Automatic displacement control system and crawler-mounted displacement belt conveyor having the same

Abstract

This invention relates to an automatic displacement control system and a tracked conveyor with the same. The tracked conveyor includes n trusses connected in series and hinged, where n > 1. A first tracked machine is located at the front end of the first truss, and an (i+1)th tracked machine is located at the rear end of the i-th truss, where i = 1, 2, ..., n. A pull-cord sensor is installed at the hinge point of adjacent trusses. The automatic displacement control system includes an angle output module, which calculates the angle α between the i-th truss and the (i+1)-th truss based on the readings from the pull-cord sensors. i ; Speed ​​calculation and output module, which calculates the expected speed of the (i+2)th tracked machine; State judgment module, which determines the state based on the included angle α. i The leveling mode of the conveyor is determined; a displacement control module levels the (i+1)th truss during its movement. This disclosure realizes intelligent, automated, and dynamic leveling of a multi-segment conveyor.

Description

Automatic displacement control system and tracked conveyor belt conveyor with it Technical Field

[0001] This invention relates to the field of mining conveyors, and more specifically to an automatic displacement control system and a tracked conveyor belt conveyor having the same. Background Technology

[0002] Traditional belt conveyor systems are fixed to the ground. In open-air production, each movement of the truss requires the coordinated operation of multiple pieces of equipment, such as packers, moving machines, and bulldozers. This results in problems such as difficulty in disassembly and movement, low reuse rate, and low system operation and maintenance efficiency. Summary of the Invention

[0003] In view of this, the present invention provides an automatic displacement control system and a tracked conveyor having the same, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0004] To achieve the aforementioned objective, a first aspect of the present invention provides an automatic displacement control system for a tracked conveyor transfer belt conveyor, wherein the tracked conveyor transfer belt conveyor comprises n trusses connected in series and hinged, where n > 1, a first tracked machine is provided at the front end of the first truss, and an (i+1)th tracked machine is provided at the rear end of the i-th truss, where i = 1, 2, …, n, and a pull rope sensor is provided at the hinge point of adjacent trusses. The automatic displacement control system includes:

[0005] Angle output module, which calculates the angle α between the i-th truss and the (i+1)-th truss based on the readings of the pull rope sensor. i ;

[0006] The speed calculation and output module is based on the speed of the (i+1)th tracked machine and the angle α between the i-th truss and the (i+1)-th truss. i Calculate the desired speed of the (i+2)th tracked machine, wherein the speed of the first tracked machine is a constant value set by the user, and the speed of the second tracked machine is an automatic output value of the encoder based on the travel distance of the first tracked machine and the second tracked machine;

[0007] The state determination module is based on the included angle α. i Determine the leveling mode of the conveyor; and

[0008] A displacement control module, which, based on the desired speed of the (i+2)th tracked machine, levels the (i+1)th truss during its movement using the (i+2)th tracked machine in the leveling mode.

[0009] In the automatic displacement control system described above, optionally, the pull-wire sensor includes a 2i-1 pull-wire sensor and a 2i pull-wire sensor located between the i-th truss and the i+1-th truss, and the angle output module is based on the measured length L of the 2i-1 pull-wire sensor. 2i-1 The measurement length L of the second-in-1 pull-cord sensor 2i Calculate the angle between the i-th truss and the (i+1)-th truss. , where a is the width of the conveyor.

[0010] In the automatic displacement control system described above, optionally, the speed calculation output module obtains the output speed based on the following algorithm:

[0011]

[0012] Wherein, the reference speed is the speed of the first tracked machine, the speed adjustment angle resolution is the speed adjustment range used to achieve gradient adjustment, and the adjustment sensitivity is the relationship between the angle change and the speed change amplitude.

[0013] In the automatic displacement control system described above, optionally, the state determination module determines the driving state according to the following rules:

[0014] In α i Any one that satisfies α i When the angle is less than 1°, all trusses can travel normally.

[0015] In α i Any one of them satisfies 1° < α i When the angle is less than 3°, the entire truss is leveled during operation;

[0016] In α i Any one that satisfies α i When the angle is greater than 3°, the entire truss is leveled in place.

[0017] In the automatic displacement control system described above, optionally, the control method of the displacement control module includes:

[0018] Step I: The automatic displacement of the first tracked machine to the (n+1)th tracked machine begins;

[0019] Step II: Determine whether the automatic operation of the first tracked machine to the (n+1)th tracked machine is enabled. If yes, proceed to step III; otherwise, proceed to step IV.

[0020] Step III: The status judgment module judges the driving status of the second truss to the nth truss, and the displacement control module controls the second truss to the nth truss to perform normal driving, leveling in operation, or leveling in place according to the driving status, and then returns to step II;

[0021] Step IV: Determine α i If the angle is less than 0.05°, the automatic displacement of the 3rd tracked machine to the (n+1)th tracked machine ends; otherwise, proceed to step V.

[0022] Step V: The displacement control module controls the entire truss to be leveled in place, and then returns to step IV.

[0023] In the aforementioned automatic displacement control system, optionally, the automatic displacement control system has a fault detection and comprehensive processing module. The fault detection and comprehensive processing module monitors in real time the abnormal values ​​of the pull rope sensor and the abnormal actions and abnormal states of the first tracked machine to the (n+1)th tracked machine. When an abnormality is detected, it triggers an emergency handling state, reports the abnormality, and self-locks the fault point. The fault detection and comprehensive processing module includes an emergency stop button. The emergency handling includes stopping the machine or repeating the action.

[0024] In the automatic displacement control system described above, optionally:

[0025] The main control box of the automatic displacement control system is located at the first truss, and is used to read and process the data of the pull rope sensor and execute the control of the automatic displacement control system as a whole.

[0026] A distributed control cabinet is installed at the 2nd truss to the nth truss, which is used to read and publish data to communicate with the main control box. The control cabinet uses a high-speed counter to read the number of motor rotations of the 3rd track machine to the (n+1)th track machine and uploads the data to the main control box at a fixed frequency.

[0027] A touch screen is installed on the control cabinet to monitor the status, set parameters, and control the motion of the second to nth trusses.

[0028] Optionally, in the automatic displacement control system described above, the automatic displacement control system is equipped with a cloud box server. The cloud box server connects the automatic displacement control system to a network and is connected to a router. The router is used to establish a local area network, allowing user terminals within the coverage area of ​​the router to access the cloud box to monitor the status of the conveyor, set real-time parameters, and control its actions.

[0029] In the automatic displacement control system described above, optionally, the first tracked machine to the (n+1)th tracked machine in the transport machine is driven by an asynchronous motor and intelligently variable frequency speed regulation is performed by a frequency converter. The acceleration time of the asynchronous motor is controlled by a ramp generator to ensure that the acceleration of the first tracked machine to the (n+1)th tracked machine is lower than a set limit value.

[0030] To achieve the aforementioned objective, a second aspect of the present invention provides a tracked conveyor with an automatic displacement control system as described in any one of the preceding first aspects.

[0031] This disclosure proposes an automatic displacement control system and a tracked conveyor with the same. The solution uses data from the pull rope sensor to indirectly obtain the included angle between the trusses through the algorithm of the angle output module in real time, and uses it as feedback data to adjust the moving speed of the tracked conveyor in a timely manner to achieve intelligent, automated, and dynamic leveling of the entire conveyor.

[0032] Meanwhile, with a focus on ensuring the safety of the equipment in operation, this disclosure implements real-time monitoring of the angle between trusses and the condition of the equipment, and realizes remote real-time system monitoring and control through a cloud box server to achieve informatization and digitalization. Attached Figure Description

[0033] The disclosure of this invention will become more apparent from the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings:

[0034] Figure 1 is a schematic diagram of an embodiment of the tracked machine transfer belt conveyor disclosed herein, which has an automatic displacement control system;

[0035] Figure 2 is a schematic block diagram of the angle output module of an embodiment of the automatic displacement control system of this disclosure;

[0036] Figure 3 is a schematic block diagram of the velocity calculation and output module of an embodiment of the automatic displacement system of this disclosure;

[0037] Figure 4 is an algorithm flowchart of the state judgment module of an embodiment of the automatic displacement system of this disclosure;

[0038] Figure 5 is a flowchart of the control method of the displacement control module of an embodiment of the automatic displacement module of this disclosure.

[0039] Reference numerals: 11-First truss; 12-Second truss; 1n-Nth truss; 21-First tracked machine; 22-Second tracked machine; 23-Third tracked machine; 3-Pull rope sensor; 4-Angle output module; 5-Speed ​​calculation output module; 6-Status judgment module. Detailed Implementation

[0040] Referring to the accompanying drawings and specific embodiments, the structure, composition, features, and advantages of the automatic displacement control system of the present invention and the tracked conveyor belt having the same will be described by way of example below. However, all descriptions should not be construed as limiting the present invention in any way.

[0041] Furthermore, for any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the various figures, the present invention still allows for any combination or deletion of these technical features (or their equivalents) without any technical obstacle, and thus these further embodiments according to the present invention should also be considered within the scope of this description.

[0042] Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Thus, a feature specified with "first," "second," "third," etc., may explicitly or implicitly include at least one of those features.

[0043] Figure 1 is a structural schematic diagram of an embodiment of the tracked conveyor with automatic displacement control system. The included angle α between adjacent trusses is shown enlarged in Figure 1.

[0044] As shown in Figure 1, the tracked conveyor belt transfer system may include n trusses 11, 12...1n connected in series and hinged, where n is an integer greater than 1. The trusses are connected by hinges. A first tracked machine 21 is set at the front end of the first truss 11, and an (i+1)th tracked machine is set at the rear end of the i-th truss, where i = 1, 2, ..., n. Since there is one tracked machine at the beginning and end of the first truss 11, i.e., the first truss 11 includes two tracked machines, the remaining i-th trusses (i≥2) only need to have one tracked machine at the rear. Therefore, the (i+1)th tracked machine is set at the rear end of the i-th truss. For example, when i is 3, a fourth tracked machine is set at the rear end of the third truss; as another example, when i is 4, a fifth tracked machine is set at the rear end of the fourth truss, and so on.

[0045] In this embodiment, a pull-wire sensor 3 is provided at the hinge joint of adjacent trusses. The pull-wire sensor 3 is used to indirectly obtain the angle between adjacent trusses.

[0046] In the illustrated embodiment, the pull rope sensor 3 may include a 2i-1 pull rope sensor and a 2i pull rope sensor located between the i-th truss and the i+1-th truss, wherein the measuring length of the 2i-1 pull rope sensor is L. 2i-1 The measuring length of the second i-th pull rope sensor is L. 2iThe width of the conveyor is the same as the width of the tracked machine, 'a'. For example, a first pull rope sensor and a second pull rope sensor are included between the first truss 11 and the second truss 12, with the measuring length of the first pull rope sensor being L1 and the measuring length of the second pull rope sensor being L2; as another example, a third pull rope sensor and a fourth pull rope sensor are included between the second truss 12 and the third truss, with the measuring length of the third pull rope sensor being L3 and the measuring length of the fourth pull rope sensor being L4, and so on.

[0047] In the embodiment shown in Figure 1, the automatic displacement control system of the tracked conveyor conveyor may include an angle output module 4 (see Figure 2), a speed calculation and output module 5 (see Figure 3), a status judgment module 6 (see Figure 4), and a displacement control module (not shown). The angle output module 4 calculates the included angle α between the i-th truss and the (i+1)-th truss based on the readings of the tension cable sensors 3 between adjacent trusses. i The specific calculation algorithm is detailed below. The speed calculation output module 5 is based on the speed of the (i+1)th tracked machine and the angle α between the i-th truss and the (i+1)-th truss. i The desired speed of the (i+2)th tracked machine is calculated, where the speed of the first tracked machine 21 is a constant value set by the user, and the speed of the second tracked machine 22 is an automatic output value from the encoder based on the travel distance of the first tracked machine 21 and the second tracked machine 22. The specific algorithm for the automatic output value is detailed later. The state judgment module 6 is based on all included angles α. i (i=0, 1, 2, …, n) determines the leveling mode of the entire conveyor, and the specific leveling mode is detailed later. The displacement control module, based on the desired speed of the (i+2)th track, levels the (i+1)th truss during its movement using the leveling mode given by the (i+2)th track based on the state judgment module 6. The specific leveling displacement control method is detailed later.

[0048] Figure 2 is a schematic block diagram of the angle output module of an embodiment of the automatic displacement control system of this disclosure.

[0049] In this embodiment, the angle output module 4 is used to read the readings from the pull rope sensor 3 and calculate the included angle α between the trusses based on the readings from the pull rope sensors 3 between adjacent trusses. i .

[0050] As can be seen from Figure 2, the angle output module 4 measures the length L based on the aforementioned 2i-1 pull rope sensor. 2i-1 The measurement length of the second-in-1 pull-cord sensor is L. 2i Calculate the angle α between the i-th truss and the (i+1)-th truss. i The algorithm formula is as follows:

[0051] , where a is the width of the conveyor, and i≥2.

[0052] For example, the included angle between the second truss 12 and the third truss For example, the angle between the 3rd truss and the 4th truss. And so on.

[0053] As can be seen, in this embodiment, the measured length of the pull rope sensor 3 is automatically output by the built-in algorithm of the angle output module 4 to produce the angle α between the i-th truss and the (i+1)-th truss. i .

[0054] It should be noted here that this module does not rely on the input of other modules, but only on the real-time reading of the tension cable sensor 3 and outputs the calculated intertrusion angle α in a timely manner. i Since there is currently no angle sensor that can directly read the angle between trusses, this disclosure uses a drawstring sensor 3 to indirectly calculate and obtain the angle α between adjacent trusses. i It is low-cost and highly efficient.

[0055] Figure 3 is a schematic block diagram of the velocity calculation and output module of an embodiment of the automatic displacement system of this disclosure.

[0056] In this embodiment, the speed calculation output module 5 is used to calculate the speed at which the corresponding tracked machine should operate, which depends on external input: the inter-truss angle α from the angle output module 4. i The reference speed is used to ultimately output the tracked machine speed through the module's built-in algorithm.

[0057] In the embodiment shown in Figure 3, the built-in algorithm of the speed calculation output module 5 obtains the output speed based on the following formula:

[0058]

[0059] The reference speed is the speed of the adjacent tracked machine, while the reference speed of the first tracked machine 21 is the standard for the overall conveyor speed, which is also a constant value defined by the user. Its basic principle is that the included angle α between the trusses... i Because of the relative motion between two adjacent tracked machines, the speed of the tracked machine can be calculated by taking the speed of the previous adjacent tracked machine as a reference, and so on. In this way, the speeds of the two adjacent tracked machines remain relatively stable, which can minimize the included angle α between the trusses. i This prevents damage to the mechanical structure and protects the overall stability of the conveyor's mechanical structure.

[0060] In this embodiment, the reference speed is the speed of the first tracked machine 21, which is also the displacement speed that the user-sets for the entire conveyor to maintain. However, starting from the second tracked machine 22, its reference speed is based on the speed of the adjacent previous tracked machine, the first tracked machine 21, and so on. The reference speed of the third tracked machine 23 is the speed of the second tracked machine 22, and the reference speed of the i-th tracked machine is the reference speed of the (i-1)-th tracked machine.

[0061] In other optional embodiments, the speed of the tracked machine can be incorporated into an expert system to achieve adaptive fuzzy control based on actual conditions. This allows for flexible selection and adjustment of the parameters in the above formula at each stage of the conveyor, enabling the conveyor to adapt to various environments. This achieves adaptive fuzzy control of the speed of each tracked machine, thus avoiding mechanical structural damage caused by excessive curvature of the overall conveyor in soft, muddy environments.

[0062] The speed adjustment angle resolution is the speed range used to achieve gradient adjustment. For example, when the range is set to 100, the output speed will only be set to an integer multiple of 100; similarly, when the range is set to 20, the output speed will only be set to an integer multiple of 20. In other optional embodiments, the angle resolution can be set according to actual working and environmental needs.

[0063] The adjustment accuracy refers to the deviation between the actual speed and the reference speed after the tracked machine's response stabilizes. The higher the accuracy, the smaller the deviation.

[0064] The adjustment sensitivity refers to the relationship between the angle change and the speed change. Adjustment sensitivity is the sensitivity to angle; for example, when the adjustment sensitivity is set to 1, the speed increases by 100 mm / s for every 1 degree increase in the included angle. In other optional embodiments, the adjustment sensitivity can be set according to actual working and environmental needs.

[0065] Figure 4 is a flowchart of the state determination module algorithm of an embodiment of the automatic displacement system of this disclosure. In Figure 4, the angle output module 4 is represented as a first angle output module, a second angle output module, a third angle output module, ... an nth angle output module, respectively used for angle output between adjacent trusses. In an optional embodiment, these angle output modules can be integrated into a single angle output module.

[0066] In this embodiment, the status determination module 6 determines the driving status according to the following rules:

[0067] The built-in algorithm of the state judgment module 6 reads and analyzes the included angle α between adjacent trusses output by the angle output module. i We can first determine whether there is an angle greater than 3°. If α exists... iIf the included angle α is greater than 3°, the conveyor should be leveled in place, achieved by leveling all trusses in place; if there is no included angle α greater than 3°... i Then determine whether it is greater than 1°. If α exists... i If the angle is greater than 1°, the conveyor is leveled during operation, achieved through leveling of all trusses during operation; conversely, if the angle is less than 1°, the conveyor travels normally, achieved through the normal travel of all trusses. The movement of the conveyor is achieved by controlling the displacement of all trusses through a drive tracked machine.

[0068] In summary:

[0069] In α i Any one that satisfies α i When the angle is less than 1°, all trusses can travel normally.

[0070] In α i Any one of them satisfies 1° < α i When the angle is less than 3°, the entire truss is leveled during operation;

[0071] In α i Any one that satisfies α i When the angle is greater than 3°, the entire truss is leveled in place.

[0072] In this embodiment, the initial judgment angle is set to 3°, and the re-judgment angle is set to 1°, based on the truss structure. In other optional embodiments, the initial judgment angle and the re-judgment angle can be adjusted according to the actual working environment and needs to prevent damage to the hinge structure between the trusses.

[0073] Figure 5 is a flowchart of the control method of the displacement control module of an embodiment of the automatic displacement module of this disclosure.

[0074] To make the displacement control process more intuitive, a modular approach will be used to describe the control method in this section.

[0075] Step I: The automatic displacement of the first tracked machine 21 to the (n+1)th tracked machine begins;

[0076] Step II: Determine whether the automatic operation of the first tracked machine 21 to the (n+1)th tracked machine is enabled. If yes, proceed to step III; otherwise, proceed to step IV.

[0077] Step III: The state judgment module 6 judges the driving state of the second truss 12 to the nth truss 1n, and the displacement control module controls the second truss 12 to the nth truss 1n to drive normally, level during operation or level in place according to the driving state, and then returns to step II;

[0078] Step IV: Determine whether αi is less than 0.05°. If yes, the automatic displacement of the 3rd track machine 23 to the (n+1)th track machine ends; otherwise, proceed to step V.

[0079] Step V: The displacement control module controls the 3rd track machine 23 to the (n+1)th track machine to travel normally, and then returns to step IV.

[0080] The displacement control module has a single external input, namely the reference speed. As mentioned earlier, the reference speed is the overall displacement speed of the conveyor as desired by the user, and is also the constant operating speed of track 1. Starting from track 22, its reference speed is based on the speed of the adjacent track 1, and so on. The reference speed of track 32 is the speed of track 22, and the reference speed of track i is the reference speed of track i-1. When leveling in place, the input speed of the displacement control module is 0. Here, as mentioned earlier, starting from track 3, its speed is obtained by speed calculation output module 5 based on the speed of the previous track and the angle between adjacent trusses, while the angle between adjacent trusses is obtained by angle output module 4 based on the rope sensor 3.

[0081] This control method enables leveling of multiple truss segments during their travel, protecting the stability and safety of the overall mechanical structure of the conveyor.

[0082] The automatic displacement control system disclosed herein may further include a fault detection and integrated processing module. This module monitors in real time the abnormal values ​​of the pull rope sensor 3 and the abnormal actions and states of the first tracked machine 21 to the (n+1)th tracked machine. Upon detecting an abnormality, it triggers an emergency handling state, reports the abnormality, and self-locks the fault point. The module includes an emergency stop button. Emergency handling includes stopping the machine or repeating the action. Timely stopping or repeating the action can be used to test whether the components are faulty. Any fault occurring in the i-th tracked machine can be reported through this module, and the fault point can be self-locked, providing clear guidance for maintenance. Simultaneously, this module provides an emergency stop button function, ensuring both manual and automatic safety.

[0083] The automatic displacement control system disclosed herein has a main control box located at the first truss 11. In this embodiment, the main control box is equipped with an S7-1500 as a centralized industrial CPU, which is used to read and process the data of the pull rope sensor 3 and execute the overall control of the automatic displacement control system.

[0084] A distributed control cabinet containing the main control box is installed at positions 12 of the second truss to 1n of the nth truss. In this embodiment, the distributed control cabinet is equipped with an ET 200SP as a distributed I / O device for the main control CPU, which reads and publishes data. It communicates with the main control box in real time via the PROFINET protocol to ensure timely and accurate data reading and transmission. Each control cabinet is equipped with an S7-1200, which uses its high-speed counter (HSC) to read the ABZ encoder to calculate the number of motor rotations of each tracked machine, including the 3rd tracked machine 23 to the (n+1)th tracked machine. Based on the PROFINET protocol, the PUT / GET communication protocol is used to transmit data from the S7-1200 to the S7-1500 at a fixed frequency based on the encoder readings.

[0085] In other optional embodiments, the CPU models of the main control box and the distributed control cabinet, as well as the distributed I / O devices, can be selected according to actual working and environmental needs.

[0086] To ensure data reliability, an intelligent filtering algorithm was used in the reading of all analog data in this embodiment to remove noise and ensure data cleanliness.

[0087] The control cabinet can also be equipped with a touch screen to monitor the status of the second truss 12 to the nth truss 1n, read and write control box data, set parameters and control motion, so as to facilitate on-site operation and control by on-site personnel.

[0088] The automatic displacement control system disclosed herein can also be equipped with an IoT cloud box server. The cloud box server connects the automatic displacement control system to a network and is connected to a router. The router enables the establishment of a local area network, which facilitates the expansion of I / O devices and connection to the control box. User terminals within the coverage area of ​​the router can access the cloud box to monitor the status of the conveyor, set real-time parameters, and control its actions.

[0089] The first tracked machine 21 to the (n+1)th tracked machine in the transport aircraft are driven by asynchronous motors and intelligently variable frequency speed regulation by an ACS880 frequency converter. The acceleration time of the asynchronous motors is controlled by a ramp generator to ensure that the acceleration of the first tracked machine 21 to the (n+1)th tracked machine is lower than a set limit value.

[0090] In other alternative embodiments, the model of the frequency converter can be selected according to the actual working and environmental requirements.

[0091] According to some embodiments of the present invention, a tracked conveyor belt is used in environments such as open-pit coal mines and freight yards. During operation, the angle between the tracks can be flexibly controlled without limitation, overcoming the problem that there is no equipment on the market that can directly monitor the angle between trusses. By indirectly obtaining the angle between trusses, the angle between trusses can be kept within a stable range during movement, which effectively protects the rigid structure at the hinge. Furthermore, a control algorithm for this type of machinery is proposed for the first time, improving the flexibility of the transportation system.

[0092] In some embodiments of the present invention, the control system is based on motion control algorithms. It calculates the included angle in real time using data from a drawstring sensor and uses this as feedback data to adjust the tracked machine's speed accordingly, achieving a dynamic level of intelligent automation. Simultaneously, it prioritizes the safety of the equipment during operation by monitoring the included angle and equipment status in real time. Furthermore, in some embodiments, the system is equipped with a cloud-based server to achieve remote real-time system monitoring and control, realizing informatization and digitalization. In some embodiments, the system uses intelligent control algorithms to achieve flexible and rational resource allocation and unattended production goals through the coordinated operation of multiple channels on a single, multi-segment, long-distance conveyor belt. It also utilizes advanced communication technology to achieve centralized remote control, online equipment monitoring, and fault early warning.

[0093] The technical scope of this invention is not limited to the contents of the above specification. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the scope of this invention.

Claims

1. An automatic displacement control system for a tracked conveyor belt transfer conveyor, characterized in that, The tracked conveyor includes n trusses connected in series, where n > 1. A first tracked machine (21) is set at the front end of the first truss (11), and an i+1 tracked machine is set at the rear end of the i-th truss, where i = 1, 2, …, n. A pull rope sensor (3) is set at the hinge of adjacent trusses. The automatic displacement control system includes an angle output module (4), which calculates the angle α between the i-th truss and the i+1-th truss based on the reading of the pull rope sensor (3). i ; Speed ​​calculation output module (5), the speed calculation output module (5) is based on the speed of the (i+1)th tracked machine and the angle α between the i-th truss and the (i+1)th truss. i Calculate the expected speed of the (i+2)th tracked machine, wherein the speed of the first tracked machine (21) is a constant value set by the user, and the speed of the second tracked machine (22) is an automatic output value of the encoder based on the travel distance of the first tracked machine (21) and the second tracked machine (22); state judgment module (6), the state judgment module (6) is based on the included angle α i The leveling mode of the conveyor is determined; and a displacement control module is used to level the (i+2)th truss during travel based on the (i+2)th tracked machine's desired speed using the leveling mode; wherein the speed calculation output module (5) obtains the output speed based on the following algorithm: Wherein, the reference speed is the speed of the adjacent previous tracked machine, the speed adjustment angle resolution is the speed adjustment range used to achieve gradient adjustment, the adjustment sensitivity is the relationship between the angle change and the speed change amplitude, and the speed adjustment accuracy refers to the deviation between the actual speed and the reference speed after the tracked machine's response stabilizes; the state judgment module (6) judges the driving state according to the following rules: in α i Any one that satisfies α i When the angle is <1°, the entire truss operates normally; at α i Any one of them satisfies 1° < α i When the angle is <3°, the entire truss is leveled during operation; at α i Any one that satisfies α i When the angle is greater than 3°, the entire truss is leveled in place.

2. The automatic displacement control system as described in claim 1, characterized in that, The drawstring sensor (3) includes a 2i-1 drawstring sensor and a 2i drawstring sensor located between the i-th truss and the i+1-th truss. The angle output module (4) is based on the measured length L of the 2i-1 drawstring sensor. 2i-1 The measurement length L of the second-in-1 pull-cord sensor 2i Calculate the angle between the i-th truss and the (i+1)-th truss. , where a is the width of the conveyor.

3. The automatic displacement control system as described in claim 1, characterized in that, The automatic displacement control system has a fault detection and comprehensive processing module. The fault detection and comprehensive processing module monitors the abnormal values ​​of the pull rope sensor (3) and the abnormal actions and abnormal states of the first track machine (21) to the n+1 track machine in real time. When an abnormality is detected, it triggers an emergency processing state, reports the abnormality, and locks the fault point. The fault detection and comprehensive processing module includes an emergency stop button. The emergency processing includes stopping the machine or repeating the action.

4. The automatic displacement control system as described in claim 1, characterized in that: The main control box of the automatic displacement control system is located at the first truss (11), and is used to read and process the data of the pull rope sensor (3) and execute the control of the automatic displacement control system as a whole. The distributed control cabinet of the main control box is set at the second truss (12) to the nth truss (1n), and is used to read and publish data to communicate with the main control box. The control cabinet uses a high-speed counter to read the number of motor rotations of the third track machine (23) to the n+1 track machine and uploads the data to the main control box at a fixed frequency. The control cabinet is equipped with a touch screen to monitor the status, set parameters and control the motion of the second truss (12) to the nth truss (1n).

5. The automatic displacement control system as described in claim 1, characterized in that, The automatic displacement control system is equipped with a cloud box server, which connects the automatic displacement control system to the network and is connected to a router. The router enables the establishment of a local area network, allowing user terminals within the router's coverage area to access the cloud box to monitor the conveyor's status, set real-time parameters, and control its actions.

6. The automatic displacement control system as described in claim 5, characterized in that, The first tracked machine (21) to the (n+1)th tracked machine in the tracked machine transfer belt conveyor is driven by an asynchronous motor and intelligently variable frequency speed regulation is performed by a frequency converter. The acceleration time of the asynchronous motor is controlled by a ramp generator to ensure that the acceleration of the first tracked machine (21) to the (n+1)th tracked machine is lower than the set limit value.

7. A tracked conveyor belt conveyor having an automatic displacement control system as described in any one of claims 1 to 6.

Images