Telescopic belt conveyor and control system thereof

Abstract

The application relates to a telescopic belt conveyor and a control system thereof, which is applied to the telescopic belt conveyor, the telescopic belt conveyor is provided with an extension end, a telescopic mechanism and a jacking mechanism, a distance measuring element is arranged below the jacking mechanism, the control system comprises a data processing module, a main control module and an auxiliary control module, the data processing module is used for processing first distance amplitude data and second distance amplitude data respectively to obtain corresponding initial butt joint signals and secondary butt joint signals; the auxiliary control module is used for controlling the jacking mechanism and the telescopic mechanism to run according to the initial butt joint signals to complete initial butt joint between the extension end and a butt joint device; and the main control module is used for controlling the jacking mechanism and the telescopic mechanism to run according to the secondary butt joint signals to complete secondary butt joint between the extension end and the butt joint device. The control system completes automatic butt joint between the extension end and the butt joint device in the telescopic belt conveyor in a two-time butt joint mode, can complete accurate automatic butt joint, and can automatically adapt to the heights of different butt joint devices.

Description

Technical Field

[0001] This application relates to the field of telescopic belt conveyor control technology, and in particular to a telescopic belt conveyor and its control system. Background Technology

[0002] Telescopic belt conveyors are important equipment in logistics and transportation. Their extendable design makes them suitable for various environments, thereby improving the efficiency of goods transportation. A telescopic belt conveyor consists of a front conveyor section and a rear conveyor section. The front conveyor section is equipped with an extension end, which can extend to increase the total length of the conveyor belt.

[0003] Existing control methods for telescopic belt conveyors can control the extension and height adjustment of the conveyor's extension end, but they cannot enable the telescopic belt conveyor to automatically dock with docking equipment (such as unloading container cars). For example, they cannot eliminate deviations in ground flatness during the first automatic docking to prevent docking malfunctions, nor can they automatically feed back the correct rise / fall adjustment signal based on the preset height amplitude and the actual amplitude during the second automatic docking to complete precise automatic docking. They also cannot automatically adapt to the height of different unloading container cars. Summary of the Invention

[0004] This application provides a telescopic belt conveyor and its control system to solve the technical problem that the existing control methods of telescopic belt conveyors cannot achieve automatic docking between their telescopic sections and docking equipment.

[0005] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0006] On one hand, a control system for a telescopic belt conveyor is provided, which is applied to the telescopic belt conveyor. The telescopic belt conveyor is provided with an extension end that docks with a docking device, a telescopic mechanism for controlling the extension and retraction of the extension end, and a lifting mechanism for controlling the lifting and lowering of the extension end. A distance measuring element is provided below the lifting mechanism. The control system includes a data processing module and a main control module and an auxiliary control module connected to the data processing module. The main control module and the auxiliary control module are respectively connected to the telescopic mechanism and the lifting mechanism.

[0007] The ranging element is used to acquire first distance amplitude data and second distance amplitude data before and after the initial docking between the ground where the telescopic belt conveyor is located and the ranging element.

[0008] The data processing module is used to process the first distance amplitude data and the second distance amplitude data respectively to obtain the corresponding initial docking signal and secondary docking signal;

[0009] The auxiliary control module is used to control the operation of the lifting mechanism and the telescopic mechanism according to the initial docking signal, so as to complete the initial docking between the extension end and the docking device;

[0010] The main control module is used to control the operation of the lifting mechanism and the telescopic mechanism according to the secondary docking signal, so as to complete the secondary docking between the extension end and the docking device.

[0011] Preferably, the data processing module includes a first connection terminal and an initial docking control circuit and a secondary docking control circuit connected to the first connection terminal. The initial docking control circuit is provided with a second connection terminal and a sixth connection terminal for connecting to the data processing module. The secondary docking control circuit is provided with a third connection terminal, a fourth connection terminal and a fifth connection terminal for connecting to the data processing module.

[0012] The first connection terminal is used to connect to the data processing module and receive the first distance amplitude data and the second distance amplitude data detected in real time by the ranging element;

[0013] The initial docking control circuit is used to process the first distance amplitude data to obtain an automatic docking signal and a stop extension signal; and to transmit the automatic docking signal and the stop extension signal to the data processing module through the second connection terminal.

[0014] The secondary docking control circuit is used to control the telescopic mechanism to stop extending the extension end based on the stop extension signal from the auxiliary control module, process the second distance amplitude data to obtain an amplitude adjustment signal, an upward adjustment signal and a downward adjustment signal; and transmit the amplitude adjustment signal, the upward adjustment signal and the downward adjustment signal to the data processing module through the third connection terminal, the fourth connection terminal and the fifth connection terminal respectively.

[0015] The initial docking signal includes an automatic docking signal and a stop extension signal, and the secondary docking signal includes an amplitude adjustment signal, an upward adjustment signal, and a downward adjustment signal.

[0016] Preferably, the initial docking control circuit includes a first operational element, a second operational element, and a third operational element. The first connection terminal is connected to the non-inverting input terminal of the first operational element and the inverting input terminal of the second operational element, respectively. The output terminal of the first operational element is connected to the non-inverting input terminal of the second operational element. The output terminal of the second operational element is connected to the non-inverting input terminal of the third operational element through a first semiconductor element. The inverting input terminal of the third operational element is connected to the sixth connection terminal. The output terminal of the third operational element is connected to the second semiconductor element and the second connection terminal, respectively. A second resistor is connected between the output terminal and the inverting input terminal of the first operational element. The output terminal of the first operational element is grounded through a first capacitor, and the output terminal of the second operational element is also grounded through a sixth resistor.

[0017] Preferably, the second resistor is connected to the power supply terminal through the fifth and third resistors, and the fifth resistor is grounded through the fourth resistor; the second semiconductor element is connected to the power supply terminal through the seventh resistor, and the second semiconductor element is grounded through the eighth resistor; the second semiconductor element, the seventh resistor, and the eighth resistor are all connected to the non-inverting input terminal of the third operational element; the initial docking control circuit includes:

[0018] The ground flatness deviation amplitude signal is acquired, and the ground flatness deviation amplitude signal is transmitted to the inverting input terminal of the first operational element through the fifth resistor;

[0019] The ground flatness deviation amplitude signal and the first distance amplitude data are processed by the first computing element to obtain the hysteresis amplitude signal;

[0020] Based on the first distance amplitude data, which is a distance signal amplitude cliff and the hysteresis amplitude signal, the second arithmetic element processes the data and outputs a feedback signal at the output of the second arithmetic element.

[0021] The feedback signal is input to the third computing element for processing to obtain an automatic docking signal;

[0022] The automatic docking signal is fed back and anti-reverse processed by the second semiconductor element, the seventh resistor and the eighth resistor, and the output terminal of the third operational element outputs a stop extension signal.

[0023] Preferably, the output terminal of the third operational element is also grounded through the first switching element and the second switching element.

[0024] Preferably, the secondary docking control circuit includes a fourth operational element, a fifth operational element, a third switching element, a fourth switching element, a fifth switching element, a sixth switching element, a seventh switching element, an eighth switching element, a ninth switching element, and a tenth switching element. The output terminal of the third operational element is connected to the first terminal of the tenth switching element. The second terminal of the tenth switching element is connected to the third terminal of the ninth switching element and the second terminal of the eighth switching element, respectively. The first terminals of the ninth and eighth switching elements are both connected to the output terminal of the fourth operational element. The non-inverting input terminal of the fourth operational element is connected to the first connection terminal, the second terminal of the third switching element, and the third terminal of the fourth switching element, respectively. The inverting input terminal of the fourth operational element is connected to the second terminal of the fifth switching element. The fifth switching element is connected in the following way: the first end of the fifth switching element is connected to the first end of the sixth switching element, the first end of the fourth switching element, and the first end of the third switching element. The second end of the sixth switching element is connected to the sixth connection terminal via a series connection of an eighteenth resistor and a tenth resistor. The third end of the third switching element, the second end of the fourth switching element, and the second end of the seventh switching element are all connected to the third connection terminal. The second connection terminal is connected to the first end of the seventh switching element. The third end of the seventh switching element is connected to the output terminal of the fifth operational element. The non-inverting input terminal of the fifth operational element is connected to the third end of the fifth switching element via a twenty-third resistor and a fifth semiconductor element. The inverting input terminal of the fifth operational element is connected to the output terminal of the fifth operational element via a twenty-second resistor.

[0025] Preferably, the third terminal of the eighth switching element is connected to the fourth connection terminal, the second terminal of the ninth switching element is connected to the fifth connection terminal, the third terminal of the third switching element is connected to the inverting input terminal of the fifth operational element through a third semiconductor element and a twenty-first resistor, and the third terminal of the fifth switching element is grounded; the sixth connection terminal is connected to the power supply terminal through a ninth resistor, and the sixth connection terminal is grounded in series with a tenth resistor.

[0026] Preferably, the secondary docking control circuit includes:

[0027] If the second distance amplitude data is less than the preset height amplitude, the third switch element and the fifth switch element are turned on, and the second distance amplitude data is processed by the fourth arithmetic element that is turned off, with no amplitude adjustment signal output;

[0028] If the second distance amplitude data is greater than the preset height amplitude, the third switch element is turned off, the fourth switch element is turned on, the fifth switch element is turned off, the sixth switch element is turned on, and the seventh switch element is turned on. The second distance amplitude data is processed by the fourth and fifth arithmetic elements, and an amplitude adjustment signal is output from the third connection terminal.

[0029] Preferably, the secondary docking control circuit further includes:

[0030] If the second distance amplitude data is less than the preset height amplitude, the eighth switch element is turned on and the tenth switch element is turned off. The second distance amplitude data is processed by the third arithmetic element and the fourth arithmetic element that is turned off, and an upward adjustment signal is output from the fourth connection terminal.

[0031] If the second distance amplitude data is greater than the preset height amplitude, the ninth switch element is turned on, and the second distance amplitude data is processed by the third and fourth arithmetic elements, and a descent adjustment signal is output from the fifth connection terminal;

[0032] The docking completion feedback signal is obtained in real time from the sixth connection terminal, and the third computing element is controlled to be cut off according to the docking completion feedback signal.

[0033] In another aspect, a telescopic belt conveyor is provided, including the control system of the telescopic belt conveyor described above.

[0034] This telescopic belt conveyor and its control system are applied to a telescopic belt conveyor, which includes an extension end, a telescopic mechanism, and a lifting mechanism. A distance measuring element is located below the lifting mechanism. The control system includes a data processing module, a main control module, and an auxiliary control module. The data processing module processes first and second distance amplitude data to obtain corresponding initial and secondary docking signals. The auxiliary control module controls the lifting and telescopic mechanisms based on the initial docking signal to complete the initial docking between the extension end and the docking device. The main control module controls the lifting and telescopic mechanisms based on the secondary docking signal to complete the secondary docking between the extension end and the docking device. This control system achieves automatic docking between the extension end and the docking device in the telescopic belt conveyor through two docking steps, enabling precise automatic docking and automatically adapting to different docking device heights. As can be seen from the above technical solutions, the embodiments of this application have the following advantages: The control system of the telescopic belt conveyor can complete the automatic docking of the extension end of the telescopic belt conveyor with the docking equipment through two docking methods. It can remove the deviation of ground flatness during the first automatic docking to prevent docking malfunctions. During the second automatic docking, it can automatically feed back the correct lifting / lowering adjustment signal to the lifting mechanism based on the preset height amplitude and the second distance amplitude data. At the same time, it can feed back the adjustment amplitude required by the lifting mechanism when lifting / lowering to complete the precise automatic docking. It can automatically adapt to the height of different docking equipment and solve the technical problem that the control method of the existing telescopic belt conveyor cannot realize the automatic docking of its telescopic section with the docking equipment. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the control system of the telescopic belt conveyor described in the embodiments of this application;

[0037] Figure 2 This is a circuit diagram of the control system of the telescopic belt conveyor described in the embodiments of this application. Detailed Implementation

[0038] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0040] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0041] This application provides a telescopic belt conveyor and its control system, which solves the technical problem that the existing control methods of telescopic belt conveyors cannot achieve automatic docking between their telescopic sections and docking equipment.

[0042] Example 1:

[0043] Figure 1 This is a schematic diagram of the control system of the telescopic belt conveyor described in the embodiments of this application.

[0044] like Figure 1 As shown in the figure, this application provides a control system for a telescopic belt conveyor, which is applied to the telescopic belt conveyor. The telescopic belt conveyor is provided with an extension end that docks with a docking device, a telescopic mechanism for controlling the extension and retraction of the extension end, and a lifting mechanism for controlling the lifting and lowering of the extension end. A distance measuring element is provided below the lifting mechanism. The control system includes a data processing module 10 and a main control module 20 and an auxiliary control module 30 connected to the data processing module 10. The main control module 20 and the auxiliary control module 30 are respectively connected to the telescopic mechanism and the lifting mechanism.

[0045] It should be noted that the mechanical structure of the telescopic belt conveyor can refer to the telescopic belt conveyor structure disclosed in the prior art publication number CN116495408A.

[0046] In this embodiment of the application, the ranging element is used to acquire first distance amplitude data and second distance amplitude data before and after the initial docking between the ground where the telescopic belt conveyor is located and the ranging element.

[0047] It should be noted that the first distance amplitude data can be understood as the data measured before the telescopic belt conveyor docks with the docking equipment (such as the unloading container); the second distance amplitude data can theoretically be the data measured again after the initial docking of the telescopic belt conveyor and the docking equipment (such as the unloading container). In this embodiment, the ranging element can be a ranging sensor.

[0048] In this embodiment of the application, the data processing module 10 can be used to process the first distance amplitude data and the second distance amplitude data respectively to obtain the corresponding initial docking signal and secondary docking signal.

[0049] It should be noted that the data processing module 10 obtains the control signals for the lifting mechanism and the telescopic mechanism from the auxiliary control module 30 and the main control module 20 based on the data detected by the ranging element.

[0050] In this embodiment, the auxiliary control module 30 is used to control the operation of the lifting mechanism and the telescopic mechanism according to the initial docking signal, so as to complete the initial docking between the extension end and the docking device.

[0051] It should be noted that after receiving the initial docking signal, the auxiliary control module 30 can control the lifting mechanism and the telescopic mechanism to raise and extend the extension end according to the rising and extending signals of the automatic docking signal, respectively, so as to realize the first automatic docking between the telescopic belt conveyor and the docking equipment. The first automatic docking can be understood as follows: the lifting mechanism operates to raise the height of the extension end in the telescopic belt conveyor. The initial lifting height amplitude is set on the auxiliary control module, which is set according to the highest height amplitude in different docking equipment. After the lifting mechanism operates and raises the height of the extension end in the telescopic belt conveyor, the telescopic mechanism operates at the same time to extend the extension end in the telescopic belt conveyor.

[0052] In this embodiment, the main control module 20 is used to control the operation of the lifting mechanism and the telescopic mechanism according to the secondary docking signal, so as to complete the secondary docking between the extension end and the docking equipment.

[0053] It should be noted that after the first automatic docking, the main control module 20 controls the lifting mechanism and the telescopic mechanism to perform a second docking based on the second docking signal.

[0054] In this embodiment, the control system of the telescopic belt conveyor can automatically connect the extension end of the telescopic belt conveyor to the docking equipment through two docking processes. During the first automatic docking, it can eliminate deviations in ground flatness to prevent docking malfunctions. During the second automatic docking, it automatically feeds back the correct lifting / lowering adjustment signal to the lifting mechanism based on preset height amplitude and second distance amplitude data. At the same time, it feeds back the adjustment amplitude required for the lifting mechanism to lift / lower to complete precise automatic docking. It can automatically adapt to the height of different docking equipment, solving the technical problem that the existing control methods of telescopic belt conveyors cannot achieve automatic docking between their telescopic section and the docking equipment.

[0055] Figure 2 This is a circuit diagram of the control system of the telescopic belt conveyor described in the embodiments of this application.

[0056] like Figure 2 As shown, in one embodiment of this application, the data processing module includes a first connection terminal P1 and an initial docking control circuit and a secondary docking control circuit connected to the first connection terminal P1. The initial docking control circuit is provided with a second connection terminal P2 and a sixth connection terminal P4 for connecting to the data processing module 10. The secondary docking control circuit is provided with a third connection terminal P3, a fourth connection terminal P4 and a fifth connection terminal P5 connected to the data processing module 10.

[0057] The first connection terminal P4 is used to connect to the data processing module 10 and receive the first distance amplitude data and the second distance amplitude data detected in real time by the ranging element;

[0058] The initial docking control circuit is used to process the first distance amplitude data to obtain an automatic docking signal and a stop extension signal; and transmits the automatic docking signal and the stop extension signal to the data processing module 10 through the second connection terminal P2;

[0059] The secondary docking control circuit is used to control the extension mechanism to stop the extension end based on the stop extension signal of the auxiliary control module 30, process the second distance amplitude data to obtain amplitude adjustment signal, rise adjustment signal and fall adjustment signal; and transmit the amplitude adjustment signal, rise adjustment signal and fall adjustment signal to the data processing module through the third connection terminal P3, the fourth connection terminal P4 and the fifth connection terminal P5 respectively.

[0060] The initial docking signals include the automatic docking signal and the stop extension signal, while the secondary docking signals include the amplitude adjustment signal, the rise adjustment signal, and the fall adjustment signal.

[0061] It should be noted that the automatic docking signals include a rising signal controlling the extension end to rise via the lifting mechanism and an extending signal controlling the extension end to extend via the telescopic mechanism. The initial docking control circuit outputs an initial docking signal, enabling the auxiliary control module 30 to control the telescopic belt conveyor and the docking equipment to achieve the first automatic docking. The secondary docking control circuit outputs a secondary docking signal, enabling the main control module 20 to control the lifting mechanism to rise or fall according to the adjusted amplitude based on the amplitude adjustment signal and the rising and falling adjustment signals, thereby achieving the second automatic docking between the telescopic belt conveyor and the docking equipment. In this embodiment, the amplitude adjustment signal includes the adjusted amplitude.

[0062] like Figure 2 As shown, in one embodiment of this application, the initial docking control circuit includes a first operational element U1, a second operational element U2, and a third operational element U3. A first connection terminal P1 is connected to the non-inverting input terminal of the first operational element U1 and the inverting input terminal of the second operational element U2, respectively. The output terminal of the first operational element U1 is connected to the non-inverting input terminal of the second operational element U2. The output terminal of the second operational element U2 is connected to the non-inverting input terminal of the third operational element U3 through a first semiconductor element D1. The inverting input terminal of the third operational element U3 is connected to a sixth connection terminal P6. The output terminal of the third operational element U3 is connected to the second semiconductor element D2 and the second connection terminal P2, respectively. A second resistor R2 is connected between the output terminal and the inverting input terminal of the first operational element U1. The output terminal of the first operational element R1 is grounded through a first capacitor C1. The output terminal of the second operational element U2 is also grounded through a sixth resistor R6. The second resistor R2 is connected to the power supply terminal VCC through the fifth resistor R5 and the third resistor R3. The fifth resistor R5 is grounded through the fourth resistor R4. The second semiconductor element D2 is connected to the power supply terminal VCC through the seventh resistor R7. The second semiconductor element D2 is grounded through the eighth resistor R8. The second semiconductor element D2, the seventh resistor R7, and the eighth resistor R8 are all connected to the non-inverting input terminal of the third operational element U3. The output terminal of the third operational element U3 is also grounded through the first switching element Q1 and the second switching element Q2.

[0063] It should be noted that the operational element can be selected as an operational amplifier, the semiconductor element can be selected as a diode, and the switching element can be selected as a MOSFET, IGBT, or transistor, etc. The gate of the MOSFET or the base of the transistor serves as the first terminal of the switching element, the source of the MOSFET or the collector of the transistor serves as the second terminal of the switching element, and the drain of the MOSFET or the emitter of the transistor serves as the third terminal of the switching element. In this embodiment, a first resistor R1 is connected in series between the first connection terminal P1 and the non-inverting input terminal of the first operational element U1. One end of the first resistor R1 is connected to the inverting input terminal of the second operational element U2. A first connection terminal P1 is provided between the first resistor R1 and the inverting input terminal of the second operational element U2. The non-inverting input terminal of the first operational element U1 is connected to the other end of the first resistor R1. One end of the second resistor R2 is connected to the output terminal of the first operational element U1. The inverting input terminal of the first operational element U1 is connected to the other end of the second resistor R2. One end of the third resistor R3 is connected to the power supply terminal VCC. One end of the fourth resistor R4 is connected to the other end of the third resistor R3. The fifth resistor... One end of resistor R5 is connected between the third resistor R3 and the fourth resistor R4. The other end of the fifth resistor R5 is connected between the inverting input of the first operational element U1 and the second resistor R2. One end of the first capacitor C1 is connected between the output of the first operational element U1 and the second resistor R2. The non-inverting input of the second operational element U2 is connected between the output of the first operational element U1, the second resistor R2, and the first capacitor C1. The output of the second operational element U2 is connected to one end of the sixth resistor R6. The anode of the first semiconductor element D1 is connected between the output of the second operational element U2 and the sixth resistor R6. The other ends of the first capacitor C1, the fourth resistor R4, and the sixth resistor R6 are all grounded.One end of the seventh resistor R7 is connected to the power supply terminal VCC. One end of the eighth resistor R8 is connected to the other end of the seventh resistor R7. One end of the ninth resistor R9 is connected to the power supply terminal VCC. One end of the tenth resistor R10 is connected to the other end of the ninth resistor R9. A sixth connection terminal P6 is provided between the ninth resistor R9 and the tenth resistor R10. The inverting input terminal of the third operational element U3 is connected between the ninth resistor R9 and the tenth resistor R10. The non-inverting input terminal of the third operational element U3 is connected between the seventh resistor R7 and the eighth resistor R8. The cathode of the first semiconductor element D1 is connected between the seventh resistor R7, the eighth resistor R8, and the non-inverting input terminal of the third operational element U3. The output terminal of the third operational element U3 is connected to the anode of the second semiconductor element D2. The cathode of the second semiconductor element D2 is connected between the seventh resistor R7 and the eighth resistor R8. The anode of the second semiconductor element D2 is connected to the output terminal of the third operational element U3. A second connection terminal P2 is provided. One end of the thirteenth resistor R13 is connected to the power supply terminal VCC. One end of the fourteenth resistor R14 is connected to the other end of the thirteenth resistor R13. The second end of the first switching element Q1 is connected between the thirteenth resistor R13 and the fourteenth resistor R14. The first end of the first switching element Q1 is connected between the output terminal of the third operational element U3 and the anode of the second semiconductor element D2. The third end of the first switching element Q1 is connected to one end of the eleventh resistor R11. The third end of the second switching element Q2 is connected between the thirteenth resistor R13 and the fourteenth resistor R14. The first end of the second switching element Q2 is connected between the third end of the first switching element Q1 and the eleventh resistor R11. The second end of the second switching element Q2 is connected to one end of the twelfth resistor R12. The other ends of the eighth resistor R8, the tenth resistor R10, the eleventh resistor R11, the twelfth resistor R12, and the fourteenth resistor R14 are all grounded.

[0064] The initial docking control circuit includes:

[0065] The ground flatness deviation amplitude signal is acquired and transmitted to the inverting input terminal of the first operational element through the fifth resistor.

[0066] The ground flatness deviation amplitude signal and the first distance amplitude data are processed by the first arithmetic element to obtain the hysteresis amplitude signal;

[0067] Based on the first distance amplitude data, the distance signal amplitude cliff and the hysteresis amplitude signal are processed by the second arithmetic element, and the output of the second arithmetic element outputs a feedback signal;

[0068] The feedback signal is processed by the third processing element to obtain the automatic docking signal;

[0069] The automatic docking signal is fed back and anti-reverse processed by the second semiconductor element, the seventh resistor and the eighth resistor, and the output of the third operational element outputs a stop extension signal.

[0070] It should be noted that, as Figure 2As shown, the first distance amplitude data is fed back through the first connection terminal P1. The signal from the first connection terminal P1 is fed back to the non-inverting input terminal of the first operational amplifier U1 via the first resistor R1. The output terminal of the first operational amplifier U1 is negatively fed back through the second resistor R2 and the inverting input terminal of the first operational amplifier U1. The signal amplitude between the third resistor R3 and the fourth resistor R4 is the amplitude of the ground flatness deviation signal, preventing malfunctions caused by excessive ground flatness deviation between the extension end and the docking equipment when the extension end of the telescopic belt conveyor extends. The signal between the third resistor R3 and the fourth resistor R4 is fed back to the non-inverting input terminal of the first operational amplifier U1 via the fifth resistor R5. The output terminal of the first operational amplifier U1 has a lag amplitude signal that is lower than the measured amplitude, thereby removing the ground flatness deviation value. At the same time, the output terminal of the first operational amplifier U1 has a lag amplitude signal that is lower than the measured amplitude. When the time-varying signal amplitude of the first capacitor C1 rises / falls behind the first distance amplitude data, the signal at the first capacitor C1 is fed back to the non-inverting input of the second operational amplifier U2. The signal of the first distance amplitude data in the first connection terminal P1 is synchronously fed back to the inverting input of the second operational amplifier U2. During the initial height adjustment and extension, the amplitude of the first distance amplitude data signal fed back by the ranging element will gradually increase. When the ranging element is above the docking equipment, the distance between the docking equipment and the ground will cause the signal amplitude of the first distance amplitude data to drop sharply. When the signal amplitude at the first connection terminal P1 drops sharply, the lag of the signal amplitude at the first capacitor C1 makes the signal amplitude of the lagging amplitude signal at the first capacitor C1 higher than that at the first connection terminal P1. The second operational amplifier U2 outputs a feedback signal, and the feedback signal at the output of the second operational amplifier U2 is grounded through the sixth resistor R6. The signal between the ninth resistor R9 and the tenth resistor R10 is fed back to the inverting input of the third operational amplifier U3. When the signal amplitude of the first distance amplitude data drops sharply, the second operational amplifier U2 outputs. The signal between the second operational amplifier U2 and the sixth resistor R6 is fed back to the non-inverting input of the third operational amplifier U3 via the first semiconductor element D1. At the same time, the signal amplitude between the seventh resistor R7 and the eighth resistor R8 increases, and the third operational amplifier U3 outputs an automatic docking signal. The output signal of the third operational amplifier U3 is the automatic docking signal. When the third operational amplifier U3 outputs the automatic docking signal, the automatic docking signal output by the third operational amplifier U3 is fed back to the area between the seventh resistor R7 and the eighth resistor R8 via the second semiconductor element D2. The anti-reverse function of the second semiconductor element D2 causes the third operational amplifier U3 to normally output a stop extension signal. The signal between the output of the third operational amplifier U3 and the second semiconductor element D2 is fed back to the telescopic mechanism via the second connection terminal P2. When the telescopic mechanism receives the stop extension signal feedback, the telescopic mechanism stops extending.The signal amplitude between the thirteenth resistor R13 and the fourteenth resistor R14 is the preset height amplitude between the ranging element and the docking device. The preset height amplitude can be adjusted by setting the resistance value of the fourteenth resistor R14 as needed. The signal between the thirteenth resistor R13 and the fourteenth resistor R14 is grounded through the second terminal of the first switching element Q1, the third terminal of the first switching element Q1, and the eleventh resistor R11. At the same time, the signal between the thirteenth resistor R13 and the fourteenth resistor R14 is fed back to the third terminal of the second switching element Q2. When the third operational amplifier U3 outputs a stop extension signal, the stop extension signal at the output of the third operational amplifier U3 is synchronously fed back to the first terminal of the first switching element Q1. The voltage difference between the first terminal and the second terminal of the first switching element Q1 is higher than the conduction threshold, so the first switching element Q1 is turned off, causing the third terminal of the second switching element Q2 to be forward biased with the first terminal of the second switching element Q2, and the second switching element Q2 to be turned on. The signal between the thirteenth resistor R13 and the fourteenth resistor R14 is grounded through the third terminal of the second switching element Q2, the second terminal of the second switching element Q2, and the twelfth resistor R12.

[0071] like Figure 2As shown, in one embodiment of this application, the secondary docking control circuit includes a fourth operational element U4, a fifth operational element U5, a third switching element Q3, a fourth switching element Q4, a fifth switching element Q5, a sixth switching element Q6, a seventh switching element Q7, an eighth switching element Q8, a ninth switching element Q9, and a tenth switching element Q10. The output terminal of the third operational element U3 is connected to the first terminal of the tenth switching element Q10. The second terminal of the tenth switching element Q2 is connected to the third terminal of the ninth switching element Q3 and the second terminal of the eighth switching element Q8, respectively. The first terminals of the ninth switching element Q9 and the eighth switching element Q8 are both connected to the output terminal of the fourth operational element U4. The non-inverting input terminal of the fourth operational element U4 is connected to the first connection terminal P1, the second terminal of the third switching element Q3, and the third terminal of the fourth switching element Q4, respectively. The inverting input terminal of the fourth operational element U4 is connected to the fifth switching element Q10. The second end of component Q5 is connected to the first end of the fifth switching component Q5, which is connected to the first end of the sixth switching component Q6, the first end of the fourth switching component Q4, and the first end of the third switching component Q3. The second end of the sixth switching component Q6 is connected to the sixth connection terminal P6 via the eighteenth resistor R18 and the tenth resistor R10. The third end of the third switching component Q3, the second end of the fourth switching component Q4, and the second end of the seventh switching component Q7 are also connected to the third connection terminal P3. The second connection terminal P2 is connected to the first end of the seventh switching component Q7. The third end of the seventh switching component Q7 is connected to the output terminal of the fifth operational component U5. The non-inverting input terminal of the fifth operational component U5 is connected to the third end of the fifth switching component Q5 via the twenty-third resistor R23 and the fifth semiconductor component D5. The inverting input terminal of the fifth operational component U5 is connected to the output terminal of the fifth operational component U5 via the twenty-second resistor R23. The third terminal of the eighth switching element Q8 is connected to the fourth connection terminal P4; the second terminal of the ninth switching element Q9 is connected to the fifth connection terminal P5; the third terminal of the third switching element Q3 is connected to the inverting input terminal of the fifth operational element U5 through the third semiconductor element D3 and the twenty-first resistor R21; the third terminal of the fifth switching element Q5 is grounded; the sixth connection terminal P6 is connected to the power supply terminal VCC through the ninth resistor R9; and the sixth connection terminal P6 is connected to the ground in series with the tenth resistor R10.

[0072] It should be noted that the second terminal of the third switching element Q3 is connected between the first resistor R1 and the inverting input terminal of the second operational element U2; the non-inverting input terminal of the fourth operational element U4 is connected between the second terminal of the third switching element Q3, the first resistor R1, and the inverting input terminal of the second operational element U2; the third terminal of the third switching element Q3 is connected to one end of the fifteenth resistor R15; the anode of the third semiconductor element D3 is connected between the third terminal of the third switching element Q3 and the fifteenth resistor R15; the third terminal of the fourth switching element Q4 is connected between the second terminal of the third switching element Q3 and the non-inverting input terminal of the fourth operational element U4; the second terminal of the fourth switching element Q4 is connected to one end of the sixteenth resistor R16; and the fourth semiconductor element D4... The anode is connected between the second terminal of the fourth switching element Q4 and the sixteenth resistor R16. The first terminal of the third switching element Q3 is connected to the first terminal of the fourth switching element Q4. The output terminal of the fourth operational element U4 is connected between the first terminals of the third switching element Q3 and the first terminals of the fourth switching element Q4. The inverting input terminal of the fourth operational element U4 is connected between the second terminal of the second switching element Q2 and the twelfth resistor R12. The second terminal of the fifth switching element Q5 is connected between the inverting input terminal of the fourth operational element U4, the second terminal of the second switching element Q2, and the twelfth resistor R12. The third terminal of the fifth switching element Q5 is connected to one end of the seventeenth resistor R17. The anode of the fifth semiconductor element D5 is connected to the fifth switching element Q5. The third terminal is connected between the seventeenth resistor R17 and the third terminal of the sixth switching element Q6. The cathode of the fifth semiconductor element D5 is connected to the cathode of the fourth semiconductor element D4. The third terminal of the sixth switching element Q6 is connected between the second terminal of the second switching element Q2, the twelfth resistor R12, the inverting input terminal of the fourth operational element U4, and the second terminal of the fifth switching element Q5. The second terminal of the sixth switching element Q6 is connected to one end of the eighteenth resistor R18. The anode of the sixth semiconductor element D6 is connected between the second terminal of the sixth switching element Q6 and the eighteenth resistor R18. The cathode of the sixth semiconductor element D6 is connected to the cathode of the third semiconductor element D3. The first terminal of the fifth switching element Q5 is connected to the output terminal of the fourth operational element U4. The first terminal of the sixth switching element Q6 is connected to... Between the output terminal of the fourth operational element U4 and the first terminal of the fifth switching element Q5, the first terminal of the seventh switching element Q7 is connected between the output terminal of the third operational element U3, the first terminal of the first switching element Q1, and the anode of the second semiconductor element D2. The third terminal of the seventh switching element Q7 is connected to the output terminal of the fifth operational element U5. The second terminal of the seventh switching element Q7 is connected to one end of the nineteenth resistor R19. A third connection terminal P3 is provided between the second terminal of the seventh switching element Q7 and the nineteenth resistor R19. One end of the twentieth resistor R20 is connected to the non-inverting input terminal of the fifth operational element U5. One end of the twenty-first resistor R21 is connected between the cathode of the third semiconductor element D3 and the cathode of the sixth semiconductor element D6.The other end of the twenty-first resistor R21 is connected to one end of the twenty-second resistor R22. The other end of the twenty-second resistor R22 is connected between the output terminal of the fifth operational element U5 and the third terminal of the seventh switching element Q7. The inverting input terminal of the fifth operational element U5 is connected between the twenty-first resistor R21 and the twenty-second resistor R22. One end of the twenty-third resistor R23 is connected between the non-inverting input terminal of the fifth operational element U5 and the twentieth resistor R20. The other end of the twenty-third resistor R23 is connected between the cathode of the fourth semiconductor element D4 and the cathode of the fifth semiconductor element D5. The other ends of the fifteenth resistor R15, the sixteenth resistor R16, the seventeenth resistor R17, the eighteenth resistor R18, the nineteenth resistor R19, and the twentieth resistor R20 are all grounded. One end of the twenty-fourth resistor R24 ​​is connected to the power supply terminal VCC. The second end of the eighth switch element Q8 is connected to the other end of the twenty-fourth resistor R24. The third end of the eighth switch element Q8 is connected to one end of the twenty-fifth resistor R25. A fourth connection terminal P4 is provided between the third end of the eighth switch element Q8 and the twenty-fifth resistor R25. The second end of the ninth switch element Q9 is connected to one end of the twenty-sixth resistor R26. A fifth connection terminal P5 is provided between the second end of the ninth switch element Q9 and the twenty-sixth resistor R26. The first end of the ninth switch element Q9 is connected to the first end of the eighth switch element Q8 and the fourth... Between the output terminals of operational element U4, the first terminal of the eighth switching element Q8 is connected to the output terminal of the fourth operational element U4; the third terminal of the ninth switching element Q9 is connected between the twenty-fourth resistor R24 ​​and the second terminal of the eighth switching element Q8; the second terminal of the tenth switching element Q10 is connected between the twenty-fourth resistor R24, the second terminal of the eighth switching element Q8, and the third terminal of the ninth switching element Q9; the first terminal of the tenth switching element Q10 is connected to the output terminal of the third operational element U3; the third terminal of the tenth switching element Q10, the other terminal of the twenty-fifth resistor R25, and the other terminal of the twenty-sixth resistor R26 are all grounded. One terminal of the twenty-seventh resistor R27 is connected to the output terminal of the fourth operational element U4. The twenty-seventh resistor R27 is used to discharge the parasitic capacitance in the third switching element Q3, the fourth switching element Q4, the fifth switching element Q5, the sixth switching element Q6, the eighth switching element Q8, and the ninth switching element Q9; the other terminal of the twenty-seventh resistor R27 is grounded. In this embodiment, the fourteenth resistor R14 can be selected as an adjustable potentiometer.

[0073] In one embodiment of this application, the secondary docking control circuit includes:

[0074] If the second distance amplitude data is less than the preset height amplitude, the third and fifth switch elements are turned on, and the second distance amplitude data is processed by the fourth operational element which is turned off, with no amplitude adjustment signal output.

[0075] If the second distance amplitude data is greater than the preset height amplitude, the third switch element is turned off, the fourth switch element is turned on, the fifth switch element is turned off, the sixth switch element is turned on, and the seventh switch element is turned on. The second distance amplitude data is processed by the fourth and fifth arithmetic elements, and the amplitude adjustment signal is output from the third connection terminal.

[0076] It should be noted that when the telescopic mechanism stops extending and the second distance amplitude data is lower than the preset height amplitude, the signal at the first connection terminal P1 is fed back to the non-inverting input terminal of the fourth operational amplifier U4, and the signal between the second terminal of the second switching element Q2 and the twelfth resistor R12 is fed back to the inverting input terminal of the fourth operational amplifier U4. The fourth operational element U4 is turned off, and the output signal of the fourth operational element U4 is fed back to the first terminal of the third switching element Q3 and the first terminal of the fourth switching element Q4. The voltage difference between the first terminal and the second terminal of the third switching element Q3 is lower than the conduction threshold, and the third switching element Q3 is turned on. The signal at the first connection terminal P1 passes through the second terminal of the third switching element Q3 and the third switching element Q4. The third terminal of the third switching element Q3 and the fifteenth resistor R15 are grounded. The signal between the third terminal of the third switching element Q3 and the fifteenth resistor R15 is fed back to the inverting input terminal of the fifth operational element U5 through the third semiconductor element D3 and the twenty-first resistor R21. The voltage difference between the first terminal and the second terminal of the fifth switching element Q5 is lower than the conduction threshold, so the fifth switching element Q5 is turned on. The signal between the second terminal of the second switching element Q2 and the twelfth resistor R12 is grounded through the second terminal of the fifth switching element Q5 and the seventeenth resistor R17. The signal between the second terminal of the fifth switching element Q5 and the seventeenth resistor R17 is grounded through the fifth semiconductor element D5, the twenty-third resistor R23, and the twentieth resistor R20.When the second distance amplitude data is greater than the preset height amplitude, the fourth operational element U4 outputs, and the signal from the output terminal of the fourth operational element U4 is fed back to the first terminal of the fifth switching element Q5 and the first terminal of the sixth switching element Q6. The third switching element Q3 is turned off, and the first terminal and the second terminal of the fourth switching element Q4 are higher than the conduction threshold, so the fourth switching element Q4 is turned on. The signal at the first connection terminal P1 is grounded through the third terminal of the fourth switching element Q4, the second terminal of the fourth switching element Q4, and the sixteenth resistor R16. The signal between the second terminal of the fourth switching element Q4 and the sixteenth resistor R16 is grounded through the fourth... Semiconductor element D4, the 23rd resistor R23, and the 20th resistor R20 are grounded. Simultaneously, the 5th switch element Q5 is off. The voltage difference between the first and second terminals of the 6th switch element Q6 exceeds the conduction threshold, causing Q6 to conduct. The signal between the second terminal of the 2nd switch element Q2 and the 12th resistor R12 is grounded via the third terminal of the 6th switch element Q6, the second terminal of the 6th switch element Q6, and the 18th resistor R18. The signal between the second terminal of the 6th switch element Q6 and the 18th resistor R18 is fed back to the 6th semiconductor element D6 and the 21st resistor R21. The signal between the inverting input of the fifth operational element U5 and the twenty-third resistor R23 and the twentieth resistor R20 is fed back to the non-inverting input of the fifth operational element U5. The output of the fifth operational element U5 is negatively fed back to the inverting input of the fifth operational element U5 through the twenty-second resistor R22. The output amplitude of the fifth operational element U5 outputs an amplitude adjustment signal, the amplitude of which is the adjustment amplitude of the secondary lifting of the lifting mechanism. At the same time, the output signal of the third operational element U3 is fed back to the first terminal of the seventh switching element Q7. The voltage difference between the first terminal and the second terminal of the seventh switching element Q7 is higher than... When the conduction threshold is reached, the seventh switching element Q7 is turned on. The output of the fifth operational element U5 outputs an amplitude adjustment signal, which is grounded through the third terminal of the seventh switching element Q7 and the nineteenth resistor R19. The amplitude adjustment signal between the third terminal of the seventh switching element Q7 and the nineteenth resistor R19 is fed back to the lifting mechanism through the third connection terminal P3, so that the lifting mechanism receives feedback on the adjusted amplitude. In this way, during the secondary automatic docking, the required signal amplitude can be effectively adjusted to the lifting mechanism based on the preset height amplitude and the actual amplitude, preventing the problem of having to reset the height amplitude each time due to the different height of the docking equipment.

[0077] In one embodiment of this application, the secondary docking control circuit further includes:

[0078] If the second distance amplitude data is less than the preset height amplitude, the eighth switch element is turned on and the tenth switch element is turned off. The second distance amplitude data is processed by the third arithmetic element and the fourth arithmetic element that is turned off, and an upward adjustment signal is output from the fourth connection terminal.

[0079] If the second distance amplitude data is greater than the preset height amplitude, the ninth switch element is turned on, and the second distance amplitude data is processed by the third and fourth arithmetic elements, and a descent adjustment signal is output from the fifth connection terminal;

[0080] The docking completion feedback signal is obtained in real time from the sixth connection terminal, and the third computing element is controlled to be cut off according to the docking completion feedback signal.

[0081] It should be noted that the output signal of the fourth operational element U4 is grounded through the twenty-seventh resistor R27, and the power signal is grounded through the twenty-fourth resistor R24, the second terminal of the tenth switching element Q10, and the third terminal of the tenth switching element Q10. When automatic docking occurs and the second distance amplitude data is less than the preset height amplitude, the output signal of the third operational element U3 is fed back to the first terminal of the tenth switching element Q10. The voltage difference between the first and second terminals of the tenth switching element Q10 is higher than the conduction threshold, so the tenth switching element Q10 is turned off, the fourth operational element U4 is turned off, and the output signal of the fourth operational element U4 is fed back. The power supply is fed to the first terminal of the eighth switching element Q8 and the first terminal of the ninth switching element Q9. The voltage difference between the first terminal and the second terminal of the eighth switching element Q8 is lower than the conduction threshold, so the eighth switching element Q8 is turned on. The power signal is grounded through the twenty-fourth resistor R24, the second terminal of the eighth switching element Q8, the third terminal of the eighth switching element Q8, and the twenty-fifth resistor R25. The signal between the third terminal of the eighth switching element Q8 and the twenty-fifth resistor R25 is output as a rise adjustment signal through the fourth connection terminal P4 and fed back to the lifting mechanism. The signal between the eighth switching element Q8 and the twenty-fifth resistor R25 is the rise signal of the lifting mechanism. When the telescopic mechanism stops and the second distance amplitude data is greater than the preset height amplitude, the voltage difference between the first and second terminals of the ninth switch element Q9 is higher than the conduction threshold, and the ninth switch element Q9 conducts. The power signal is grounded through the twenty-fourth resistor R24, the third terminal of the ninth switch element Q9, the second terminal of the ninth switch element Q9, and the twenty-sixth resistor R26. The signal between the second terminal of the ninth switch element Q9 and the twenty-sixth resistor R26 is output as a descent adjustment signal and fed back to the lifting mechanism through the fifth connection terminal P5. The signal between the second terminal of the ninth switch element Q9 and the twenty-sixth resistor R26 is the signal for the lifting mechanism to descend. The lowering signal is used to automatically feed back the correct lifting / lowering adjustment signal to the lifting mechanism based on the preset height amplitude and the actual amplitude during the secondary automatic docking. When the lifting mechanism receives feedback on the lifting / lowering adjustment signal and the amplitude of the adjustment signal, the lifting mechanism performs secondary height adjustment according to the amplitude of the adjustment signal to complete the precise docking of the extension end of the telescopic belt conveyor with the docking equipment. When the docking is completed, the lifting mechanism feeds back the docking completion feedback signal to the area between the ninth resistor R9 and the tenth resistor R10 through the sixth connection terminal P6. The signal between the nineteenth resistor R9 and the tenth resistor R10 rises, controlling the third operating element U3 to cut off and releasing the automatic docking.

[0082] Example 2:

[0083] This application provides a telescopic belt conveyor, including the control system of the telescopic belt conveyor described above.

[0084] It should be noted that the control system of the telescopic belt conveyor in Embodiment 2 has been described in Embodiment 1, and the control system of the telescopic belt conveyor will not be described in detail in this embodiment.

[0085] Terminal devices can be computing devices such as desktop computers, laptops, handheld computers, and cloud servers. Terminal devices may include, but are not limited to, processors and memory. Those skilled in the art will understand that this does not constitute a limitation on the terminal device, which may include more or fewer components than illustrated, or combinations of certain components, or different components. For example, a terminal device may also include input / output devices, network access devices, buses, etc.

[0086] The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor, etc.

[0087] Memory can be an internal storage unit of a terminal device, such as a hard drive or RAM. Memory can also be an external storage device, such as a plug-in hard drive, smart memory card (SMC), secure digital card (SD) card, or flash card. Furthermore, memory can include both internal and external storage units. Memory is used to store computer programs and other programs and data required by the terminal device. Memory can also be used to temporarily store data that has been output or will be output.

[0088] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0089] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0090] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0091] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0092] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0093] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control system for a telescopic belt conveyor, applied to a telescopic belt conveyor, characterized in that, The telescopic belt conveyor is provided with an extension end that docks with the docking equipment, a telescopic mechanism for controlling the extension and retraction of the extension end, and a lifting mechanism for controlling the lifting and lowering of the extension end. A distance measuring element is provided below the lifting mechanism. The control system includes a data processing module and a main control module and an auxiliary control module connected to the data processing module. The main control module and the auxiliary control module are respectively connected to the telescopic mechanism and the lifting mechanism. The ranging element is used to acquire first distance amplitude data and second distance amplitude data before and after the initial docking between the ground where the telescopic belt conveyor is located and the ranging element. The data processing module is used to process the first distance amplitude data and the second distance amplitude data respectively to obtain the corresponding initial docking signal and secondary docking signal; The auxiliary control module is used to control the operation of the lifting mechanism and the telescopic mechanism according to the initial docking signal, so as to complete the initial docking between the extension end and the docking device; The main control module is used to control the operation of the lifting mechanism and the telescopic mechanism according to the secondary docking signal, so as to complete the secondary docking between the extension end and the docking device. The data processing module includes a first connection terminal and an initial docking control circuit connected to the first connection terminal; the initial docking control circuit is provided with a second connection terminal and a sixth connection terminal for connecting to the data processing module; the initial docking control circuit includes a first arithmetic element, a second arithmetic element, and a third arithmetic element, the first connection terminal is connected to the non-inverting input terminal of the first arithmetic element and the inverting input terminal of the second arithmetic element respectively, the output terminal of the first arithmetic element is connected to the non-inverting input terminal of the second arithmetic element, the output terminal of the second arithmetic element is connected to the non-inverting input terminal of the third arithmetic element through a first semiconductor element, and the inverting input terminal of the third arithmetic element is connected to the first arithmetic element through a first semiconductor element. The sixth connection terminal is connected, and the output terminal of the third arithmetic element is connected to the second semiconductor element and the second connection terminal respectively. A second resistor is connected between the output terminal and the inverting input terminal of the first arithmetic element. The output terminal of the first arithmetic element is grounded through a first capacitor, and the output terminal of the second arithmetic element is also grounded through a sixth resistor. The second resistor is connected to the power supply terminal through a fifth resistor and a third resistor. The fifth resistor is grounded through a fourth resistor. The second semiconductor element is connected to the power supply terminal through a seventh resistor. The second semiconductor element is grounded through an eighth resistor. The second semiconductor element, the seventh resistor, and the eighth resistor are all connected to the non-inverting input terminal of the third arithmetic element. The initial docking control circuit includes the following: The ground flatness deviation amplitude signal is acquired and transmitted to the inverting input terminal of the first operational element through the fifth resistor. The ground flatness deviation amplitude signal and the first distance amplitude data are processed by the first computing element to obtain the hysteresis amplitude signal; Based on the first distance amplitude data, which is a distance signal amplitude cliff and the hysteresis amplitude signal, the second arithmetic element processes the data and outputs a feedback signal at the output of the second arithmetic element. The feedback signal is input to the third computing element for processing to obtain an automatic docking signal; The automatic docking signal is fed back and anti-reverse processed by the second semiconductor element, the seventh resistor and the eighth resistor, and the output terminal of the third operational element outputs a stop extension signal.

2. The control system for the telescopic belt conveyor according to claim 1, characterized in that, The data processing module includes a secondary docking control circuit connected to the first connection terminal, and the secondary docking control circuit is provided with a third connection terminal, a fourth connection terminal and a fifth connection terminal connected to the data processing module. The first connection terminal is used to connect to the data processing module and receive the first distance amplitude data and the second distance amplitude data detected in real time by the ranging element; The initial docking control circuit is used to process the first distance amplitude data to obtain an automatic docking signal and a stop extension signal; and to transmit the automatic docking signal and the stop extension signal to the data processing module through the second connection terminal. The secondary docking control circuit is used to control the telescopic mechanism to stop extending the extension end based on the stop extension signal from the auxiliary control module, process the second distance amplitude data to obtain an amplitude adjustment signal, an upward adjustment signal and a downward adjustment signal; and transmit the amplitude adjustment signal, the upward adjustment signal and the downward adjustment signal to the data processing module through the third connection terminal, the fourth connection terminal and the fifth connection terminal respectively. The initial docking signal includes an automatic docking signal and a stop extension signal, and the secondary docking signal includes an amplitude adjustment signal, an upward adjustment signal, and a downward adjustment signal.

3. The control system for the telescopic belt conveyor according to claim 1, characterized in that, The output of the third operational element is also grounded through the first and second switching elements.

4. The control system for the telescopic belt conveyor according to claim 2, characterized in that, The secondary docking control circuit includes a fourth operational element, a fifth operational element, a third switching element, a fourth switching element, a fifth switching element, a sixth switching element, a seventh switching element, an eighth switching element, a ninth switching element, and a tenth switching element. The output terminal of the third operational element is connected to the first terminal of the tenth switching element. The second terminal of the tenth switching element is connected to the third terminal of the ninth switching element and the second terminal of the eighth switching element. The first terminals of the ninth and eighth switching elements are both connected to the output terminal of the fourth operational element. The non-inverting input terminal of the fourth operational element is connected to the first connection terminal, the second terminal of the third switching element, and the third terminal of the fourth switching element. The inverting input terminal of the fourth operational element is connected to the second terminal of the fifth switching element. The first terminal of the fifth switching element is connected to the first terminal of the sixth switching element, the first terminal of the fourth switching element, and the first terminal of the third switching element. The second terminal of the sixth switching element is connected to the sixth connection terminal via a series connection of an eighteenth resistor and a tenth resistor. The third terminal of the third switching element, the second terminal of the fourth switching element, and the second terminal of the seventh switching element are all connected to the third connection terminal. The second connection terminal is connected to the first terminal of the seventh switching element. The third terminal of the seventh switching element is connected to the output terminal of the fifth operational element. The non-inverting input terminal of the fifth operational element is connected to the third terminal of the fifth switching element via a twenty-third resistor and a fifth semiconductor element. The inverting input terminal of the fifth operational element is connected to the output terminal of the fifth operational element via a twenty-second resistor.

5. The control system for the telescopic belt conveyor according to claim 4, characterized in that, The third terminal of the eighth switching element is connected to the fourth connection terminal, the second terminal of the ninth switching element is connected to the fifth connection terminal, the third terminal of the third switching element is connected to the inverting input terminal of the fifth operational element through the third semiconductor element and the twenty-first resistor, and the third terminal of the fifth switching element is grounded; the sixth connection terminal is connected to the power supply terminal through the ninth resistor, and the sixth connection terminal is grounded in series with the tenth resistor.

6. The control system for the telescopic belt conveyor according to claim 5, characterized in that, The secondary docking control circuit includes: If the second distance amplitude data is less than the preset height amplitude, the third switch element and the fifth switch element are turned on, and the second distance amplitude data is processed by the fourth arithmetic element that is turned off, with no amplitude adjustment signal output; If the second distance amplitude data is greater than the preset height amplitude, the third switch element is turned off, the fourth switch element is turned on, the fifth switch element is turned off, the sixth switch element is turned on, and the seventh switch element is turned on. The second distance amplitude data is processed by the fourth and fifth arithmetic elements, and an amplitude adjustment signal is output from the third connection terminal.

7. The control system for the telescopic belt conveyor according to claim 5, characterized in that, The secondary docking control circuit also includes: If the second distance amplitude data is less than the preset height amplitude, the eighth switch element is turned on and the tenth switch element is turned off. The second distance amplitude data is processed by the third arithmetic element and the fourth arithmetic element that is turned off, and an upward adjustment signal is output from the fourth connection terminal. If the second distance amplitude data is greater than the preset height amplitude, the ninth switch element is turned on, and the second distance amplitude data is processed by the third and fourth arithmetic elements, and a descent adjustment signal is output from the fifth connection terminal; The docking completion feedback signal is obtained in real time from the sixth connection terminal, and the third computing element is controlled to be cut off according to the docking completion feedback signal.

8. A telescopic belt conveyor, characterized in that, The control system of the telescopic belt conveyor as described in any one of claims 1-7.

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