A Simulation Method for the Dynamic Characteristics of a Wheel-Rail Type Belt Conveyor

Abstract

The present invention relates to the technical field of research on the dynamic characteristics of belt conveyors, and in particular to a simulation method for the dynamic characteristics of a wheel-rail type belt conveyor, which includes establishing dynamic models of a conveyor belt, a trolley device, a tensioning device, and a driving device, setting the dynamic parameters and boundary conditions and initial conditions of the dynamic models, using numerical calculation software to compile a calculation program, and simulating and analyzing the vibration conditions of the conveyor belt at the loading section and the vibration conditions when passing through the track gaps during uniform operation. The present invention uses MATLAB for numerical calculation and simulation analysis, and can accurately simulate and analyze the dynamic response conditions of the conveyor belt during vibration during the traveling process; combines a three-dimensional simulation method to verify the MATLAB numerical simulation results to ensure the accuracy of the simulation results.

Description

Technical Field

[0001] The present invention relates to the technical field of research on the dynamic characteristics of belt conveyors, and in particular to a simulation method for the dynamic characteristics of a wheel-rail type belt conveyor. Background Art

[0002] Belt conveyors are widely used in the transportation link of the coal industry. For long-distance cross-country belt conveyors, wheel-rail type belt conveyors can effectively reduce the running resistance. However, the introduction of wheel-rail running devices in wheel-rail type belt conveyors makes more obvious vibration and impact phenomena occur during operation. In particular, the longitudinal vibration along the moving direction has a greater impact on the stable operation of the conveyor, and serious accidents may occur in severe cases. When the belt conveyor runs at a low speed, the change of its dynamic characteristics is relatively small. However, at present, belt conveyors have developed towards high speed, long distance, and large conveying capacity. Especially for complex and changeable cross-country belt conveyors, due to the viscoelastic characteristics of the conveyor belt, they present complex dynamic characteristics, but there is still a lack of a method for accurately studying their dynamic characteristics in the existing solutions. Summary of the Invention

[0003] The present invention aims to solve the above problems and provides a simulation method for the dynamic characteristics of a wheel-rail type belt conveyor. The technical solution adopted is as follows:

[0004] A simulation method for the dynamic characteristics of a wheel-rail type belt conveyor, the wheel-rail type belt conveyor includes a towing vehicle track, a turning wheel, a towing vehicle device, a driving device, a conveyor belt, and a tensioning device. The turning wheel and the towing vehicle track form a closed-loop structure, and the turning wheel is arranged at both ends of the towing vehicle track. The number of towing vehicle devices is multiple, and they are driven by the driving device and move on the towing vehicle track and the turning wheel. The towing vehicle device includes a vehicle body and a front wheel and a rear wheel respectively rotatably connected to the front and rear ends of the vehicle body; it is defined that the upper towing vehicle track between two turning wheels is the load-bearing section, and the lower towing vehicle track is the return section. The conveyor belt is arranged on the towing vehicle device at the load-bearing section and the return section and moves synchronously with the towing vehicle device;

[0005] It is defined that the direction perpendicular to the conveyor belt surface of the load-bearing section and downward is the vertical direction, and the moving direction of the vehicle body along the towing vehicle track is the longitudinal direction;

[0006] The simulation method for the dynamic characteristics of a wheel-rail type belt conveyor includes the following steps:

[0007] S1. Assume that the towing vehicle only vibrates in the vertical direction, and the force exerted by the driving device on the towing vehicle is always along the longitudinal direction; assume that each towing vehicle device is an independent unit, and the conveyor belt corresponding to the towing vehicle device is defined as an independent unit, and the mass of each independent unit is concentrated at the center of mass; simplify the conveyor belt of each independent unit into a spring and a damper, where the spring is an ideal linear spring and the damper is an ideal viscous damper;

[0008] S2. Establish the dynamic model of the independent unit of the conveyor belt based on the Kelvin-Voigt model;

[0009] S3. Establish the mechanical equilibrium equation for the trailer device, and establish the vertical displacement equation and pitching displacement equation of the vehicle body according to Hamilton's principle, and then obtain the linear second-order differential equation of the independent unit of the trailer device;

[0010] S4. Establish the mechanical equilibrium equation for the tensioning device, combine the independent units of the two conveyor belts adjacent to the tensioning device, and establish the dynamic model of the tensioning device according to the Euler-Lagrange equation;

[0011] S5. Establish the dynamic model of the driving device;

[0012] S6. Combine the mathematical models in S2 and S5 to establish the overall dynamic model of the conveyor belt;

[0013] S7. Determine the dynamic parameters of the dynamic model in step S6, and the dynamic parameters include mass, stiffness, damping and external force;

[0014] S8. Set the initial conditions and boundary conditions of the dynamic model in step S6;

[0015] S9. Use numerical calculation software to compile a calculation program to simulate the vibration situation of the conveyor belt at the loading section and the vibration situation when passing through the track gap during uniform operation.

[0016] On the basis of the above scheme, step S2 is

[0017] Establish a constitutive model in which the belt core material and the steel wire rope are arranged at intervals along the width direction of the belt core, and then establish the balance equation of the independent unit of the conveyor belt

[0018] (2-1)

[0019] Where is the stress on the whole conveyor belt, is the stress on the steel wire rope, is the stress on the upper and lower cover layers, is the strain of the whole conveyor belt, is the strain of the steel wire rope, is the stress on the upper and lower cover layers, is the volume coefficient of a single steel wire rope in the whole conveyor belt; is the elastic modulus of the steel wire rope, is the elastic modulus of the upper and lower cover layers, is the Riemann-Liouville fractional derivative operator,

[0020] Arrange Equation (2-1) to obtain

[0021] (2 - 2)

[0022] Assuming that the changes in the conveyor belt stiffness and conveyor belt damping caused by the conveyor belt deflection are constant, and are respectively times of the conveyor belt stiffness and conveyor belt damping, then it can be assumed that

[0023] (2 - 3)

[0024] Based on Equation (2 - 3), a new constitutive equation is established

[0025] (2 - 4)

[0026] Performing Fourier integral on Equation (2 - 2) gives

[0027] (2 - 5)

[0028] The complex modulus in Equation (2 - 5) is

[0029] (2 - 6)

[0030] Since , where is the storage modulus, is the loss modulus, and the loss factor , it can be known that

[0031] (2 - 7)

[0032] (2 - 8)

[0033] (2 - 9)

[0034] According to the approximate relationship between the loss factor c and the damping, it can be obtained that

[0035] (2 - 10)

[0036] According to the finite element analysis method, each independent unit of the conveyor belt is regarded as a viscoelastic body respectively, and the conveyor belt is discretized for modeling. Select the th unit in the conveyor belt for analysis. Assuming that the mass of the discrete unit is , the stiffness coefficient is , the damping coefficient is , the displacement is , and the running resistance is . According to the force condition, its dynamic equation is

[0037] (2 - 11)

[0038] Among them is the tensile force received by this independent unit, and its magnitude is

[0039] (2 - 12)

[0040] Substituting Equation (2 - 12) into Equation (2 - 11) gives

[0041] (2 - 13).

[0042] Preferably, the step S3 includes

[0043] Analyze the force condition when the towing device does not contact the rotary wheel, and establish the balance equation of longitudinal power and resistance during the movement of the towing device

[0044] (3 - 1)

[0045] Among them is the frictional force of the conveyor belt on the towing device, is the external resistance, is the tangential force of the front-wheel track, is the tangential force of the rear-wheel track;

[0046] Taking the contact point between the front wheel and the towing track and the contact point between the rear wheel and the towing track respectively, the moment balance equation can be established as

[0047] (3 - 2)

[0048] Among them is the gravity, is the torque of the front wheel, is the torque of the rear wheel, is the normal support force of the front wheel, is the normal support force of the rear wheel, is the center distance between the front wheel and the rear wheel, is the horizontal distance between the centroid of the front wheel and the centroid of the vehicle body, is the horizontal distance between the centroid of the rear wheel and the centroid of the vehicle body, is the normal distance between the centroid of the vehicle body and the contact point of the wheel track;

[0049] According to Hamilton's principle, the vertical displacement equation of the towing device is established as

[0050] (3 - 3)

[0051] The pitching displacement equation of the vehicle body is established as

[0052] (3 - 4)

[0053] Wherein is the mass of the front wheel, is the mass of the rear wheel, is the mass of the vehicle body, is the vertical displacement of the front wheel, is the vertical displacement of the rear wheel, is the vertical displacement of the vehicle body, is the damping coefficient of the front wheel, is the damping coefficient of the rear wheel, is the damping coefficient of the vehicle body, is the stiffness coefficient of the front wheel, is the stiffness coefficient of the rear wheel, is the stiffness coefficient of the vehicle body, is the pitch angle of the vehicle body; is the moment of inertia of the vehicle body;

[0054] Establish a linear second - order differential equation for the towing device

[0055] (3 - 5)

[0056] Wherein is the mass matrix of the towing device; is the damping matrix of the towing device; is the stiffness matrix of the towing device; all of which are square matrices, is the acceleration matrix of the towing device, is the velocity matrix of the towing device, is the displacement matrix of the towing device, is the force matrix acting on each unit of the towing device, which is a column vector;

[0057] Rearranging equations (3 - 1) to (3 - 4) into the matrix form of a linear second - order differential equation gives

[0058] (3 - 6)

[0059] (3 - 7)

[0060] (3 - 8)

[0061] (3 - 9)

[0062] (3 - 10).

[0063] Preferably, the step S4 includes

[0064] A weight - type tensioning device is adopted, which includes a tensioning roller and a mass block. Assuming that the tensioning device is a constant - force tensioning, the force - balance equation of the tensioning device is established as

[0065] (4 - 1)

[0066] Where is the mass of the tensioning device, are the tensile forces on both ends of the tensioning device;

[0067] Define and respectively represent the displacements of the meeting point and the separation point of the tensioning roller and the conveyor belt, is the rotational displacement of the tensioning roller, is the vertical displacement of the tensioning roller, and we can get

[0068] (4 - 2)

[0069] After arrangement, we can get

[0070] (4 - 3)

[0071] Since the conveyor belt connected by the tensioning device is a continuous body, combining the two independent units of the conveyor belt connected to the tensioning device, according to the Euler - Lagrange equation, we can get

[0072] (4 - 4)

[0073] (4 - 5)

[0074] (4 - 6)

[0075] (4 - 7)

[0076] Establish the second - order differential equation of the tensioning device

[0077] (4 - 8)

[0078] Where is the mass matrix of the tensioning device; is the damping matrix of the tensioning device; is the stiffness matrix of the tensioning device; all of them are square matrices, is the acceleration matrix of the tensioning device, is the velocity matrix of the tensioning device, is the displacement matrix of the tensioning device, is the force matrix exerted by the tensioning device on each unit, and it is a column vector;

[0079] Rearranging equations (4-1) to (4-7) into the matrix form of a linear second-order differential equation gives

[0080] (4-9)

[0081] (4-10)

[0082] (4-11)

[0083] (4-12)

[0084] (4-13).

[0085] Preferably, step S5 is

[0086] Establishing the differential equation of the driving device

[0087] (5-1)

[0088] where is the driving force of the driving device, is the resistance of the driving roller, is the diameter of the driving roller, is the equivalent moment of inertia, is the angular acceleration, is the conveyor belt tension,

[0089] The above formula for calculating the conveyor belt tension is

[0090] (5-2)

[0091] Substituting equation (5-2) into equation (5-1) gives

[0092] (5-3)

[0093] From the quasi-dynamic characteristics, it can be known that

[0094] (5-4)

[0095] Substituting equation (5-4) into equation (5-3) gives

[0096] (5-5).

[0097] Based on the above solution, step S6 includes

[0098] Taking the connection between the conveyor belt and the driving device and the first starting point as the first unit, in the opposite direction of the conveyor belt operation, the load-carrying section of the conveyor belt is divided into N units, the conveyor belt at the turning roller is the (N + 1)th unit, the return section of the conveyor belt is divided into M sections, with a total of N + M + 1 units, and a discrete model of the conveyor belt is established, and we can get

[0099] (6-1)

[0100] Where ,

[0101] After arranging Equation (6-1) into matrix form, the uniform motion state of the conveyor belt under the constant force tensioning device can be obtained, and its differential equation of motion is

[0102] (6-2)

[0103] Where is the mass matrix of the conveyor belt; is the damping matrix of the conveyor belt; is the stiffness matrix of the conveyor belt; all of them are square matrices, is the acceleration matrix of the conveyor belt, is the velocity matrix of the conveyor belt, is the displacement matrix of the conveyor belt, is the force matrix acting on each unit of the conveyor belt, and is column vectors;

[0104] (6-3)

[0105] (6-4)

[0106] (6-5)

[0107] (6-6)

[0108] (6-7)

[0109] (6-8)

[0110] (6-9).

[0111] Preferably, the load-carrying section and the return section are divided into multiple independent units,

[0112] The mass of each independent unit in the load-carrying section is

[0113] (7-1)

[0114] Among them is the quality of the conveyor belt line, is the quality of the material line, is the quality of the trolley line, is the unit length;

[0115] The unit mass of the return section is

[0116] (7 - 2)

[0117] The mass of the drive device is

[0118] (7 - 3)

[0119] Among them is the equivalent moment of inertia of the motor, is the equivalent moment of inertia of the coupling;

[0120] The calculation formula for the damping coefficient at other positions except the conveyor belt is

[0121] (7 - 4)

[0122] Among them is the equivalent elastic modulus, is the viscosity coefficient;

[0123] The resistance of the load section is

[0124] (7 - 5)

[0125] The resistance of the return section is

[0126] (7 - 6)

[0127] Among them is the running resistance of the straight section of the load section, is the running resistance of the straight section of the return section, is the length of the conveyor, is the resistance coefficient of the conveyor belt running in the load section, taking , is the resistance coefficient of the conveyor belt running in the return section, taking , is the conveying inclination angle.

[0128] Preferably

[0129] The initial condition is

[0130] (8 - 1)

[0131] The boundary condition is

[0132] When time

[0133] (8 - 2)

[0134] When time

[0135] (8 - 3)

[0136] During the uniform operation

[0137] (8 - 4).

[0138] Preferably, step S9 uses MATLAB software to compile the calculation process, including the following steps

[0139] S9 - 1. Input the dynamic models of the towing device, the tensioning device, the driving device, and the conveyor belt;

[0140] S9 - 2. Input the dynamic parameters and set the initial conditions and boundary conditions;

[0141] S9 - 3. Determine whether the towing device passes through the track gap. If not, continue to step S9 - 6; if so, continue to step S9 - 4;

[0142] S9 - 4. Initialize the parameter matrix of the linear second - order differential equation of the towing device and set the initial state of the towing device;

[0143] S9 - 5. Use MATLAB to solve the response state of the towing device and output the resistance between the towing device and the conveyor belt;

[0144] S9 - 6. Initialize the parameter matrix of the linear second - order differential equation of the conveyor belt dynamic model and set the initial state of the conveyor belt;

[0145] S9 - 7. Select the time step and judge the algorithm convergence;

[0146] S9 - 8. Calculate the vibration state of the conveyor belt;

[0147] S9 - 9. Use the result of the previous time step as the initial iteration value to calculate the vibration state;

[0148] S9 - 10. Judge whether the actual calculation time t is greater than the planned calculation time T. If t > T is satisfied, continue to step S9 - 11; if t > T is not satisfied, return to step S9 - 8 to continue the calculation;

[0149] S9-11. Solve the dynamic models of the trailer device, the tensioning device, the driving device and the conveyor belt, and output the dynamic response results.

[0150] Preferably, it further includes three-dimensional dynamic simulation verification, and its steps include,

[0151] S10-1. Establish a three-dimensional model of the wheel-rail type belt conveyor and import it into the simulation software;

[0152] S10-2. Select the Harrison start acceleration curve as the start curve of the wheel-rail type belt conveyor;

[0153] S10-3. Output the vibration changes of the conveyor belt, the tension changes of the steel wire rope connecting adjacent trailer devices, and the friction changes between the trailer device and the conveyor belt when running at a constant speed on the straight tracks of the loading section and the return section;

[0154] S10-4. Output the vibration changes of the conveyor belt, the tension changes of the steel wire rope connecting adjacent trailer devices, and the friction changes between the trailer device and the conveyor belt when running at a constant speed on the straight tracks of the loading section and the return section and the distances between the trailer devices are different;

[0155] S10-5. Output the vibration changes of the conveyor belt, the tension changes of the steel wire rope connecting adjacent trailer devices, the friction changes between the trailer device and the conveyor belt, and the track strain when the trailer device passes through the track gap at different speeds;

[0156] S10-6. Output the vibration changes of the conveyor belt, the tension changes of the steel wire rope connecting adjacent trailer devices, the friction changes between the trailer device and the conveyor belt, and the track strain when the trailer device passes through the track gaps with different widths at a constant speed;

[0157] S10-7. Output the vibration changes of the conveyor belt, the tension changes of the steel wire rope connecting adjacent trailer devices, the friction changes between the trailer device and the conveyor belt, and the track strain when the trailer device passes through the track gaps with different height differences.

[0158] The beneficial effects of the present invention are as follows: Establish the dynamic models of the conveyor belt, the trailer device, the tensioning device and the driving device according to the actual working scenarios of the wheel-rail type belt conveyor, and use MATLAB for numerical calculation and simulation analysis, which can accurately simulate and analyze the dynamic response of the conveyor belt during the running process; combine the three-dimensional simulation method to verify the MATLAB numerical simulation results to ensure the accuracy of the simulation results. Description of the Drawings

[0159] Figure 1 : Schematic diagram of the installation state of the trailer track and the trailer device of the present invention;

[0160] Figure 2 : Schematic diagram of the layered structure of the conveyor belt of the present invention;

[0161] Figure 3 : Constitutive model diagram of the core layer of the conveyor belt of the present invention;

[0162] Figure 4 : Discrete element model diagram of the conveyor belt of the present invention;

[0163] Figure 5 : Force analysis diagram of the towing device of the present invention;

[0164] Figure 6 : Dynamic model diagram of the towing device of the present invention;

[0165] Figure 7 : Force analysis diagram of the gravity type tensioning device of the present invention;

[0166] Figure 8 : Dynamic model diagram of the gravity type tensioning device of the present invention;

[0167] Figure 9 : Force analysis diagram of the driving device of the present invention;

[0168] Figure 10 : Discrete model of the conveyor belt of the present invention;

[0169] Figure 11 : MATLAB compilation flow chart of the present invention;

[0170] Figure 12 : Dynamic model diagram of the towing device when passing through the track gap of the present invention;

[0171] Figure 13 : Harrison acceleration curve graph adopted by the present invention. Detailed implementation manners

[0172] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0173] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0174] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0175] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "beneath" and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0176] A simulation method for the dynamic characteristics of a wheel-rail type belt conveyor, such as Figure 1As shown in the figure, the wheel-rail type belt conveyor includes a trolley track 1, a rotary wheel 2, a trolley device 3, a driving device, a conveyor belt 4 and a tensioning device. The rotary wheel and the trolley track form a closed-loop structure, and the rotary wheel is arranged at both ends of the trolley track. The number of trolley devices is multiple, and they are driven by the driving device and move on the trolley track and the rotary wheel. The trolley device includes a vehicle body, a front wheel and a rear wheel rotatably connected to the front and rear ends of the vehicle body respectively. Define the upper side trolley track between two rotary wheels as the loading section, and the lower side trolley track as the return section. The conveyor belt is arranged on the trolley device at the loading section and the return section and moves synchronously with the trolley device. The vehicle body of the trolley device is of U-shaped structure, and the conveyor belt is arranged on the vehicle body, and the materials to be transported are carried above the conveyor belt. When the conveyor belt and the trolley body enter the rotary wheel, the conveyor belt and the trolley body are separated. The trolley enters the rotary wheel to change the track. After the conveyor belt is turned by the roller, it fits with the trolley again at the return section or the loading section. For the specific structure, reference can be made to the Chinese invention patent application "Track belt conveyor with rotary wheel structure", application number 201610184289.6, and the Chinese invention patent application "Rotary device for wheel-rail type belt conveyor and its rotary method", application number 202310411052.7.

[0177] Define the direction perpendicular to the belt surface of the conveyor belt in the loading section downward as the vertical direction, and the moving direction of the vehicle body along the trolley track as the longitudinal direction;

[0178] The dynamic characteristic simulation method of the wheel-rail type belt conveyor includes the following steps:

[0179] S1. Assume that the trolley only vibrates in the vertical direction, and the force of the driving device on the trolley is always along the longitudinal direction; assume that each trolley device is an independent unit, and the conveyor belt corresponding to the trolley device is defined as an independent unit, and the mass of each independent unit is concentrated at the center of mass; simplify the conveyor belt of each independent unit into a spring and a damper, where the spring is an ideal linear spring and the damper is an ideal viscous damper;

[0180] S2. Since the hysteresis characteristic of the conveyor belt has a far greater impact on the conveyor belt than the relaxation characteristic during the operation of the conveyor belt, a dynamic model of the conveyor belt independent unit is established based on the Kelvin-Voigt model;

[0181] Specifically, as Figures 2 to 4 shown, the conveyor belt 4 is a layered structure, including an upper cover layer 41, a belt core 42 and a lower cover layer 44 arranged in sequence. Steel wires 43 are arranged at intervals along the width direction in the belt core 42 layer. A constitutive model with the belt core material and the steel wires arranged at intervals is established along the width direction of the belt core, and then the balance equation of the conveyor belt independent unit is established

[0182] (2-1)

[0183] where is the stress on the entire conveyor belt, is the stress on the steel wire rope, is the stress on the upper and lower cover layers, is the strain of the entire conveyor belt, is the strain of the steel wire rope, is the stress on the upper and lower cover layers, is the volume coefficient of a single steel wire rope in the entire conveyor belt; is the elastic modulus of the steel wire rope, is the elastic modulus of the upper and lower cover layers, is the Riemann-Liouville fractional derivative operator,

[0184] Rearranging Equation (2-1) gives

[0185] (2-2)

[0186] Regarding the changes in the conveyor belt stiffness and conveyor belt damping caused by the conveyor belt deflection as constant, and being times the conveyor belt stiffness and conveyor belt damping respectively, then it can be assumed that

[0187] (2-3)

[0188] Based on Equation (2-3), a new constitutive equation is established

[0189] (2-4)

[0190] Performing a Fourier integral on Equation (2-2) gives

[0191] (2-5)

[0192] The complex modulus in Equation (2-5) is

[0193] (2-6)

[0194] Since , where is the storage modulus, is the loss modulus, and the loss factor , it can be seen that

[0195] (2-7)

[0196] (2-8)

[0197] (2-9)

[0198] According to the approximate relationship between the loss factor c and damping, it can be obtained that

[0199] (2-10)

[0200] According to the finite element analysis method, each independent unit of the conveyor belt is regarded as a viscoelastic body, and the conveyor belt is discretized for modeling. Select the th unit in the conveyor belt for analysis. Assume that the mass of the discrete unit is , the stiffness coefficient is , the damping coefficient is , the displacement is , the running resistance is . According to the force condition, its dynamic equation is

[0201] (2-11)

[0202] where is the tension received by this independent unit, and its magnitude is

[0203] (2-12)

[0204] Substituting Equation (2-12) into Equation (2-11), we can get

[0205] (2-13)。

[0206] S3. Establish a mechanical equilibrium equation for the trailer device, establish a vertical displacement equation and a pitching displacement equation of the vehicle body according to the Hamilton principle, and then obtain the linear second-order differential equation of the independent unit of the trailer device; specifically, as Figure 5 and Figure 6 shown,[[]]END

[0207] Analyze the force condition when the trailer device does not contact the rotating wheel, and establish a balance equation of the longitudinal power and resistance during the movement of the trailer device

[0208] (3-1)

[0209] where is the frictional force of the conveyor belt on the trailer device, is the external resistance, is the tangential force of the front wheel track, is the tangential force of the rear wheel track;

[0210] Taking the contact point between the front wheel and the trailer track and the contact point between the rear wheel and the trailer track respectively to establish the moment balance equation, we can get

[0211] (3-2)

[0212] wherein is the gravity, is the torque of the front wheel, is the torque of the rear wheel, is the normal support force of the front wheel, is the normal support force of the rear wheel, is the center distance between the front wheel and the rear wheel, is the horizontal distance between the centroid of the front wheel and the centroid of the vehicle body, is the horizontal distance between the centroid of the rear wheel and the centroid of the vehicle body, is the normal distance between the centroid of the vehicle body and the wheel-rail contact point;

[0213] According to Hamilton's principle, the vertical displacement equation of the towing device is established as

[0214] (3-3)

[0215] The pitching displacement equation of the vehicle body is established as

[0216] (3-4)

[0217] wherein is the mass of the front wheel, is the mass of the rear wheel, is the mass of the vehicle body, is the vertical displacement of the front wheel, is the vertical displacement of the rear wheel, is the vertical displacement of the vehicle body, is the damping coefficient of the front wheel, is the damping coefficient of the rear wheel, is the damping coefficient of the vehicle body, is the stiffness coefficient of the front wheel, is the stiffness coefficient of the rear wheel, is the stiffness coefficient of the vehicle body, is the pitching angle of the vehicle body; is the moment of inertia of the vehicle body;

[0218] The linear second-order differential equation of the towing device is established

[0219] (3-5)

[0220] wherein is the mass matrix of the towing device; is the damping matrix of the towing device; is the stiffness matrix of the towing device; all of them are square matrices, is the acceleration matrix of the towing device, is the velocity matrix of the towing device, is the displacement matrix of the towing device, is the force matrix exerted by the towing device on each unit, and is the column vector of;

[0221] Rearranging equations (3-1) to (3-4) into the matrix form of a linear second-order differential equation gives

[0222] (3-6)

[0223] (3-7)

[0224] (3-8)

[0225] (3-9)

[0226] (3-10).

[0227] S4. Establish a mechanical equilibrium equation for the tensioning device. Combining the two independent units of the conveyor belts adjacent to the tensioning device, establish a dynamic model of the tensioning device according to the Euler-Lagrange equation; specifically, as Figure 7 and Figure 8 shown,

[0228] Adopt a weight type tensioning device, which includes a tensioning roller and a mass block, and assume that the tensioning device is a constant force tensioning. Establish the force balance equation of the tensioning device as

[0229] (4-1)

[0230] where is the mass of the tensioning device, is the tension exerted on both ends of the tensioning device;

[0231] Define and to represent the displacements of the meeting point and the separation point of the tensioning roller and the conveyor belt respectively, is the rotational displacement of the tensioning roller, is the vertical displacement of the tensioning roller, and we can get

[0232] (4-2)

[0233] After rearrangement, we can get

[0234] (4-3)

[0235] Since the conveyor belts connected by the tensioning device are continuous bodies, combining the two independent units of the conveyor belts connected to the tensioning device, according to the Euler-Lagrange equation, we can get

[0236] (4 - 4)

[0237] (4 - 5)

[0238] (4 - 6)

[0239] (4 - 7)

[0240] Establish the second - order differential equation of the tensioning device

[0241] (4 - 8)

[0242] where is the mass matrix of the tensioning device; is the damping matrix of the tensioning device; is the stiffness matrix of the tensioning device; all of them are square matrices, is the acceleration matrix of the tensioning device, is the velocity matrix of the tensioning device, is the displacement matrix of the tensioning device, is the force matrix exerted by the tensioning device on each element, and is a column vector;

[0243] By arranging equations (4 - 1) to (4 - 7) into the matrix form of a linear second - order differential equation, we can obtain

[0244] (4 - 9)

[0245] (4 - 10)

[0246] (4 - 11)

[0247] (4 - 12)

[0248] (4 - 13)。

[0249] S5. Establish the dynamic model of the driving device; as Figure 9 shown,

[0250] Establish the differential equation of the driving device

[0251] (5 - 1)

[0252] where is the driving force of the driving device, is the resistance of the driving drum, is the diameter of the driving roller, is the equivalent moment of inertia, is the angular acceleration, is the conveyor belt tension,

[0253] The calculation formula for the above conveyor belt tension is

[0254] (5-2)

[0255] Substituting Equation (5-2) into Equation (5-1) gives

[0256] (5-3)

[0257] From the quasi-dynamic characteristics, it can be known that

[0258] (5-4)

[0259] Substituting Equation (5-4) into Equation (5-3) gives

[0260] (5-5).

[0261] S6. Combining the mathematical models of S2 and S5, establish the overall dynamic model of the conveyor belt; as Figure 10 shown,

[0262] Taking the connection between the conveyor belt and the driving device and the first starting point as the first unit, and dividing the load-bearing section of the conveyor belt into N units in the opposite direction of the conveyor belt operation, the conveyor belt at the turning roller is the (N + 1)th unit, and dividing the return section of the conveyor belt into M sections, a total of N + M + 1 units, establish a discrete model of the conveyor belt, and we can get

[0263] (6-1)

[0264] Among them ,

[0265] Rearranging Equation (6-1) into matrix form, the uniform motion state of the conveyor belt under the constant force tensioning device can be obtained, and its differential equation of motion is

[0266] (6-2)

[0267] Among them is the conveyor belt mass matrix; is the conveyor belt damping matrix; is the conveyor belt stiffness matrix; all of them are square matrices, is the conveyor belt acceleration matrix, is the conveyor belt velocity matrix, is the conveyor belt displacement matrix, is the force matrix exerted by the conveyor belt on each unit, and is the column vector of

[0268] (6-3)

[0269] (6-4)

[0270] (6-5)

[0271] (6-6)

[0272] (6-7)

[0273] (6-8)

[0274] (6-9).

[0275] S7. Determine the dynamic parameters of the dynamic model in step S6. The dynamic parameters include mass, stiffness, damping, and external forces;

[0276] Divide the loading section and the return section into multiple independent units,

[0277] The mass of each independent unit in the loading section is

[0278] (7-1)

[0279] where is the linear mass of the conveyor belt, is the linear mass of the material, is the linear mass of the trolley, is the unit length;

[0280] The unit mass of the return section is

[0281] (7-2)

[0282] The mass of the driving device is

[0283] (7-3)

[0284] where is the equivalent moment of inertia of the motor, is the equivalent moment of inertia of the coupling;

[0285] The calculation formula for the damping coefficient at other positions except the conveyor belt is

[0286] (7 - 4)

[0287] where is the equivalent elastic modulus, is the viscosity coefficient;

[0288] The resistance of the load - bearing section is

[0289] (7 - 5)

[0290] The resistance of the return section is

[0291] (7 - 6)

[0292] where is the running resistance of the straight section of the load - bearing section, is the running resistance of the straight section of the return section, is the length of the conveyor, is the resistance coefficient of the conveyor belt running in the load - bearing section, taking , is the resistance coefficient of the conveyor belt running in the return section, taking , is the conveying inclination angle.

[0293] S8. Set the initial conditions and boundary conditions of the dynamic model in step S6;

[0294] The initial conditions are

[0295] (8 - 1)

[0296] The boundary conditions are

[0297] When at that time

[0298] (8 - 2)

[0299] When at that time

[0300] (8 - 3)

[0301] During the uniform running process

[0302] (8 - 4).

[0303] S9. Use numerical calculation software to compile a calculation program to simulate the vibration situation of the conveyor belt at the load - bearing section and the vibration situation when passing through the track gap during uniform running.

[0304] Use MATLAB software to compile the calculation process, as Figure 11 shown, including the following steps,

[0305] S9-1. Input the dynamic models of the trailer device, the tensioning device, the driving device, and the conveyor belt dynamic model;

[0306] S9-2. Input the dynamic parameters and set the initial conditions and boundary conditions;

[0307] S9-3. Determine whether the trailer device passes through the track gap. If not, proceed to step S9-6; if so, proceed to step S9-4;

[0308] S9-4. Initialize the parameter matrix of the linear second-order differential equation of the trailer device and set the initial state of the trailer device;

[0309] S9-5. Use MATLAB to solve the response state of the trailer device and output the resistance between the trailer device and the conveyor belt;

[0310] S9-6. Initialize the parameter matrix of the linear second-order differential equation of the conveyor belt dynamic model and set the initial state of the conveyor belt;

[0311] S9-7. Select the time step and judge the convergence of the algorithm;

[0312] S9-8. Calculate the vibration state of the conveyor belt;

[0313] S9-9. Use the result of the previous time step as the initial iteration value to calculate the vibration state;

[0314] S9-10. Judge whether the actual calculation time t is greater than the planned calculation time T. If t>T is satisfied, proceed to step S9-11; if t>T is not satisfied, return to step S9-8 to continue the calculation;

[0315] S9-11. Solve the dynamic models of the trailer device, the tensioning device, the driving device, and the conveyor belt dynamic model and output the dynamic response results.

[0316] When the trailer device passes through the track gap, since there are significant differences between the movement of the trailer on the straight track and passing through the track gap, it is necessary to separately establish a dynamic model for the trailer when passing through the track gap. And because the wheel-rail collides with the track, it is necessary to add a track dynamic model to the original model, as Figure 12 shown,

[0317] The vertical vibration equation of the trailer passing through the track gap can be obtained from the Euler-Lagrange equation

[0318] (9-1)

[0319] (9-2)

[0320] (9 - 3)

[0321] Establish a pitching displacement analysis equation for the car body

[0322] (9 - 4)

[0323] Among them, is the angle between the front and rear wheel pairs and the track when colliding at the track gap

[0324] Since there are slight differences in the height difference between the front and rear tracks due to technical and precision issues during the actual construction of the track, but the differences are not obvious, the influence of the height difference between the front and rear tracks is ignored here The calculation method of is as follows

[0325] (9 - 5)

[0326] Among them is the radius of the front and rear wheels is the width of the track gap

[0327] Rearranging Equation (9 - 4) into the matrix form of a linear differential equation gives

[0328] (9 - 6)

[0329] (9 - 7)

[0330] (9 - 8)

[0331] (9 - 9)

[0332] (9 - 10)

[0333] When the trailer passes through the track gap, due to the change in the wheel pair height, a vertically downward velocity is generated, resulting in vibration, so its boundary conditions change, as shown in Equation (9 - 11)

[0334] (9 - 11)

[0335] Among them is the falling height of the front and rear wheels of the trailer , is the conveyor belt speed

[0336] It also includes three - dimensional dynamic simulation verification, and its steps include

[0337] S10 - 1. Establish a three - dimensional model of the wheel - rail type belt conveyor and import it into simulation software such as ADAMS, etc.;

[0338] S10-2. Select the Harrison starting acceleration curve as shown in Figure 13 Figure 1 as the starting curve of the wheel-rail type belt conveyor;

[0339] S10-3. Output the vibration changes of the conveyor belt, the tension changes of the steel wire ropes connecting adjacent trolley devices, and the friction changes between the trolley devices and the conveyor belt when running at a constant speed on the straight tracks of the loading section and the return section;

[0340] S10-4. Output the vibration changes of the conveyor belt, the tension changes of the steel wire ropes connecting adjacent trolley devices, and the friction changes between the trolley devices and the conveyor belt when running at a constant speed on the straight tracks of the loading section and the return section and the distances between the trolley devices are different;

[0341] S10-5. Output the vibration changes of the conveyor belt, the tension changes of the steel wire ropes connecting adjacent trolley devices, the friction changes between the trolley devices and the conveyor belt, and the track strain when the trolley devices pass through the track gaps at different speeds;

[0342] S10-6. Output the vibration changes of the conveyor belt, the tension changes of the steel wire ropes connecting adjacent trolley devices, the friction changes between the trolley devices and the conveyor belt, and the track strain when the trolley devices pass through the track gaps with different widths at a constant speed;

[0343] S10-7. Output the vibration changes of the conveyor belt, the tension changes of the steel wire ropes connecting adjacent trolley devices, the friction changes between the trolley devices and the conveyor belt, and the track strain when the trolley devices pass through the track gaps with different height differences.

[0344] The present invention has been described above by way of example, but the present invention is not limited to the above specific embodiments, and any modification or variation based on the present invention falls within the scope of protection of the present invention.

Claims

1. A method for simulating dynamic characteristics of a wheel-rail belt conveyor, characterized in that: The wheel-rail belt conveyor comprises a trolley track, a rotating wheel, a trolley device, a driving device, a conveyor belt and a tensioning device. The rotating wheel and the trolley track form a closed loop structure, and the rotating wheel is arranged at both ends of the trolley track. There are multiple trolley devices, which are driven by the driving device and move on the trolley track and the rotating wheel. The trolley device comprises a vehicle body and front wheels and rear wheels which are rotatably connected at the front and rear ends of the vehicle body respectively. The upper trolley track between the two rotating wheels is defined as the load-bearing section, and the lower trolley track is defined as the return section. The conveyor belt is arranged on the trolley device at the load-bearing section and the return section and moves synchronously with the trolley device. The downward direction perpendicular to the conveyor belt surface of the load-bearing section is defined as the vertical direction, and the moving direction of the vehicle body along the trailer track is defined as the longitudinal direction; The method for simulating the dynamic characteristics of a wheel-rail belt conveyor includes the following steps: S1. Assume that the trailer vibrates only in the vertical direction, and the force exerted by the driving device on the trailer is always in the longitudinal direction; assume that each trailer device is an independent unit, and the conveyor belt corresponding to the trailer device is defined as an independent unit, and the mass of each independent unit is concentrated at the center of mass; simplify the conveyor belt of each independent unit into a spring and a damper, where the spring is an ideal linear spring and the damper is an ideal viscous damper; S2. Establish the independent unit dynamic model of the conveyor belt based on the Kelvin-Voigt model; S3. Establish a mechanical equilibrium equation for the trailer device, establish a vehicle body vertical displacement equation and a vehicle body pitch displacement equation according to the Hamilton principle, and then obtain a linear second-order differential equation of an independent unit of the trailer device; S4. Establish a mechanical equilibrium equation for the tensioning device, combine the independent units of the two conveyor belts adjacent to the tensioning device, and establish a dynamic model of the tensioning device according to the Euler-Lagrange equation; S5. Establish a dynamic model of the driving device; S6. Combine the mathematical models of S2 and S5 to establish the overall dynamic model of the conveyor belt; S7. Determine the dynamic parameters of the dynamic model in step S6, wherein the dynamic parameters include mass, stiffness, damping and external force; S8. Setting the initial conditions and boundary conditions of the dynamic model in step S6; S9. Compile a calculation program using numerical calculation software to simulate the vibration of the conveyor belt at the load-bearing section when it is running at a constant speed and the vibration of the conveyor belt passing through the track gap; Step S2 is: The constitutive model of the spacing between the core material and the steel wire rope is established along the width direction of the core, and then the equilibrium equation of the independent unit of the conveyor belt is established. （2-1） in is the stress of the conveyor belt as a whole, is the stress on the wire rope, is the stress on the upper and lower covering layers, is the overall strain of the conveyor belt, is the strain of the wire rope, is the stress on the upper and lower covering layers, It is the volume coefficient of a single steel wire rope in the entire conveyor belt; is the elastic modulus of the wire rope, is the elastic modulus of the upper and lower covering layers, is the Riemann-Liouville fractional derivative operator, Rearranging formula (2-1) yields （2-2） The conveyor belt stiffness and conveyor belt damping caused by the conveyor belt deflection are constant and are the conveyor belt stiffness and conveyor belt damping respectively. times, we can assume （2-3） Based on formula (2-3), a new constitutive equation is established （2-4） Performing Fourier integration on equation (2-2) yields （2-5） The complex modulus in formula (2-5) is （2-6） because ,in is the storage modulus, is the loss modulus, loss factor , it can be seen （2-7） （2-8） （2-9） According to the approximate relationship between loss factor c and damping, we can get （2-10） According to the finite element analysis method, each independent unit of the conveyor belt is regarded as a viscoelastic body, and the conveyor belt is discretized and modeled. The analysis is performed on the discrete elements, assuming that the mass of the discrete element is , the stiffness coefficient is , the damping coefficient is , the displacement is , the running resistance is According to the force condition, its dynamic equation is （2-11） in is the tensile force on the independent unit, and its magnitude is （2-12） Substituting formula (2-12) into formula (2-11) we can get （2-13）。 2. A method for simulating dynamic characteristics of a wheel-rail belt conveyor according to claim 1, characterized in that: The step S3 includes Analyze the force when the trailer does not contact the slewing wheel, and establish the balance equation of longitudinal force and resistance during the movement of the trailer （3-1） in is the friction force of the conveyor belt on the trolley device, For external resistance, is the front wheel track tangential force, is the rear wheel track tangential force; The contact point between the front wheel and the trailer track and the point of contact between the rear wheel and the trailer track Establishing the moment balance equations respectively, we can get （3-2） in is gravity, is the torque of the front wheels, is the torque of the rear wheels, is the normal support force of the front wheel, is the normal support force of the rear wheel, is the center distance between the front and rear wheels, is the horizontal distance between the center of mass of the front wheel and the center of mass of the vehicle body, is the horizontal distance between the center of mass of the rear wheel and the center of mass of the vehicle body, is the normal distance between the center of mass of the vehicle body and the contact point between the wheel and rail; According to Hamilton's principle, the vertical displacement equation of the trailer device is established as follows: （3-3） The pitch displacement equation for the vehicle body is: （3-4） in is the mass of the front wheel, is the mass of the rear wheel, is the mass of the vehicle body, is the vertical displacement of the front wheel, is the vertical displacement of the rear wheel, is the vertical displacement of the vehicle body, is the damping coefficient of the front wheel, is the damping coefficient of the rear wheel, is the damping coefficient of the vehicle body, is the stiffness coefficient of the front wheel, is the stiffness coefficient of the rear wheel, is the stiffness coefficient of the vehicle body, is the pitch angle of the vehicle body; is the moment of inertia of the vehicle body; Establish the linear second-order differential equation of the trailer device （3-5） in is the mass matrix of the trailer device; is the damping matrix of the trailer device; is the stiffness matrix of the trailer device; all of them are The square array, is the acceleration matrix of the trailer device, is the speed matrix of the trailer device, is the displacement matrix of the trailer device, is the force matrix of the towing device acting on each unit, Column vector of ; Arranging equations (3-1) to (3-4) into the matrix form of a linear second-order differential equation yields （3-6） （3-7） （3-8） （3-9） （3-10）。 3. The method for simulating dynamic characteristics of a wheel-rail belt conveyor according to claim 1, characterized in that: The step S4 includes A heavy hammer tensioning device is used, which includes a tensioning roller and a mass block. Assuming that the tensioning device is tensioned with constant force, the force balance equation of the tensioning device is established as follows: （4-1） in is the mass of the tensioning device, It is the tension on both ends of the tensioning device; definition and Respectively represent the displacement of the meeting point and separation point between the tensioning roller and the conveyor belt, is the rotation displacement of the tensioning drum, is the vertical displacement of the tensioning roller, we can get （4-2） Arrangement available （4-3） Since the conveyor belt connected to the tensioning device is a continuum, the Euler-Lagrange equation can be used to obtain the independent units of the two conveyor belts connected to the tensioning device: （4-4） （4-5） （4-6） （4-7） Establish the second-order differential equation of the tensioner （4-8） in is the mass matrix of the tensioner; is the tensioner damping matrix; is the tensioner stiffness matrix; all of them are The square array, is the acceleration matrix of the tensioner, is the tensioner speed matrix, is the displacement matrix of the tensioner, is the force matrix of the tensioning device acting on each unit, Column vector of ; Arranging equations (4-1) to (4-7) into the matrix form of a linear second-order differential equation yields （4-9） （4-10） （4-11） （4-12） （4-13）。 4. A method for simulating dynamic characteristics of a wheel-rail belt conveyor according to claim 1, characterized in that: Step S5 is Formulate the differential equations for the drive （5-1） in is the driving force of the driving device, is the driving roller resistance, is the driving roller diameter, is the equivalent moment of inertia, is the angular acceleration, is the conveyor belt tension, The calculation formula for the above conveyor belt tension is: （5-2） Substituting equation (5-2) into equation (5-1) yields （5-3） From the quasi-motion characteristics, we know （5-4） Substituting equation (5-4) into equation (5-3) yields （5-5）。 5. A method for simulating dynamic characteristics of a wheel-rail belt conveyor according to claim 4, characterized in that: Step S6 includes The place where the conveyor belt is connected to the driving device and started first is the first unit. According to the opposite direction of the conveyor belt, the conveyor belt load section is divided into N units. The conveyor belt at the turning roller is the N+1 unit. The return section of the conveyor belt is divided into M sections, a total of N+M+1 units. The discrete model of the conveyor belt is established, and it can be obtained （6-1） in , By arranging equation (6-1) into a matrix form, we can obtain the uniform motion state of the conveyor belt under the constant force tensioning device. The differential equation of its motion is: （6-2） in is the conveyor belt mass matrix; is the conveyor belt damping matrix; is the conveyor belt stiffness matrix; all of them are The square array, is the conveyor belt acceleration matrix, is the conveyor belt speed matrix, is the conveyor belt displacement matrix, is the force matrix of the conveyor belt acting on each unit, Column vector of ; （6-3） （6-4） （6-5） （6-6） （6-7） （6-8） （6-9）。 6. A method for simulating dynamic characteristics of a wheel-rail belt conveyor according to claim 1, characterized in that: Divide the load section and return section into multiple independent units. Mass of each independent unit of the load-bearing section for （7-1） in For the conveyor belt line quality, is the material line quality, For the quality of the trailer line, is the unit length; Unit quality in the return section for （7-2） The mass of the drive unit is （7-3） in is the equivalent moment of inertia of the motor, is the equivalent moment of inertia of the coupling; The calculation formula of the damping coefficient at other locations except the conveyor belt is: （7-4） in is the equivalent elastic modulus, is the viscosity coefficient; The resistance of the load-bearing section is （7-5） The resistance of the return section is （7-6） in is the running resistance of the load-bearing straight section, is the running resistance of the straight line section of the return section, is the length of the conveyor, is the resistance coefficient of the conveyor belt running in the load-bearing section, , is the resistance coefficient of the conveyor belt in the return section. , The conveying inclination angle.

7. A method for simulating dynamic characteristics of a wheel-rail belt conveyor according to claim 5, characterized in that: The initial condition is （8-1） The boundary conditions are when hour （8-2） when hour （8-3） During uniform speed operation （8-4）。 8. The method for simulating dynamic characteristics of a wheel-rail belt conveyor according to claim 1, characterized in that: Step S9 uses MATLAB software to compile the calculation process, including the following steps: S9-1. Input the trolley device dynamics model, the tensioning device dynamics model, the driving device dynamics model and the conveyor belt dynamics model; S9-2. Input dynamic parameters and set initial conditions and boundary conditions; S9-3 determines whether the trailer device passes through the track gap. If not, proceed to step S9-6; if so, proceed to step S9-4; S9-4. Initialize the parameter matrix of the linear second-order differential equation of the trailer device and set the initial state of the trailer device; S9-5. Use MATLAB to solve the response state of the towing device and output the resistance between the towing device and the conveyor belt; S9-6. Initialize the parameter matrix of the linear second-order differential equation of the conveyor belt dynamics model and set the initial state of the conveyor belt; S9-7. Select the time step and judge the convergence of the algorithm; S9-8. Calculate the vibration state of the conveyor belt; S9-9. Calculate the vibration state using the result of the previous time step as the initial iteration value; S9-10. Determine whether the actual calculation time t is greater than the planned calculation time T. If t>T is satisfied, proceed to step S9-11. If t>T is not satisfied, return to step S9-8 to continue the calculation; S9-11. Solve the trolley device dynamics model, the tensioning device dynamics model, the driving device dynamics model and the conveyor belt dynamics model and output the dynamic response results.

9. A method for simulating dynamic characteristics of a wheel-rail belt conveyor according to claim 1, characterized in that: It also includes three-dimensional dynamics simulation verification, the steps of which include: S10-1. Establish a three-dimensional model of the wheel-rail belt conveyor and import it into the simulation software; S10-2. Select the Harrison start acceleration curve as the start curve of the wheel-rail belt conveyor; S10-3. Output the vibration change of the conveyor belt, the tension change of the wire rope connecting the adjacent trolleys, and the friction change between the trolleys and the conveyor belt when the conveyor belt runs at different speeds on the straight track of the load section and the return section; S10-4. Output the vibration change of the conveyor belt, the tension change of the wire rope connecting adjacent trolleys, and the friction change between the trolleys and the conveyor belt when the trolleys run at a constant speed on the straight track of the load section and the return section and the spacing between the trolleys is different; S10-5. When the output trolley device passes through the track gap at different speeds, the vibration change of the conveyor belt, the tension change of the wire rope connecting adjacent trolley devices, the friction change between the trolley device and the conveyor belt, and the track strain; S10-6. When the output trolley device passes through the track gaps of different widths at a uniform speed, the vibration changes of the conveyor belt, the tension changes of the wire ropes connecting adjacent trolley devices, the friction changes between the trolley device and the conveyor belt, and the track strain; S10-7. When the output trolley device passes through the track gaps with different height differences, the vibration changes of the conveyor belt, the tension changes of the wire rope connecting adjacent trolley devices, the friction changes between the trolley device and the conveyor belt, and the track strain.

Images