the belt conveyor will affect the fluctuation of the belt surface, which will cause the change of the tension of the belt conveyor. The tensioning device is responsible for adjusting the system tension to ensure the normal operation of the belt conveyor. There are basically two control methods for the tensioning device. One is to set the parameters and adjust the cylinder to control the tension of the belt conveyor tensioning part by using the energy storage tank. The other is to compare the data returned by the tensioning device tension sensor with the given tensioning part tension parameter calculated by human, and adjust the tension of the belt conveyor tensioning part by using the tensioning device tension motor. If the tension of the belt conveyor is not controlled well, it may cause the belt surface to slip or reduce the service life of the belt surface.

[0003] The existing scheme is to preset the tension parameter by human, so that the belt conveyor can adjust the tension in real time within a fixed tension range. However, it cannot determine the accurate tension value of the belt conveyor in operation, cannot effectively control the tension of the belt conveyor tensioning part in real time, and may also cause the belt conveyor to be over-tensioned or the belt surface to slip. SUMMARY

[0004] The main purpose of the present application is to provide a control method and device of a belt conveyor, a computer readable storage medium and a belt conveyor, so as to at least solve the problem that the existing scheme cannot control the tension of the belt conveyor tensioning part in real time, which causes the belt conveyor to be over-tensioned or the belt surface to slip.

[0005] To achieve the above object, according to one aspect of the present application, a control method of a belt conveyor is provided, which is applied to a controller of a belt conveyor, the belt conveyor further comprising a tensioning part and a driving part, the tensioning part and the driving part being connected through a belt, the tensioning part and the driving part being in communication with the controller respectively, the method comprising: obtaining a current motor torque, a return tensioning force and a current sag, the current motor torque being a motor torque of the driving part at a current time, the return tensioning force being a tensioning force of the tensioning part collected by a tensioning force sensor at the current time, the current sag being a sag of the belt conveyor at the current time; determining a current tensioning force, the current tensioning force being used to represent a tensioning force of the tensioning part at the current time, the current tensioning force being a value obtained by calculation using the current motor torque; comparing at least the current tensioning force with a value of the return tensioning force and a value of the current sag respectively to obtain a comparison result, and adjusting a rotating speed of a motor of the tensioning part at the current time according to the comparison result, so as to adjust the value of the tensioning force of the tensioning part at the current time to a value of a preset tensioning force, or adjust the value of the sag of the belt conveyor at the current time to the value of the preset tensioning force.

[0006] Optionally, the current tensioning force is determined according to The current tensioning force is determined, wherein is an Euler coefficient, r 卷 is a drum radius of the tensioning part, i is a speed ratio of a reducer of the driving part of the belt conveyor, the speed ratio of the reducer of the driving part of the belt conveyor being a preset value, T 电 is the current motor torque, F 张 is the current tensioning force.

[0007] Optionally, the comparing at least the current tensioning force with the value of the return tensioning force and the value of the current sag respectively to obtain the comparison result, and adjusting the rotating speed of the motor of the tensioning part at the current time according to the comparison result, so as to adjust the value of the tensioning force of the tensioning part at the current time to the value of the preset tensioning force, or adjust the value of the sag of the belt conveyor at the current time to the value of the preset tensioning force, comprises: obtaining a tensioning force product value, the tensioning force product value being a value of a product of the current tensioning force and a preset coefficient; comparing at least the tensioning force product value with the value of the return tensioning force and the value of the current sag respectively to obtain the comparison result, and adjusting the rotating speed of the motor of the tensioning part at the current time according to the comparison result, so as to adjust the value of the tensioning force of the tensioning part at the current time to the value of the preset tensioning force, or adjust the value of the sag of the belt conveyor at the current time to the value of the preset tensioning force.

[0008] Optionally, the method further comprises: in a case that the set value of the starting time of the belt conveyor is less than a starting time threshold value, increasing the set value of the starting time of the belt conveyor.

[0009] Optionally, the method further comprises: in a case that the set value of the starting time of the belt conveyor is less than a starting time threshold value, increasing the set value of the starting time of the belt conveyor.

[0010] Optionally, the method further comprises: in a case that the starting time of the belt conveyor at the current time is greater than or equal to a starting time maximum value, increasing the speed of the motor of the tensioning part at the current time; in a case that the current tensioning force is greater than a tensioning force minimum threshold value, decreasing the speed of the motor of the tensioning part at the current time.

[0011] Optionally, the method further comprises: in a case that the starting time of the belt conveyor at the current time is equal to the starting time maximum value, and the speed of the motor of the tensioning part at the current time is equal to the speed limit value, decreasing the speed of the motor of the tensioning part at the current time.

[0012] According to another aspect of the present application, a control device of a belt conveyor is provided, which comprises:

[0013] The acquisition unit is configured to acquire a current motor torque, a return tensioning force and a current sag, the current motor torque being a motor torque of the driving part at a current time, the return tensioning force being a tensioning force of the tensioning part collected by the tensioning force sensor at the current time, and the current sag being a sag of the belt conveyor at the current time.

[0014] determining unit configured to determine a current tension force, the current tension force being used to represent a tension force of the tension part at a current time, the current tension force being a value calculated by using the current motor torque;

[0015] a first control unit configured to compare the current tension force with a value of the backhaul tension force and a value of the current sag, respectively, to obtain a comparison result, and to adjust a rotation speed of a motor of the tension part at the current time according to the comparison result, so as to adjust the value of the tension force of the tension part at the current time to a value of a preset tension force, or to adjust the value of the sag of the belt conveyor at the current time to the value of the preset tension force.

[0016] According to another aspect of the present application, a computer readable storage medium is provided, which comprises a stored program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute any one of the control methods of the belt conveyor when the program is executed.

[0017] According to another aspect of the present application, a belt conveyor is provided, which comprises a controller, a tension part and a driving part, the tension part and the driving part being connected by a belt, the tension part and the driving part being in communication with the controller, respectively, and the controller being configured to execute any one of the control methods of the belt conveyor.

[0018] By comparing the calculated tension force of the tension part with the sag of the system and the tension force backhauled by the sensor, respectively, and adjusting the rotation speed, the value of the tension force of the tension part at the current time is adjusted to the value of the preset tension force or the sag is adjusted to the value of the preset tension force, so as to prevent the belt conveyor from being over-tensioned or the belt surface from being skidded, thereby solving the problem that the tension force of the tension part of the belt conveyor cannot be controlled in real time in the prior art, and the belt conveyor is over-tensioned or the belt surface is skidded. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which form a part of the present application, are used to provide further understanding of the present application, and the illustrative embodiments of the present application and their description serve the purpose of explaining the present application. The accompanying drawings should not be used to limit the present application unduly.

[0020] Figure 1 Fig. 1 shows a flowchart of a control method of a belt conveyor according to an embodiment of the present application;

[0021] Figure 2 Fig. 2 shows a flowchart of another control method of a belt conveyor;

[0022] Figure 3A structural block diagram of a control device of a belt conveyor is shown according to an embodiment of the present application.

[0023] Figure 4 A schematic diagram of a belt conveyor is shown according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] As introduced in the background, the existing scheme is to preset the tension parameter by human, so that the belt conveyor can make real-time tension adjustment within a fixed tension range. The existing scheme cannot determine the accurate tension value of the belt conveyor, cannot effectively control the tension of the belt conveyor, and can also cause the belt conveyor to be over-tensioned or the belt surface to slip. In order to solve the problem that the existing scheme cannot control the tension of the belt conveyor in real time, thereby causing the belt conveyor to be over-tensioned or the belt surface to slip, the embodiments of the present application provide a control method, device, computer readable storage medium and belt conveyor for a belt conveyor.

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application.

[0029] The embodiment of the present application provides a control method of a belt conveyor, which is applied to a controller of the belt conveyor, the belt conveyor further comprises a tensioning part and a driving part, the tensioning part and the driving part are connected through a belt, the tensioning part and the driving part are in communication with the controller respectively, it is to be noted that the steps shown in the flowchart of the drawing can be executed in a computer system such as a group of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from here.

[0030] Figure 1 Figure 1 is a flowchart of a control method of a belt conveyor according to an embodiment of the present application. As shown in the figure, the method comprises the following steps: Figure 1

[0031] Step S101, acquiring a current motor torque, a return tension and a current sag, the current motor torque is a motor torque of the driving part at a current time, the return tension is a tension of the tensioning part collected by a tensioning force sensor at the current time, and the current sag is a sag of the belt conveyor at the current time.

[0032] Among them, the motor torque of the tensioning part at the current time, the tension of the tensioning part collected by the adjusting tensioning force sensor at the current time, and the sag of the belt conveyor at the current time are collected, so as to ensure the stable operation of the system.

[0033] Step S102, determining a current tension, the current tension is used to represent the tension of the tensioning part at the current time, and the current tension is a value obtained by calculation using the current motor torque.

[0034] In an embodiment of the present application, the current tension is determined, comprising:

[0035] According to the current motor torque, the current tension is determined.

[0036] Among them, the current tension is determined according to the current motor torque, the tension of the tensioning part collected by the adjusting tensioning force sensor at the current time, and the sag of the belt conveyor at the current time. E is Euler's coefficient, r 卷 is the radius of the reel of the tensioning part, i is the speed ratio of the reducer of the driving part of the belt conveyor, the speed ratio of the reducer of the driving part of the belt conveyor is a preset value, T 电 is the current motor torque, F 张 is the current tension.

[0037] Specifically, the current tension F is determined according to the current motor torque, the tension of the tensioning part collected by the adjusting tensioning force sensor at the current time, and the sag of the belt conveyor at the current time. 张 The speed ratio of the reducer of the driving part of the belt conveyor can be 1.

[0038] ​​T 电 The real-time torque of the driving motor is calculated, and the torque includes real-time parameters such as the length of the belt conveyor, the real-time traffic volume, the belt speed, and the running resistance of the belt conveyor. The value calculated by this method is the real-time and accurate tension of the belt conveyor during operation, which can better control the operation of the belt conveyor, reduce the friction and slipping of the belt surface, and prolong the service life of the belt surface.

[0039] In step S103, the current tension is compared with the value of the feedback tension and the value of the current sag, and a comparison result is obtained. According to the comparison result, the speed of the motor of the tensioning part at the current time is adjusted to adjust the value of the tension of the tensioning part at the current time to the value of the preset tension or adjust the value of the sag of the belt conveyor at the current time to the value of the preset tension.

[0040] In the above embodiment, the calculated tension of the tensioning part is compared with the sag of the system and the tension feedback by the sensor to adjust the speed to adjust the value of the tension of the tensioning part at the current time to the value of the preset tension or adjust the sag to the value of the preset tension, thereby preventing the belt conveyor from being over-tensioned or the belt surface from slipping, and solving the problem that the existing scheme cannot control the tension of the tensioning part of the belt conveyor in real time, thereby causing the belt conveyor to be over-tensioned or the belt surface to slip.

[0041] In step S103, the current tension is compared with the value of the feedback tension and the value of the current sag, and a comparison result is obtained. According to the comparison result, the speed of the motor of the tensioning part at the current time is adjusted to adjust the value of the tension of the tensioning part at the current time to the value of the preset tension or adjust the value of the sag of the belt conveyor at the current time to the value of the preset tension.

[0042] The tension product value is obtained, and the tension product value is the product of the current tension and a preset coefficient. The preset coefficient is loaded according to a fixed value or human experience in the tension control program, and the rationality of the preset coefficient is determined according to the running state of the belt conveyor.

[0043] The tension product value is compared with the value of the feedback tension and the value of the current sag, and a comparison result is obtained. According to the comparison result, the speed of the motor of the tensioning part at the current time is adjusted to adjust the value of the tension of the tensioning part at the current time to the value of the preset tension or adjust the value of the sag of the belt conveyor at the current time to the value of the preset tension.

[0044] Specifically, in the case that the tension belt or the loose belt (the tension belt is that the minimum tension of the belt conveyor is greater than the tension of the tensioning part at the current time, and the motor of the tensioning part needs to be rotated in the positive direction to realize the function of the tension belt of the belt surface; the loose belt is that the minimum tension of the belt conveyor is less than the tension of the tensioning part at the current time, and the motor of the tensioning part needs to be rotated in the reverse direction to realize the function of the loose belt of the belt surface) of the tensioning part, the tension force product value is greater than the value of the return tension and the value of the current sag at the same time, it is determined that the speed of the motor of the tensioning part at the current time needs to be adjusted to adjust the value of the tension of the tensioning part at the current time to the value of the preset tension, or the value of the sag of the belt conveyor at the current time to the value of the preset tension, and in the case that the tension force product value is not greater than the value of the return tension and the value of the current sag at the same time, the speed does not need to be adjusted.

[0045] In step S103, at least the tension force product value is compared with the value of the return tension and the value of the current sag respectively to obtain the comparison result, and according to the comparison result, the speed of the motor of the tensioning part at the current time is adjusted to adjust the value of the tension of the tensioning part at the current time to the value of the preset tension, or the value of the sag of the belt conveyor at the current time to the value of the preset tension, including:

[0046] In the case that the comparison result is that the tension force product value is less than the value of the return tension, and the tension force product value is less than the value of the current sag, and the value of the return tension is greater than the value of the current sag, the speed of the motor of the tensioning part at the current time is adjusted to adjust the value of the tension of the tensioning part at the current time to the value of the preset tension, which corresponds to the case that the tension is not enough;

[0047] In the case that the comparison result is that the tension force product value is less than the value of the return tension, and the tension force product value is less than the value of the current sag, and the value of the return tension is less than the value of the current sag, the speed of the motor of the tensioning part at the current time is adjusted to adjust the value of the sag of the belt conveyor at the current time to the value of the preset tension. The sag is one of the two necessary conditions of the belt conveyor, so the sag must be met to ensure the normal operation of the belt conveyor.

[0048] Specifically, in the case that the tension force product value is greater than both the value of the return tension force and the value of the current sag, it is determined that the speed of the motor of the tensioning portion at the current time needs to be adjusted to adjust the value of the tension force of the tensioning portion at the current time to the value of the preset tension force, or to adjust the value of the sag of the belt conveyor at the current time to the value of the preset tension force. In the case that the tension force product value is not greater than both the value of the return tension force and the value of the current sag, the speed does not need to be adjusted.

[0049] In an embodiment of the present application, the method further comprises: in the case that the set value of the start-up time of the belt conveyor is less than the start-up time threshold value, increasing the set value of the start-up time of the belt conveyor.

[0050] First, it needs to be considered whether the start-up time of the belt conveyor is set too short (the maximum setting of the system start-up time is 180S). If so, the start-up time needs to be adjusted to ensure that the tensioning portion has sufficient time to gradually increase the tension force to the set reference value. If the start-up time and the tensioning speed have reached the limit, we need to interfere with the driving motor of the driving portion. The driving motor frequency can be adjusted by the driving frequency converter control to reduce the speed of the driving motor of the driving portion, and wait for the speed of the tensioning motor of the tensioning portion to gradually catch up with the speed of the driving motor to reach the system balance. When the tension force reaches the set value, the motor of the driving portion is accelerated again.

[0051] In an embodiment of the present application, the method further comprises: in the case that the start-up time of the belt conveyor at the current time is greater than or equal to the maximum start-up time, increasing the speed of the motor of the tensioning portion at the current time; in the case that the current tension force is greater than the minimum tension force threshold value, reducing the speed of the motor of the tensioning portion at the current time.

[0052] If the start-up time of the belt conveyor has reached the maximum time of 180S, the tensioning motor of the tensioning portion should operate at the limit speed. However, in order to protect the tensioning portion, the speed should be set to 70%-90% of the full speed (the speed can be set as a constant value or a proportion in the tensioning control program) for speed adjustment, which can ensure that the tension force of the tensioning portion quickly reaches the set value.

[0053] In an embodiment of the present application, the method further comprises: in the case that the start-up time of the belt conveyor at the current time is equal to the maximum start-up time, and the speed of the motor of the tensioning portion at the current time is equal to the limit speed, reducing the speed of the motor of the tensioning portion at the current time.

[0054] If the tension adjustment of the tensioning part causes the belt surface to be over-tensioned (over-tensioned refers to the tensioning force of the tensioning part being greater than the minimum tension of the belt conveyor system), the tensioning part needs to be operated to loosen the belt, and the operation should be performed at a speed of 15% to 25% of the tensioning motor, so as to avoid excessive loosening of the belt surface and ensure the stability of the system;

[0055] When the belt conveyor receives a stop signal, the driving motor will immediately stop running, which will cause the high-tension area to quickly transform into a low-tension area, causing the tensioning force of the tensioning part to sharply rise. In order to achieve tension balance, the tensioning part must be immediately started to loosen the belt. The loosening operation must be performed at a speed of 70% to 90% to avoid excessive loosening, and if the belt surface is too loose, a suitable amount of belt tightening adjustment should be performed at a speed of 15% to 25%.

[0056] By reading the driving motor torque in real time, the minimum tension of the belt conveyor can be accurately calculated, thereby reducing the problems of belt surface damage, sagging, deviation, etc. caused by improper tensioning, and improving the service life and stability of the belt conveyor.

[0057] Based on the tension reference value (i.e. the value of the preset tensioning force), the belt conveyor can be controlled to always be in the best operating state, reducing energy consumption and maintenance costs, and prolonging the service life of the equipment.

[0058] The abnormal state of the belt conveyor can be found in time and adjusted accordingly, improving the safety and production efficiency of the production line.

[0059] In order to enable those skilled in the art to more clearly understand the technical solutions of the present application, the implementation process of the control method of the belt conveyor of the present application will be described in detail below in conjunction with specific embodiments.

[0060] The present embodiment relates to a specific control method of a belt conveyor, which is applied to a controller of a belt conveyor, and the belt conveyor further comprises a tensioning part and a driving part, the tensioning part and the driving part are connected by a belt, and the tensioning part and the driving part communicate with the controller, as shown in Figure 2 The method comprises the following steps:

[0061] Step S1: in the case where the set value of the start-up time of the belt conveyor is less than the start-up time threshold value, increasing the set value of the start-up time of the belt conveyor; in the case where the start-up time of the belt conveyor at the current moment is greater than or equal to the maximum start-up time, increasing the speed of the motor of the tensioning part at the current moment; in the case where the current tensioning force is greater than the minimum tensioning force threshold value, reducing the speed of the motor of the tensioning part at the current moment;

[0062] Step S2: in the case that the start time of the belt conveyor at the current time is equal to the maximum start time, and the rotation speed of the motor of the tensioning part at the current time is equal to the rotation speed limit value, the rotation speed of the motor of the tensioning part at the current time is reduced;

[0063] Step S3: the current motor torque, the return tensioning force and the current sag are obtained, the current motor torque is the motor torque of the driving part at the current time, the return tensioning force is the tensioning force of the tensioning part collected by the tensioning force sensor at the current time, and the current sag is the sag of the belt conveyor at the current time;

[0064] Step S4: the current tensioning force is determined, the current tensioning force is used to represent the tensioning force of the tensioning part at the current time, and the current tensioning force is a value obtained by calculation using the current motor torque;

[0065] According to the current tensioning force is determined,

[0066] wherein, is the Euler coefficient, r 卷 is the drum radius of the tensioning part, i is the speed ratio of the reducer of the driving part of the belt conveyor, the speed ratio of the reducer of the driving part of the belt conveyor is a preset value, T 电 is the current motor torque, F 张 is the current tensioning force.

[0067] Step S5: the tensioning force product value is obtained, the tensioning force product value is a value obtained by multiplying the current tensioning force by a preset coefficient; at least the tensioning force product value is compared with the value of the return tensioning force and the value of the current sag respectively, and the comparison result is obtained;

[0068] Step S6: in the case that the comparison result is that the tensioning force product value is less than the value of the return tensioning force, the tensioning force product value is less than the value of the current sag, and the value of the return tensioning force is greater than the value of the current sag, the rotation speed of the motor of the tensioning part at the current time is adjusted to adjust the value of the tensioning force of the tensioning part at the current time to the value of the preset tensioning force;

[0069] In the case that the comparison result is that the tensioning force product value is less than the value of the return tensioning force, the tensioning force product value is less than the value of the current sag, and the value of the return tensioning force is less than the value of the current sag, the rotation speed of the motor of the tensioning part at the current time is adjusted to adjust the sag of the belt conveyor at the current time to the value of the preset tensioning force.

[0070] It is noted that the steps shown in the flowcharts of the drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0071] The embodiment of the present application also provides a control device of a belt conveyor. It is to be noted that the control device of the belt conveyor of the embodiment of the present application can be used to execute the control method for the belt conveyor provided by the embodiment of the present application. The device is used to realize the above-mentioned embodiment and preferred embodiment, and the description has been made and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiment is preferably realized in software, the realization of hardware, or the combination of software and hardware is also possible and conceived.

[0072] The control device of the belt conveyor provided by the embodiment of the present application is introduced below.

[0073] Figure 3 is a structural block diagram of a control device of a belt conveyor according to the embodiment of the present application. As shown in Figure 3 , the device comprises:

[0074] The acquisition unit 31 is configured to acquire a current motor torque, a return tension and a current sag, the current motor torque being a motor torque of the driving part at a current time, the return tension being a tension of the tensioning part collected by the tension sensor at the current time, and the current sag being a sag of the belt conveyor at the current time.

[0075] The determination unit 32 is configured to determine a current tension, the current tension being used to represent a tension of the tensioning part at the current time, and the current tension being a value obtained by calculation using the current motor torque.

[0076] The first control unit 33 is configured to compare the current tension with a value of the return tension and a value of the current sag respectively, to obtain a comparison result, and to adjust a rotating speed of the motor of the tensioning part at the current time according to the comparison result, so as to adjust the value of the tension of the tensioning part at the current time to a value of a preset tension, or to adjust the sag of the belt conveyor at the current time to the value of the preset tension.

[0077] The device compares the calculated tension force of the tension part with the sag of the system and the tension force returned by the sensor respectively, adjusts the rotating speed to adjust the value of the tension force of the tension part at the current time to the value of the preset tension force or adjust the sag to the value of the preset tension force, thereby preventing the belt conveyor from being over-tensioned or the belt surface from being skidded, and solving the problem that the existing scheme cannot control the tension force of the tension part of the belt conveyor in real time, thereby causing the belt conveyor to be over-tensioned or the belt surface to be skidded.

[0078] In an embodiment of the present application, the determining unit comprises a determining module,

[0079] The determining module is configured to determine the current tension force according to The current tension force is determined,

[0080] wherein, is the Euler coefficient, r 卷 is the radius of the reel of the tension part, i is the speed ratio of the reducer of the driving part of the belt conveyor, the speed ratio of the reducer of the driving part of the belt conveyor is a preset value, T 电 is the current motor torque, F 张 is the current tension force.

[0081] In an embodiment of the present application, the first control unit comprises an obtaining module and a first processing module, the obtaining module is configured to obtain a tension force product value, the tension force product value is the product value of the current tension force and a preset coefficient; the first processing module is configured to compare the tension force product value with the value of the returned tension force and the value of the current sag respectively to obtain the comparison result, and adjust the rotating speed of the motor of the tension part at the current time according to the comparison result to adjust the value of the tension force of the tension part at the current time to the value of the preset tension force or adjust the value of the sag of the belt conveyor at the current time to the value of the preset tension force.

[0082] In an embodiment of the present application, the first control unit comprises a second processing module and a third processing module. The second processing module is configured to, in the case that the comparison result is that the tension force product value is less than the return tension force value, the tension force product value is less than the current sag value, and the return tension force value is greater than the current sag value, adjust the rotational speed of the motor of the tensioning part at the current time to adjust the tension force value of the tensioning part at the current time to the preset tension force value. The third processing module is configured to, in the case that the comparison result is that the tension force product value is less than the return tension force value, the tension force product value is less than the current sag value, and the return tension force value is less than the current sag value, adjust the rotational speed of the motor of the tensioning part at the current time to adjust the sag value of the belt conveyor at the current time to the preset tension force value.

[0083] In an embodiment of the present application, the device further comprises a second control unit configured to, in the case that the set value of the start-up time of the belt conveyor is less than the start-up time threshold value, increase the set value of the start-up time of the belt conveyor.

[0084] In an embodiment of the present application, the device further comprises a third control unit and a fourth control unit. The third control unit is configured to, in the case that the start-up time of the belt conveyor at the current time is greater than or equal to the start-up time maximum value, increase the rotational speed of the motor of the tensioning part at the current time. The fourth control unit is configured to, in the case that the current tension force is greater than the tension force minimum threshold value, decrease the rotational speed of the motor of the tensioning part at the current time.

[0085] In an embodiment of the present application, the device further comprises a fifth control unit configured to, in the case that the start-up time of the belt conveyor at the current time is equal to the start-up time maximum value, and the rotational speed of the motor of the tensioning part at the current time is equal to the rotational speed limit value, decrease the rotational speed of the motor of the tensioning part at the current time.

[0086] The control device of the belt conveyor comprises a processor and a memory. The acquisition unit, the determination unit, the first control unit, and the like are stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory. The modules are located in the same processor, or the modules are located in different processors in any combination.

[0087] The processor comprises a core, and the core retrieves the corresponding program unit from the memory. The core can be set to one or more, and the problem that the existing scheme cannot control the tension force of the tensioning part of the belt conveyor in real time, thereby causing the belt conveyor to be over-tensioned or the belt surface to slip, can be solved by adjusting the core parameters.

[0088] The memory can include non-persistent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory, such as read only memory (ROM) or flash memory, including at least one memory chip.

[0089] The embodiment of the present application provides a computer readable storage medium, the computer readable storage medium comprises a stored program, wherein the program controls a device where the computer readable storage medium is located to execute the control method of the belt conveyor when the program is running.

[0090] The embodiment of the present application provides a processor, the processor is used for running a program, wherein the program executes the control method of the belt conveyor when the program is running.

[0091] The embodiment of the present application provides a device, the device comprises a processor, a memory and a program stored in the memory and capable of running on the processor, and the processor executes the program to realize at least the following steps: acquiring a current motor torque, a return tension and a current sag, the current motor torque is a motor torque of the driving part at a current time, the return tension is a tension of the tensioning part collected by a tension sensor at the current time, and the current sag is a sag of the belt conveyor at the current time; determining a current tension, the current tension is used for representing a tension of the tensioning part at the current time, and the current tension is a value obtained by calculation by using the current motor torque; comparing at least the current tension with a value of the return tension and a value of the current sag respectively to obtain a comparison result, and adjusting a rotating speed of a motor of the tensioning part at the current time according to the comparison result, so as to adjust the value of the tension of the tensioning part at the current time to a value of a preset tension, or adjust the sag of the belt conveyor at the current time to the value of the preset tension. The device in the present application can be a server, a PC, a PAD, a mobile phone and the like.

[0092] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: acquiring the current motor torque, the return tension force, and the current sag, wherein the current motor torque is the motor torque of the drive unit at the current moment, the return tension force is the tension force of the tensioning unit collected by a tension force sensor at the current moment, and the current sag is the sag of the belt conveyor at the current moment; determining the current tension force, wherein the current tension force is used to characterize the tension force of the tensioning unit at the current moment, and the current tension force is a value calculated using the current motor torque; comparing the current tension force with at least the value of the return tension force and the value of the current sag, respectively, to obtain a comparison result; and adjusting the rotational speed of the motor of the tensioning unit at the current moment according to the comparison result, so as to adjust the value of the tension force of the tensioning unit at the current moment to a preset tension force value, or to adjust the value of the sag of the belt conveyor at the current moment to the preset tension force value.

[0093] This application also provides a belt conveyor, such as Figure 4 As shown (the belt conveyor also includes a head section, a tail section, and a belt storage bin; the head and tail sections are used to convey the belt, and the belt storage bin is used to store the belt, but these three structures are not improvements in this application and will not be described in detail), the belt conveyor includes a controller, a tensioning section, and a drive section. The tensioning section and the drive section are connected by a belt, and the tensioning section and the drive section communicate with the controller. The controller is used to execute any of the control methods for the belt conveyor described above. By comparing the calculated tension of the tensioning section with the sag of the system and the tension returned by the sensor, the rotational speed is adjusted to adjust the tension of the tensioning section at the current moment to a preset tension value or to adjust the sag to a preset tension value, thereby preventing the belt conveyor from being over-tensioned or slipping on the belt surface. This solves the problem that existing solutions cannot control the tension of the tensioning section of the belt conveyor in real time, leading to over-tensioning or slipping on the belt surface.

[0094] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0095] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0096] The present application is described in reference to the flowchart illustrations and / or block diagrams according to the embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in one or more of the flowchart illustrations and / or block diagrams. Figure 1 means for performing the functions specified in one or more of the flowchart illustrations and / or block diagrams.

[0097] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in one or more of the flowchart illustrations and / or block diagrams. Figure 1 means for performing the functions specified in one or more of the flowchart illustrations and / or block diagrams.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in one or more of the flowchart illustrations and / or block diagrams. Figure 1 means for performing the functions specified in one or more of the flowchart illustrations and / or block diagrams.

[0099] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0100] The memory can include non-persistent memory, random access memory (RAM), and / or non-volatile memory, such as read only memory (ROM) or flash memory, among others. The memory is an example of computer-readable media.

[0101] Computer-readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media such as modulated data signals and carriers.

[0102] It should also be noted that the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0103] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0104] 1) The control method of the belt conveyor of the present application adjusts the speed by comparing the calculated tension of the tensioning part with the sag of the system and the tension force returned by the sensor, respectively, to adjust the value of the tension of the tensioning part at the current time to the value of the preset tension or adjust the sag to the value of the preset tension, thereby preventing the belt conveyor from being over-tensioned or the belt surface from slipping, and thereby solving the problem that the existing scheme cannot control the tension of the tensioning part of the belt conveyor in real time, thereby causing the belt conveyor to be over-tensioned or the belt surface to slip.

[0105] 2) The control device for the belt conveyor of this application adjusts the rotation speed by comparing the calculated tension force of the tensioning part with the sag of the system and the tension force returned by the sensor. This adjusts the tension force of the tensioning part at the current moment to a preset tension force value or adjusts the sag to a preset tension force value, thereby preventing the belt conveyor from being over-tensioned or slipping on the belt surface. This solves the problem that the existing solution cannot control the tension force of the tensioning part of the belt conveyor in real time, which leads to over-tensioning or slipping on the belt surface.

[0106] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a belt conveyor, applied to a controller of the belt conveyor, wherein the belt conveyor further includes a tensioning section and a driving section, the tensioning section and the driving section are connected by a belt, and the tensioning section and the driving section communicate with the controller respectively, characterized in that, include: The current motor torque, return tension force, and current sag are obtained. The current motor torque is the motor torque of the drive unit at the current moment. The return tension force is the tension force of the tensioning unit collected by the tension force sensor at the current moment. The current sag is the sag of the belt conveyor at the current moment. Determine the current tension force, which is used to characterize the tension force of the tensioning part at the current moment. The current tension force is a value calculated using the current motor torque. The current tension force is compared with both the return tension force and the current sag value to obtain a comparison result. Based on the comparison result, the rotational speed of the tensioning unit's motor at the current moment is adjusted to either adjust the tension force of the tensioning unit at the current moment to a preset tension force value, or adjust the sag value of the belt conveyor at the current moment to the preset tension force value. Determine the current tension, including: based on F 张 =T 电 ×i / r 卷 / ( -1), determine the current tension, wherein, R is the Euler coefficient. 卷 Let T be the radius of the tensioning drum, i be the speed ratio of the reducer in the drive unit of the belt conveyor, and the speed ratio of the reducer in the drive unit of the belt conveyor is a preset value. 电 F is the current motor torque. 张 The current tension force, The process involves comparing the current tension force with both the return tension force and the current sag value to obtain comparison results. Based on these results, the rotational speed of the tensioning unit's motor is adjusted at the current moment to adjust the tension force of the tensioning unit to a preset tension force value, or to adjust the sag value of the belt conveyor to the preset tension force value. This includes: obtaining a tension force product value, where the tension force product value is the product of the current tension force and a preset coefficient; comparing the tension force product value with both the return tension force and the current sag value to obtain comparison results; and adjusting the rotational speed of the tensioning unit's motor at the current moment to adjust the tension force of the tensioning unit to the preset tension force value, or to adjust the sag value of the belt conveyor to the preset tension force value. The product value of the tension force is compared at least with the value of the return tension force and the value of the current sag, respectively, to obtain the comparison result. Based on the comparison result, the rotational speed of the motor of the tensioning part at the current moment is adjusted to adjust the tension value of the tensioning part at the current moment to a preset tension value, or to adjust the sag value of the belt conveyor at the current moment to the preset tension value. This includes: when the comparison result is that the product value of the tension force is less than the value of the return tension force, and the product value of the tension force is less than the value of the current sag, and the return tension... If the tension value is greater than the current sag value, adjust the rotational speed of the tensioning motor at the current moment to adjust the tension value of the tensioning part at the current moment to the preset tension value; if the comparison result is that the product of the tensions is less than the value of the return tension, and the product of the tensions is less than the current sag value, and the value of the return tension is less than the current sag value, adjust the rotational speed of the tensioning motor at the current moment to adjust the sag value of the belt conveyor at the current moment to the preset tension value.

2. The method according to claim 1, characterized in that, The method further includes: If the set value of the start time of the belt conveyor is less than the start time threshold, the set value of the start time of the belt conveyor shall be increased.

3. The method according to claim 1, characterized in that, The method further includes: If the starting time of the belt conveyor at the current moment is greater than or equal to the maximum starting time, the rotational speed of the motor of the tensioning section at the current moment shall be increased. If the current tension force is greater than the minimum tension force threshold, reduce the rotational speed of the motor of the tensioning unit at the current moment.

4. The method according to claim 1, characterized in that, The method further includes: If the starting time of the belt conveyor at the current moment is equal to the maximum starting time, and the speed of the motor of the tensioning part at the current moment is equal to the speed limit, then reduce the speed of the motor of the tensioning part at the current moment.

5. A control device for a belt conveyor, characterized in that, include: The acquisition unit is used to acquire the current motor torque, the return tension force, and the current sag. The current motor torque is the motor torque of the drive unit at the current moment, the return tension force is the tension force of the tensioning unit collected by the tension force sensor at the current moment, and the current sag is the sag of the belt conveyor at the current moment. A determining unit is used to determine the current tension force, which is used to characterize the tension force of the tensioning part at the current moment. The current tension force is a value calculated using the current motor torque. The first control unit is configured to compare the current tension force with at least the value of the return tension force and the value of the current sag, respectively, to obtain a comparison result, and based on the comparison result, adjust the rotational speed of the motor of the tensioning part at the current moment, so as to adjust the tension force of the tensioning part at the current moment to a preset tension force value, or adjust the sag value of the belt conveyor at the current moment to the preset tension force value. The determining unit includes a determining module, which is used to determine based on F 张 =T 电 ×i / r 卷 / ( -1), determine the current tension, wherein, R is the Euler coefficient. 卷 Let T be the radius of the tensioning drum, i be the speed ratio of the reducer in the drive unit of the belt conveyor, and the speed ratio of the reducer in the drive unit of the belt conveyor is a preset value. 电 F is the current motor torque. 张 The current tension force, The first control unit includes an acquisition module and a first processing module. The acquisition module is used to acquire a tension force product value, which is the product of the current tension force and a preset coefficient. The first processing module is used to compare the tension force product value with at least the value of the return tension force and the value of the current sag, respectively, to obtain the comparison result. Based on the comparison result, the rotational speed of the motor of the tensioning part at the current moment is adjusted to adjust the tension force of the tensioning part at the current moment to the preset tension force value, or to adjust the sag value of the belt conveyor at the current moment to the preset tension force value. The first control unit includes a second processing module and a third processing module. The second processing module is used to adjust the rotation speed of the motor of the tensioning part at the current moment when the comparison result is that the product value of the tension force is less than the value of the returned tension force, and the product value of the tension force is less than the value of the current sag, and the value of the returned tension force is greater than the value of the current sag, so as to adjust the value of the tension force of the tensioning part at the current moment to the preset tension force value. The third processing module is used to adjust the rotational speed of the motor of the tensioning part at the current moment when the comparison result is that the product value of the tension force is less than the value of the return tension force, and the product value of the tension force is less than the value of the current sag, and the value of the return tension force is less than the value of the current sag, so as to adjust the value of the sag of the belt conveyor at the current moment to the value of the preset tension force.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method for the belt conveyor as described in any one of claims 1 to 4.

7. A belt conveyor, characterized in that, include: The belt conveyor comprises a controller, a tensioning unit, and a drive unit, wherein the tensioning unit and the drive unit are connected by a belt, and the tensioning unit and the drive unit communicate with the controller, which is used to execute the control method of the belt conveyor according to any one of claims 1 to 4.

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