Chain tension dynamic adjusting method

Abstract

The invention provides a chain tension dynamic adjusting method which is used for a scraper conveyer, the scraper conveyer comprises a tail, and a telescopic oil cylinder is arranged at the tail; the method comprises the following steps: acquiring interval data of a plurality of scrapers; determining the length values of an upper chain and a lower chain of the scraper conveyor at different operation time based on the interval data of the plurality of scrapers; and comparing the length value with a preset interval in real time, and controlling the telescopic oil cylinder to move based on a comparison result. Therefore, the length value of each section of chain can be accurately obtained by measuring the distance between the two adjacent scraping plates which are relatively large in size and relatively prominent in target. Thirdly, accumulating the length value of each section of chain, and comparing the accumulated length value with the length value of the upper chain way and the length value of the lower chain way; therefore, the tightness state of the chain in the upper chain way and the lower chain way can be deduced. Based on the inference result, the expansion and contraction amount of the telescopic oil cylinder can be adjusted in a targeted manner. Compared with the prior art, measurement errors are reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of scraper conveyors, and specifically relates to a method for dynamically adjusting chain tension. Background Art

[0002] Scraper conveyor is an important material conveying equipment in underground mining. As one of the core components of the scraper conveyor, the tightness of the chain not only directly affects the normal operation of the chain transmission system, but also affects the working efficiency and stability of the entire scraper conveyor. Ensuring that the chain is always in an ideal tension state is the key to improving the continuity and reliability of the operation of the scraper conveyor equipment.

[0003] In actual use, each link will be stretched and deformed, resulting in cumulative deformation of the chain length, which in turn causes the length of each section of the chain to be different, and ultimately makes it difficult for the chain to be in an ideal tension state. At present, some online chain pitch measurement methods use optical or magnetic induction methods to extract the characteristic values ​​of the chain and then perform analysis and calculation. However, this method is difficult to apply due to the small size of the chain links, the large number of single links, and the large optical measurement error. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present application is to provide a method for dynamically adjusting the chain tension, taking two adjacent scrapers with larger volume and clearer targets as the measurement objects, and measuring the distance between them, so as to accurately obtain the length value of each chain section, reduce the measurement error, and provide a strong guarantee for the stable and efficient operation of the scraper conveyor.

[0005] In order to solve the above problems, the present application provides a chain tension dynamic adjustment method for a scraper conveyor, wherein the scraper conveyor includes a tail, and a telescopic cylinder is provided at the tail; the method includes:

[0006] Obtaining the spacing data between a plurality of scrapers;

[0007] Determine the length values ​​of the upper chain and the lower chain of the scraper conveyor at different operating times based on the spacing data of the plurality of scrapers;

[0008] The length value is compared with a preset setting interval in real time, and the movement of the telescopic cylinder is controlled based on the comparison result.

[0009] Optionally, the preset setting interval includes a first numerical interval and a second numerical interval; comparing the length value with the preset setting interval and controlling the movement of the telescopic cylinder based on the comparison result includes:

[0010] Comparing the length value of the upper chain with the first numerical interval and the length value of the lower chain with the second numerical interval in real time;

[0011] When the length value of the upper chain is within the first numerical interval and the length value of the lower chain is within the second numerical interval, the extension amount of the telescopic cylinder is kept unchanged; when the length value of the upper chain is greater than the upper limit value of the first numerical interval and the length value of the lower chain is greater than the upper limit value of the second numerical interval, the extension amount of the telescopic cylinder is controlled to increase; when the length value of the upper chain is less than the lower limit value of the first numerical interval and the length value of the lower chain is less than the lower limit value of the second numerical interval, the extension amount of the telescopic cylinder is controlled to decrease.

[0012] Optionally, the first numerical interval is S A ±⊿S 1 , the second numerical interval is S B ±⊿S 2 ;

[0013] Among them, S A is the length of the upper chain, ⊿S 1 is the correction value of the upper chain length, S B is the length of the lower chain, ⊿S 2 It is the correction value of the lower chain path length.

[0014] Optionally, the ⊿S 1 The value range is 3S A / 10000~S A / 1000, the ⊿S 2 The value range is 3S B / 10000~S B / 1000.

[0015] Optionally, the obtaining of the spacing data between a plurality of scrapers includes:

[0016] Recording the time data of a plurality of scrapers passing through the detection positions one by one;

[0017] Based on the moving speed of the scraper and the time data of a plurality of the scrapers passing through the detection position, the spacing data of the plurality of the scrapers are calculated.

[0018] Optionally, the detection position is provided with a magnetic field monitoring unit, and the magnetic field monitoring unit is used to be triggered when the scraper passes through the detection position.

[0019] Optionally, a visual perception unit is provided on the tail, and a detection end of the visual perception unit is arranged toward the detection position.

[0020] Optionally, when the spacing data of several scrapers are obtained, the scraper conveyor is in a low-speed maintenance mode; when the length values ​​of the upper chain and the lower chain of the scraper conveyor at different operating times are determined based on the spacing data of several scrapers, the scraper conveyor is in a normal operating mode.

[0021] Optionally, the scraper conveyor further comprises a head, a driving motor is arranged at the head, and an auxiliary motor is arranged at the tail, and the method further comprises:

[0022] The length value is compared with the preset setting interval, and the driving motor and the auxiliary motor are controlled to move based on the comparison result.

[0023] Optionally, the preset setting interval includes a first numerical interval and a second numerical interval; comparing the length value with the preset setting interval and controlling the movement of the drive motor based on the comparison result includes:

[0024] Comparing the length value of the upper chain with the first numerical interval and the length value of the lower chain with the second numerical interval in real time;

[0025] When the length value of the upper chain is within the first numerical interval and the length value of the lower chain is within the second numerical interval, the torque and speed of the drive motor and the auxiliary motor are kept unchanged; when the length value of the upper chain is greater than the upper limit of the first numerical interval and the length value of the lower chain is less than the lower limit of the second numerical interval, the torque of the drive motor is controlled to increase and the speed is accelerated; when the length value of the upper chain is less than the lower limit of the first numerical interval and the length value of the lower chain is greater than the upper limit of the second numerical interval, the torque of the auxiliary motor is controlled to increase and the speed is accelerated.

[0026] Beneficial Effects

[0027] The chain tension dynamic adjustment method provided in the embodiment of the present invention can accurately obtain the length value of each chain segment by measuring the distance between two adjacent scrapers with larger volume and more prominent targets. Then, the length value of each chain segment is accumulated and compared with the length value of the upper chain track and the lower chain track. From this, the tightness of the chain in the upper chain track and the lower chain track can be inferred. Based on this inference result, the telescopic amount of the telescopic cylinder, as well as the speed and torque of the drive motor and the auxiliary motor can be adjusted in a targeted manner. Finally, the chains of the upper chain track and the lower chain track are always kept in an ideal tension state. Compared with the prior art, the measurement error is reduced, ensuring that the scraper conveyor can operate stably and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a flow chart of a chain tension dynamic adjustment method according to an optional embodiment of the present application;

[0029] Figure 2 This is a flow chart of a chain tension dynamic adjustment method according to another optional embodiment of the present application;

[0030] Figure 3 This is a schematic structural diagram of a scraper conveyor according to an optional embodiment of the present application.

[0031] The reference numerals are:

[0032] 1. Tail; 2. Telescopic cylinder; 3. Scraper; 4. Magnetic field monitoring unit; 5. Visual perception unit. DETAILED DESCRIPTION

[0033] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0035] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0037] See also Figures 1 to 3As shown, according to an embodiment of the present application, a chain tension dynamic adjustment method is provided for a scraper 3 conveyor, wherein the scraper 3 conveyor comprises a head and a tail 1, a driving motor is provided at the head, and an auxiliary motor is provided at the tail 1.

[0038] The scraper 3 conveyor also includes a conveying trough body, which is used to provide a stable channel for the conveying of materials. A chain is installed inside the conveying trough body, and the chain circulates along the conveying trough body under the coordinated action of the driving motor and the auxiliary motor, driving the scraper 3 to convey the material from the front to the rear 1.

[0039] Specifically, the scraper 3 conveyor also includes a sprocket assembly, which includes a driving sprocket and a driven sprocket, the driving sprocket is installed at the head of the machine, and the driven sprocket is installed at the tail 1. The driving sprocket and the driven sprocket are meshed with the chain to transmit the power of the driving motor and the auxiliary motor to the chain, thereby driving the scraper 3 to move.

[0040] A telescopic oil cylinder 2 is also provided at the tail 1, and the telescopic oil cylinder 2 is used to adjust the position of the tail 1, thereby changing the tension of the chain.

[0041] Specifically, the tail 1 includes a fixed trough body and a telescopic frame body, the fixed trough body and the telescopic frame body overlap each other along the material transportation direction, the telescopic oil cylinder 2 is arranged on the fixed trough body, the fixed trough body and the cylinder body of the telescopic oil cylinder 2 are relatively fixed, and the driving end of the telescopic oil cylinder 2 is connected to the telescopic frame body. In actual application, when the driving end of the telescopic oil cylinder 2 is extended, the telescopic frame body is driven to move in a direction away from the fixed trough body, so that the tension force on the chain increases; when the driving end of the telescopic oil cylinder 2 is shortened, the telescopic frame body is driven to move in a direction close to the fixed trough body, so that the tension force on the chain decreases.

[0042] The chain tension dynamic adjustment methods include:

[0043] Step S1: obtaining the spacing data between a plurality of scrapers 3 .

[0044] Among them, step S1 can be performed when the scraper 3 conveyor is in a low-speed maintenance mode. It can be understood that in the low-speed maintenance mode, the movement of the scraper 3 conveyor is relatively gentle, and the interference when measuring the distance between two adjacent scrapers 3 is relatively small, that is, the measurement error can be reduced, making the measurement result more accurate and reliable, thereby truly reflecting the actual spacing between several scrapers 3.

[0045] The spacing data of the plurality of scrapers 3 is the distance value between two adjacent scrapers 3 in the conveying trough of the scraper 3 conveyor. In practical applications, the length value of the chain between the two adjacent scrapers 3 can be determined by obtaining the distance value between the two adjacent scrapers 3.

[0046] Among them, the distance value between two adjacent scrapers 3 can be obtained by mechanical measurement, optical measurement, sensor measurement, etc. For example, when the distance value between two adjacent scrapers 3 is obtained by mechanical measurement, a ruler or caliper with a scale is used to extend into the conveying trough when the scraper 3 conveyor is in low-speed maintenance mode, and the distance between two adjacent scrapers 3 is directly measured; when the distance value between two adjacent scrapers 3 is obtained by optical measurement, a camera is installed around the scraper 3 conveyor to shoot the scraper 3. Through the image processing algorithm, the adjacent scrapers 3 are identified and the pixel distance between them is calculated. Then, according to the known proportional relationship between the pixel and the actual distance, the actual physical distance is converted; when the distance value between two adjacent scrapers 3 is obtained by sensor measurement, a displacement sensor is installed on the conveying trough of the scraper 3 conveyor. When the scraper 3 passes through the sensor, the sensor can detect the position change of the scraper 3 and calculate the distance between the two adjacent scrapers 3 through the signal processing system.

[0047] Specifically, in this embodiment, the time data of several scrapers 3 passing through the detection position are recorded one by one by the magnetic field monitoring unit 4 and the visual perception unit 5, and the distance value between two adjacent scrapers 3 is calculated based on the movement speed of the scraper 3 and the time data of several scrapers 3 passing through the detection position. It can be understood that the use of the magnetic field monitoring unit 4 and the visual perception unit 5 can improve the accuracy and reliability of distance measurement. The visual perception unit 5 can provide high-precision three-dimensional measurement results, but may be affected by factors such as illumination and occlusion. The magnetic field monitoring unit 4 has high stability and anti-interference ability, but the measurement accuracy is relatively low. By fusing the measurement results of the magnetic field monitoring unit 4 and the visual perception unit 5, they can complement each other and improve the accuracy and reliability of distance measurement. At the same time, the data fusion algorithm can be used to process and analyze the measurement data of the magnetic field monitoring unit 4 and the visual perception unit 5 to obtain a more accurate distance value between two adjacent scrapers 3.

[0048] The time data of a plurality of scrapers 3 passing through the detection position are the time points when each scraper 3 passes through the detection position in sequence.

[0049] The magnetic field monitoring unit 4 is located at the detection position, and the magnetic field monitoring unit 4 can be a magnetic induction sensor, etc. When the scraper 3 passes through the detection position, since the scraper 3 is generally made of magnetic conductive materials such as metal, it will cause changes in the surrounding magnetic field. The magnetic field monitoring unit 4 can sensitively detect this magnetic field change and convert it into an electrical signal output.

[0050] Specifically, the output end of the magnetic field monitoring unit 4 is electrically connected to the time circuit. When the scraper 3 passes through the detection position and triggers the magnetic field monitoring unit 4, the magnetic field monitoring unit 4 sends a pulse signal to the time circuit, and the time circuit marks the time point as the time when the scraper 3 passes the detection position.

[0051] The visual perception unit 5 is located on the telescopic frame of the tail 1, and the visual perception unit 5 can be a binocular visual camera, etc. The detection end of the visual perception unit 5 is set toward the detection position, and the movement process of the scraper 3 can be recorded in the form of images or videos by shooting the operation of the scraper 3 conveyor.

[0052] Specifically, the output end of the visual perception unit 5 is also electrically connected to the time circuit. When the scraper 3 appears in the field of view of the camera, the image recognition algorithm quickly identifies the scraper 3 and sends a trigger signal to the time circuit. The time circuit also records this time point.

[0053] In some specific examples, take the scraper 3 conveyor with 600 scrapers 3 as an example, when the scraper 3 conveyor is in the low-speed maintenance mode, the drive chain runs in the conveying trough at a constant speed of V=0.1m / s~0.3m / s, and the record is as follows:

[0054] The time when the first scraper 3 passes the detection position for the first time is recorded as t 1 ;

[0055] The time when the second scraper 3 passes the detection position for the first time is recorded as t 2 ;

[0056] …

[0057] The time when the 599th scraper 3 passes the detection position for the first time is recorded as t 599 ;

[0058] The time when the 600th scraper 3 passes the detection position for the first time is recorded as t 600 ;

[0059] The time when the first scraper 3 passes the detection position for the second time is recorded as t 601 .

[0060] It should be noted that since the scraper 3 conveyor runs at a constant speed, and the distance between two adjacent scrapers 3 is equal to the length of the chain between two adjacent scrapers 3, it can be concluded that the length of the chain between two adjacent scrapers 3 is V*(t 2 -t 1 ), V*(t 3 -t 2 )……V*(t 599 -t 598 ), V*(t600 -t 599 ).

[0061] Step S2: Determine the length values ​​of the upper chain and the lower chain of the scraper 3 conveyor at different operating times based on the spacing data between the plurality of scrapers 3 .

[0062] Among them, step S2 can be performed when the scraper 3 conveyor is in the normal operation mode. It can be understood that by analyzing the length values ​​of the upper chain and the lower chain of the scraper 3 conveyor at different operating times in the normal operation mode, it can be ensured that the inference result fits the actual situation, so as to ensure the smooth operation of the scraper 3 conveyor and the normal transportation of materials.

[0063] Among them, the upper chain is the chain located in the upper chain path, and the upper chain path is the part of the scraper 3 conveyor that undertakes the main conveying task; the lower chain is the chain located in the lower chain path, and the lower chain path is the return path of the chain and scraper 3 in the scraper 3 conveyor.

[0064] In some specific examples, when the length of the chain between two adjacent scrapers 3 is greater than half of the circumference of the driving sprocket and the driven sprocket, 600 scrapers 3 are evenly distributed on the upper chain track and the lower chain track. At this time, the length of the chain in the upper chain track is V*(t 2 -t 1 )+V*(t 3 -t 2 )+……V*(t 299 -t 298 )+V*(t 300 -t 299 ); the length of the chain in the lower chain path is (t 301 -t 300 )+V*(t 302 -t 301 )+……V*(t 599 -t 598 )+V*(t 600 -t 599 ).

[0065] In some other specific examples, when the length of the chain between two adjacent scrapers 3 is less than half of the circumference of the driving sprocket and the driven sprocket, two scrapers 3 are respectively located on the driving sprocket and the driven sprocket, and the other 598 scrapers 3 are evenly distributed on the upper chain track and the lower chain track. At this time, the length of the chain in the upper chain track is V*(t 2 -t 1 )+V*(t 3 -t 2 )+……V*(t 298 -t 297 )+V*(t 299 -t 298); the length of the chain in the lower chain path is (t 302 -t 301 )+V*(t 303 -t 302 )+……V*(t 598 -t 593 )+V*(t 599 -t 598 ).

[0066] Specifically, in this embodiment, the length of the chain between two adjacent scrapers 3 is greater than half of the circumference of the driving sprocket and the driven sprocket, and 600 scrapers 3 are evenly distributed on the upper chain path and the lower chain path. When the scraper 3 conveyor is in normal operation mode, the driving chain is V a The conveyor runs in the conveying trough at a constant speed.

[0067] At the initial start-up time, the length of the chain in the upper chain path is V*(t 2 -t 1 )+V*(t 3 -t 2 )+……V*(t 299 -t 298 )+V*(t 300 -t 299 ); the length of the chain in the lower chain path is (t 301 -t 300 )+V*(t 302 -t 301 )+……V*(t 599 -t 598 )+V*(t 600 -t 599 ).

[0068] During the running time V*(t 2 -t 1 ) / V a After that, the scraper 3 runs V*(t 2 -t 1 ) distance, the length of the chain in the upper chain path is V*(t 3 -t 2 )+V*(t 4 -t 3 )+……V*(t 301 -t 300 )+V*(t 300 -t 299 ); the length of the chain in the lower chain is V*(t 601 -t 600 )+V*(t 600 -t 599 )+……V*(t 304 -t303 )+V*(t 303 -t 302 ).

[0069] During the running time [V*(t 2 -t 1 )+V*(t 3 -t 2 )] / Va, that is, the scraper 3 runs V*(t 2 -t 1 )+V*(t 3 -t 2 ) distance, the length of the chain in the upper chain path is V*(t 4 -t 3 )+V*(t 5 -t 4 )+……V*(t 302 -t 301 )+V*(t 301 -t 300 ); the length of the chain in the lower chain is V*(t 2 -t 1 )+V*(t 601 -t 600 )+……V*(t 305 -t 304 )+V*(t 304 -t 303 ).

[0070] …

[0071] Thus, the real-time dynamic length of the upper chain and the lower chain of the scraper 3 conveyor at different operating times can be obtained to achieve dynamic adjustment of the chain tension, thereby ensuring the smooth operation of the scraper 3 conveyor and the normal transportation of materials.

[0072] Step S3: compare the length values ​​of the upper chain and the lower chain at different running times with the preset setting interval in real time, and control the movement of the telescopic cylinder 2, the drive motor and the auxiliary motor based on the comparison result.

[0073] The preset setting interval includes a first numerical interval and a second numerical interval, and the first numerical interval is S A ±⊿S 1 , the second value interval is S B ±⊿S 2 In the formula, S A is the length of the upper chain, ⊿S 1 is the correction value of the upper chain length, S B is the length of the lower chain, ⊿S 2 It is the correction value of the lower chain length. ⊿S 1 The value range is 3S A / 10000~S A / 1000, the value range of ⊿S2 is 3S B / 10000~S B / 1000.

[0074] In some specific examples, when the length value of the upper chain is within the first numerical interval and the length value of the lower chain is within the second numerical interval, the extension amount of the telescopic cylinder is kept unchanged; when the length value of the upper chain is greater than the upper limit value of the first numerical interval and the length value of the lower chain is greater than the upper limit value of the second numerical interval, the extension amount of the telescopic cylinder 2 is controlled to increase; when the length value of the upper chain is less than the lower limit value of the first numerical interval and the length value of the lower chain is less than the lower limit value of the second numerical interval, the extension amount of the telescopic cylinder 2 is controlled to decrease.

[0075] Among them, the length value of the upper chain is within the first numerical interval to indicate that the chain tension in the upper chain track is appropriate, and the length value of the lower chain is within the second numerical interval to indicate that the chain tension in the lower chain track is appropriate. At this time, the extension amount of the telescopic cylinder 2 is kept unchanged.

[0076] Among them, the length value of the upper chain is greater than the upper limit value of the first numerical interval, which is used to indicate that the chain in the upper chain path is too loose, and the length value of the lower chain is greater than the upper limit value of the second numerical interval, which is used to indicate that the chain in the lower chain path is too loose. At this time, the extension amount of the telescopic cylinder 2 is controlled to increase.

[0077] Among them, the length value of the upper chain is less than the lower limit of the first numerical interval, which is used to indicate that the chain in the upper chain path is too tight, and the length value of the lower chain is less than the lower limit of the second numerical interval, which is used to indicate that the chain in the lower chain path is too tight. At this time, the extension amount of the telescopic cylinder 2 is controlled to decrease.

[0078] In other specific examples, when the length value of the upper chain is within the first numerical interval and the length value of the lower chain is within the second numerical interval, the torque and speed of the drive motor and the auxiliary motor are kept unchanged; when the length value of the upper chain is greater than the upper limit of the first numerical interval and the length value of the lower chain is less than the lower limit of the second numerical interval, the torque of the drive motor is controlled to increase and the speed is accelerated; when the length value of the upper chain is less than the lower limit of the first numerical interval and the length value of the lower chain is greater than the upper limit of the second numerical interval, the torque of the auxiliary motor is controlled to increase and the speed is accelerated.

[0079] Among them, the length value of the upper chain is within the first numerical interval to indicate that the chain tension in the upper chain track is appropriate, and the length value of the lower chain is within the second numerical interval to indicate that the chain tension in the lower chain track is appropriate. At this time, the torque and speed of the drive motor and the auxiliary motor are kept unchanged.

[0080] Among them, the length value of the upper chain is greater than the upper limit of the first numerical interval, which is used to indicate that the chain in the upper chain is too loose, and the length value of the lower chain is less than the lower limit of the second numerical interval, which is used to indicate that the chain in the lower chain is too tight. At this time, the torque of the control drive motor is increased and the speed is accelerated, so that the upper chain is gradually tightened and the length value returns to the first numerical interval. At the same time, due to the adjustment of the drive motor, the overtight state of the lower chain is also alleviated, and the length value approaches the second numerical interval. In this process, the operating state of the scraper 3 conveyor gradually returns to normal, and the material transportation is more stable and efficient.

[0081] Among them, the length value of the upper chain is less than the lower limit of the first numerical interval, which is used to indicate that the chain in the upper chain is too tight, and the length value of the lower chain is greater than the upper limit of the second numerical interval, which is used to indicate that the chain in the lower chain is too loose. At this time, the torque of the auxiliary motor is controlled to increase and the speed is accelerated, so that the chain in the upper chain gradually relaxes and the length value approaches the reasonable range of the first numerical interval. At the same time, the chain in the lower chain is gradually tightened under the action of the auxiliary motor, and the length value returns to the second numerical interval. In this process, the operating state of the scraper 3 conveyor gradually returns to normal, and material transportation becomes more stable and efficient.

[0082] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0083] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A method for dynamically adjusting chain tension, characterized in that: Used for a scraper (3) conveyor, the scraper (3) conveyor comprises a tail (1), and a telescopic cylinder (2) is arranged at the tail (1); the method comprises: Obtaining data on the spacing between a plurality of scrapers (3); Determine the length values ​​of the upper chain and the lower chain of the scraper (3) conveyor at different operating times based on the spacing data of a plurality of the scrapers (3) between each other; The length value is compared with a preset setting interval in real time, and the movement of the telescopic cylinder (2) is controlled based on the comparison result.

2. The method for dynamically adjusting chain tension according to claim 1, characterized in that: The preset setting interval includes a first numerical interval and a second numerical interval; comparing the length value with the preset setting interval and controlling the movement of the telescopic cylinder (2) based on the comparison result, comprises: Comparing the length value of the upper chain with the first numerical interval and the length value of the lower chain with the second numerical interval in real time; When the length of the upper chain is within the first numerical interval and the length of the lower chain is within the second numerical interval, the extension amount of the telescopic cylinder is kept unchanged; when the length of the upper chain is greater than the upper limit of the first numerical interval and the length of the lower chain is greater than the upper limit of the second numerical interval, the extension amount of the telescopic cylinder (2) is controlled to increase; when the length of the upper chain is less than the lower limit of the first numerical interval and the length of the lower chain is less than the lower limit of the second numerical interval, the extension amount of the telescopic cylinder (2) is controlled to decrease.

3. The method for dynamically adjusting chain tension according to claim 2, characterized in that: The first numerical interval is S A ±⊿S1, the second numerical interval is S B ±⊿S2; Among them, S A is the length of the upper chain path, ⊿S1 is the correction value of the upper chain path length, S B is the length of the lower chain path, and ⊿S2 is the correction value of the lower chain path length.

4. The method for dynamically adjusting chain tension according to claim 3, characterized in that: The value range of ⊿S1 is 3S A / 10000~S A / 1000, the value range of ⊿S2 is 3S B / 10000~S B / 1000.

5. The method for dynamically adjusting chain tension according to claim 1, characterized in that: The step of obtaining the spacing data of a plurality of scrapers (3) from each other comprises: Recording time data of a plurality of scrapers (3) passing through the detection position one by one; Based on the movement speed of the scraper (3) and the time data of a plurality of the scrapers (3) passing through the detection position, the spacing data of the plurality of the scrapers (3) are calculated.

6. The method for dynamically adjusting chain tension according to claim 5, characterized in that: The detection position is provided with a magnetic field monitoring unit (4), and the magnetic field monitoring unit (4) is used to be triggered when the scraper (3) passes through the detection position.

7. The method for dynamically adjusting chain tension according to claim 5, characterized in that: The tail (1) is provided with a visual perception unit (5), and the detection end of the visual perception unit (5) is arranged toward the detection position.

8. The method for dynamically adjusting chain tension according to claim 1, characterized in that: When the spacing data of the scrapers (3) are obtained, the scraper (3) conveyor is in a low-speed maintenance mode; when the length values ​​of the upper chain and the lower chain of the scraper (3) conveyor at different operating times are determined based on the spacing data of the scrapers (3), the scraper (3) conveyor is in a normal operating mode.

9. The method for dynamically adjusting chain tension according to claim 1, characterized in that: The scraper (3) conveyor also includes a head, a driving motor is arranged at the head, and an auxiliary motor is arranged at the tail (1). The method also includes: The length value is compared with the preset setting interval, and the driving motor and the auxiliary motor are controlled to move based on the comparison result.

10. The method for dynamically adjusting chain tension according to claim 9, characterized in that: The preset setting interval includes a first numerical interval and a second numerical interval; comparing the length value with the preset setting interval and controlling the movement of the drive motor based on the comparison result includes: Comparing the length value of the upper chain with the first numerical interval and the length value of the lower chain with the second numerical interval in real time; When the length value of the upper chain is within the first numerical interval and the length value of the lower chain is within the second numerical interval, the torque and speed of the drive motor and the auxiliary motor are kept unchanged; when the length value of the upper chain is greater than the upper limit of the first numerical interval and the length value of the lower chain is less than the lower limit of the second numerical interval, the torque of the drive motor is controlled to increase and the speed is accelerated; when the length value of the upper chain is less than the lower limit of the first numerical interval and the length value of the lower chain is greater than the upper limit of the second numerical interval, the torque of the auxiliary motor is controlled to increase and the speed is accelerated.

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