Chain tension dynamic adjustment method

Abstract

The application provides a chain tension dynamic adjustment method for a scraper conveyor, the scraper conveyor comprising a tail, and a telescopic oil cylinder arranged at the tail; the method comprising: obtaining spacing data of a plurality of scrapers spaced from each other; determining length values of upper and lower chains of the scraper conveyor at different running times based on the spacing data of the plurality of scrapers spaced from each other; comparing the length values with preset setting intervals in real time, and controlling movement of the telescopic oil cylinder based on a comparison result. Thus, by measuring the distance between two adjacent scrapers with large volume and prominent target, the length values of each chain section can be accurately obtained. Then, the length values of each chain section are accumulated and compared with the length values of the upper and lower chain tracks. Thus, the tension state of the chain in the upper and lower chain tracks can be inferred. Based on the inference result, the telescopic amount of the telescopic oil cylinder can be adjusted accordingly. Compared with the prior art, the measurement error is reduced.

Description

Technical Field

[0001] This application belongs to the technical field of scraper conveyors, specifically relating to a method for dynamic adjustment of chain tension. Background Technology

[0002] Scraper conveyors are crucial material handling equipment in underground mining operations. As one of the core components of a scraper conveyor, the tension of the chain directly affects the normal operation of the chain drive system and the overall efficiency and stability of the scraper conveyor. Ensuring the chain maintains ideal tension is key to improving the continuity and reliability of the scraper conveyor's operation.

[0003] In practical use, each link may stretch or deform, causing cumulative deformation in the chain length. This results in varying lengths across different chain segments, making it difficult to maintain ideal chain tension. Currently, some online chain pitch measurement methods extract chain characteristic values ​​using optical or magnetic induction methods for analysis and calculation. However, these methods are impractical due to the small size of the links, the large number of individual links, and significant optical measurement errors. Summary of the Invention

[0004] Therefore, the technical problem to be solved by this application is to provide a method for dynamic adjustment of chain tension, which takes two adjacent scrapers with larger volume and clearer target as the measurement objects and measures the distance between them, thereby accurately obtaining the length value of each chain segment, reducing measurement error, and providing a strong guarantee for the stable and efficient operation of the scraper conveyor.

[0005] To address the aforementioned problems, this application provides a method for dynamically adjusting chain tension in a scraper conveyor, wherein the scraper conveyor includes a tail section and a telescopic hydraulic cylinder is installed at the tail section; the method includes:

[0006] Obtain the spacing data between several scrapers;

[0007] The length values ​​of the upper and lower chains of the scraper conveyor at different operating times are determined based on the spacing data between the scrapers.

[0008] The length value is compared with a preset range 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] The length value of the upper chain is compared with the first numerical range in real time, and the length value of the lower chain is compared with the second numerical range.

[0011] When the length of the upper chain is within the first numerical range and the length of the lower chain is within the second numerical range, the extension amount of the telescopic cylinder remains constant; when the length of the upper chain is greater than the upper limit of the first numerical range and the length of the lower chain is greater than the upper limit of the second numerical range, the extension amount of the telescopic cylinder is increased; when the length of the upper chain is less than the lower limit of the first numerical range and the length of the lower chain is less than the lower limit of the second numerical range, the extension amount of the telescopic cylinder is decreased.

[0012] Optionally, the first numerical range is S. A ±⊿S1, the second numerical interval is S B ±⊿S2;

[0013] Among them, S A S is the length value of the upper chain path, ΔS1 is the correction value for the upper chain path length, and S B is the length value of the next chain path, and ⊿S2 is the correction value for the length of the next chain path.

[0014] Optionally, the value range of ΔS1 is 3S. A / 10000~S A / 1000, the value range of ΔS2 is 3S B / 10000~S B / 1000.

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

[0016] Record the time data of several scrapers passing through the detection position one by one;

[0017] Based on the movement speed of the scraper and the time data of several scrapers passing the detection position, the spacing data between several scrapers is calculated.

[0018] Optionally, a magnetic field monitoring unit is provided at the detection location, which is triggered when the scraper passes through the detection location.

[0019] Optionally, a visual sensing unit is provided on the tail section, with the detection end of the visual sensing unit facing the detection position.

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

[0021] Optionally, the scraper conveyor further includes a head section, a drive motor is provided at the head section, and an auxiliary motor is provided at the tail section. The method further includes:

[0022] The length value is compared with the preset range, and the movement of the drive motor and the auxiliary motor is controlled 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] The length value of the upper chain is compared with the first numerical range in real time, and the length value of the lower chain is compared with the second numerical range.

[0025] When the length of the upper chain is within the first numerical range and the length of the lower chain is within the second numerical range, the torque and speed of the drive motor and the auxiliary motor remain constant. When the length of the upper chain is greater than the upper limit of the first numerical range and the length of the lower chain is less than the lower limit of the second numerical range, the torque and speed of the drive motor are increased. When the length of the upper chain is less than the lower limit of the first numerical range and the length of the lower chain is greater than the upper limit of the second numerical range, the torque and speed of the auxiliary motor are increased.

[0026] Beneficial effects

[0027] The chain tension dynamic adjustment method provided in the embodiments 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 values ​​of each chain segment are accumulated and compared with the length values ​​of the upper and lower chain tracks. From this, the tension state of the chain in the upper and lower chain tracks can be inferred. Based on this inference, the extension and retraction of the telescopic cylinder, as well as the speed and torque of the drive motor and auxiliary motor, can be adjusted in a targeted manner. Ultimately, the chain in the upper and lower chain tracks is always kept in an ideal tension state. Compared with the prior art, this reduces measurement errors and ensures stable and efficient operation of the scraper conveyor. Attached Figure Description

[0028] Figure 1A flowchart of a chain tension dynamic adjustment method according to an optional embodiment of this application;

[0029] Figure 2 A flowchart of a chain tension dynamic adjustment method according to another optional embodiment of this application;

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

[0031] The reference numerals in the attached figures are as follows:

[0032] 1. Tail end; 2. Telescopic hydraulic cylinder; 3. Scraper; 4. Magnetic field monitoring unit; 5. Visual perception unit. Detailed Implementation

[0033] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

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

[0038] The scraper conveyor 3 also includes a conveying trough, which provides a stable channel for material transport. A chain is installed inside the conveying trough. Under the coordinated action of the drive motor and auxiliary motor, the chain circulates along the conveying trough, driving the scraper 3 to transport the material from the head of the machine to the tail 1.

[0039] Specifically, the scraper conveyor 3 also includes a sprocket assembly, which consists of a drive sprocket and a driven sprocket. The drive sprocket is installed at the head of the conveyor, and the driven sprocket is installed at the tail of the conveyor. The drive sprocket and the driven sprocket mesh with the chain, transmitting the power of the drive motor and the auxiliary motor to the chain, thereby driving the scraper 3 to move.

[0040] The tail section 1 is also equipped with a telescopic cylinder 2, which is used to adjust the position of the tail section 1, thereby changing the tension of the chain.

[0041] Specifically, the tail section 1 includes a fixed trough and a telescopic frame. The fixed trough and the telescopic frame overlap each other along the material transport direction. A telescopic cylinder 2 is mounted on the fixed trough, and the fixed trough and the cylinder body of the telescopic cylinder 2 are fixed relative to each other. The drive end of the telescopic cylinder 2 is connected to the telescopic frame. In practical applications, when the drive end of the telescopic cylinder 2 extends, it drives the telescopic frame to move away from the fixed trough, increasing the tension on the chain. When the drive end of the telescopic cylinder 2 shortens, it drives the telescopic frame to move closer to the fixed trough, decreasing the tension on the chain.

[0042] Methods for dynamically adjusting chain tension include:

[0043] Step S1: Obtain the spacing data of several scrapers 3.

[0044] Step S1 can be performed when the scraper conveyor 3 is in low-speed maintenance mode. It is understood that in low-speed maintenance mode, the movement of the scraper conveyor 3 is relatively smooth, and the interference when measuring the distance between two adjacent scrapers 3 is smaller, which can reduce the measurement error and make the measurement results more accurate and reliable, thus truly reflecting the actual interval between several scrapers 3.

[0045] The spacing data of the various scrapers 3 refers to the distance between two adjacent scrapers 3 within the conveying trough of the scraper conveyor 3. In practical applications, the length of the chain between two adjacent scrapers 3 can be determined by obtaining the distance between them.

[0046] The distance between two adjacent scraper blades 3 can be obtained through mechanical measurement, optical measurement, and sensor measurement. For example, when using mechanical measurement, a ruler or calipers with graduations is inserted into the conveyor trough while the scraper conveyor is in low-speed maintenance mode to directly measure the distance between the two adjacent scraper blades 3. When using optical measurement, cameras are installed around the scraper conveyor to photograph the scraper blades 3. Image processing algorithms identify adjacent scraper blades 3 and calculate their pixel distance. Then, based on the known ratio of pixels to actual distance, the actual physical distance is calculated. When using sensor measurement, displacement sensors are installed on the conveyor trough of the scraper conveyor. When a scraper blade 3 passes the sensor, the sensor detects the change in its position and the signal processing system calculates the distance between the two adjacent scraper blades 3.

[0047] Specifically, in this embodiment, the magnetic field monitoring unit 4 and the visual perception unit 5 record the time data of several scrapers 3 passing through the detection position one by one. Based on the movement speed of the scrapers 3 and the time data of several scrapers 3 passing through the detection position, the distance between two adjacent scrapers 3 is calculated. It can be understood that using 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 lighting and occlusion. The magnetic field monitoring unit 4 has high stability and anti-interference ability, but its 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, a 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] Among them, the time data of several scrapers 3 passing through the detection position is the time point 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 can be a magnetic induction sensor, etc. When the scraper 3 passes through the detection position, since the scraper 3 is generally made of magnetically conductive materials such as metal, it will cause a change in the surrounding magnetic field. The magnetic field monitoring unit 4 can sensitively detect this change in magnetic field and convert it into an electrical signal output.

[0050] Specifically, the output of the magnetic field monitoring unit 4 is electrically connected to the time circuit. When the scraper 3 passes 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 at this moment 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 section 1. The visual perception unit 5 can be a binocular vision camera or the like. The detection end of the visual perception unit 5 is set facing the detection position, and it can record the movement process of the scraper 3 in the form of images or videos by photographing the operation of the scraper 3 conveyor.

[0052] Specifically, the output of the visual perception unit 5 is also electrically connected to the time circuit. When the scraper 3 appears in the camera's field of view, 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, taking a scraper conveyor with 600 scrapers 3 as an example, when the scraper conveyor is in low-speed maintenance mode, the drive chain runs in the conveyor trough at a constant speed of V = 0.1m / s to 0.3m / s, and the data is recorded as follows:

[0054] The moment when scraper 3 first passes the detection position is recorded as t1;

[0055] The moment when scraper 3 first passes the detection position is recorded as t2;

[0056] ...

[0057] The moment when scraper 3, piece 599, first passes the detection position is recorded as t. 599 ;

[0058] The moment when scraper 3, number 600, first passes the detection position is recorded as t. 600 ;

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

[0060] It should be noted that since the scraper conveyor 3 operates 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, the chain lengths between two adjacent scrapers 3 can be derived as V*(t2-t1), V*(t3-t2)...V*(t... 599 -t 598 ), V*(t) 600 -t 599 ).

[0061] Step S2: Determine the length values ​​of the upper and lower chains of the scraper conveyor at different running times based on the spacing data of several scrapers 3.

[0062] Step S2 can be performed when the scraper conveyor 3 is in normal operating mode. It is understood that by analyzing the length values ​​of the upper and lower chains of the scraper conveyor 3 at different operating times in normal operating mode, it is possible to ensure that the inferred results match the actual situation, thereby ensuring the smooth operation of the scraper conveyor 3 and the normal transport of materials.

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

[0064] In some specific examples, when the length of the chain between two adjacent scrapers 3 is greater than half the circumference of the driving sprocket and the driven sprocket, the 600 scrapers 3 are evenly distributed in the upper and lower chain tracks. At this time, the length of the chain in the upper chain track is V*(t2-t1)+V*(t3-t2)+……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 other specific examples, when the length of the chain between two adjacent scrapers 3 is less than half the circumference of the driving sprocket and the driven sprocket, two scrapers 3 are located on the driving sprocket and the driven sprocket respectively, and the other 598 scrapers 3 are evenly distributed in the upper and lower chain tracks. At this time, the length of the chain in the upper chain track is V*(t2-t1)+V*(t3-t2)+……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, taking an example where the length of the chain between two adjacent scrapers 3 is greater than half the circumference of the driving sprocket and the driven sprocket, and 600 scrapers 3 are evenly distributed on the upper and lower chain tracks. When the scraper 3 conveyor is in normal operating mode, the drive chain moves at a V-shaped speed. a It operates at a constant speed in the conveying trough.

[0067] At the initial start-up moment, the length of the chain in the upper track is V*(t2-t1)+V*(t3-t2)+……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] In the running time V*(t2-t1) / V a After scraper 3 travels a distance of V*(t2-t1), the length of the chain in the upper chain track is V*(t3-t2)+V*(t4-t3)+……V*(t 301 -t 300 )+V*(t 300 -t 299 The length of the chain in the lower chain path is V*(t). 601 -t 600 )+V*(t 600 -t 599 )+……V*(t 304 -t 303 )+V*(t 303 -t 302 ).

[0069] After running time [V*(t2-t1)+V*(t3-t2)] / Va, that is, after scraper 3 has traveled a distance of V*(t2-t1)+V*(t3-t2), the length of the chain in the upper chain path is V*(t4-t3)+V*(t5-t4)+……V*(t 302 -t 301 )+V*(t 301 -t 300 The length of the chain in the lower chain path is V*(t2-t1)+V*(t). 601 -t 600 )+……V*(t305 -t 304 )+V*(t 304 -t 303 ).

[0070] ...

[0071] This allows us to obtain the real-time dynamic lengths of the upper and lower chains of the scraper conveyor at different operating times, enabling dynamic adjustment of chain tension and ensuring the smooth operation of the scraper conveyor and the normal transport of materials.

[0072] Step S3: Compare the length values ​​of the upper and lower chains with the preset range under different running times in real time, and control the movement of the telescopic cylinder 2, drive motor and auxiliary motor based on the comparison results.

[0073] The preset setting range includes a first value range and a second value range, where the first value range is S. A ±⊿S1, the second numerical interval is S B ±⊿S2. Where S A S is the length value of the upper chain path, ΔS1 is the correction value for the upper chain path length, and S B ΔS1 is the length of the next chain path, and ΔS2 is the correction value for the length of the next chain path. The value of ΔS1 ranges from 3S. A / 10000~S A / 1000, the range of values ​​for ΔS2 is 3S B / 10000~S B / 1000.

[0074] In some specific examples, when the length of the upper chain is within a first numerical range and the length of the lower chain is within a second numerical range, the extension amount of the telescopic cylinder remains constant; when the length of the upper chain is greater than the upper limit of the first numerical range and the length of the lower chain is greater than the upper limit of the second numerical range, the extension amount of the telescopic cylinder 2 is increased; when the length of the upper chain is less than the lower limit of the first numerical range and the length of the lower chain is less than the lower limit of the second numerical range, the extension amount of the telescopic cylinder 2 is decreased.

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

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

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

[0078] In other specific examples, when the length of the upper chain is within a first numerical range and the length of the lower chain is within a second numerical range, the torque and speed of the drive motor and the auxiliary motor remain constant; when the length of the upper chain is greater than the upper limit of the first numerical range and the length of the lower chain is less than the lower limit of the second numerical range, the torque and speed of the drive motor are increased; when the length of the upper chain is less than the lower limit of the first numerical range and the length of the lower chain is greater than the upper limit of the second numerical range, the torque and speed of the auxiliary motor are increased.

[0079] The length of the upper chain is within the first numerical range to indicate that the chain tension in the upper chain path is appropriate, and the length of the lower chain is within the second numerical range to indicate that the chain tension in the lower chain path is appropriate. At this time, the torque and speed of the drive motor and the auxiliary motor remain unchanged.

[0080] In this process, a chain length exceeding the upper limit of the first numerical range indicates that the chain in the upper conveyor is too loose, while a chain length below the lower limit of the second numerical range indicates that the chain in the lower conveyor is too tight. At this point, the torque and speed of the drive motor are increased, gradually tightening the upper chain and causing its length to return to within the first numerical range. Simultaneously, the lower chain, due to the adjustment of the drive motor, also experiences relief from its over-tightness, with its length moving closer to the second numerical range. During this process, the scraper conveyor 3 gradually returns to normal operation, resulting in more stable and efficient material conveying.

[0081] In this process, a chain length value less than the lower limit of the first numerical range indicates that the chain in the upper conveyor is too tight, while a chain length value greater than the upper limit of the second numerical range indicates that the chain in the lower conveyor is too loose. At this point, the torque and speed of the auxiliary motor are increased, causing the chain in the upper conveyor to gradually loosen and its length value to approach the reasonable range of the first numerical range. Simultaneously, the chain in the lower conveyor gradually tightens under the action of the auxiliary motor, and its length value returns to within the second numerical range. During this process, the operation of the scraper conveyor 3 gradually returns to normal, and material conveying becomes more stable and efficient.

[0082] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0083] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely preferred embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A method of dynamic chain tension adjustment, characterized by, The method is used for a scraper (3) conveyor, the scraper (3) conveyor comprises a tail (1), and the telescopic oil cylinder (2) is arranged at the tail (1); the method comprises: Obtaining the spacing data of a plurality of scrapers (3) spaced from each other; Determine the length value of the upper chain and the lower chain of the scraper (3) conveyor at different running times based on the spacing data of a plurality of scrapers (3) spaced from each other; Real-time comparison of the length value and the preset setting interval, based on the comparison result, control the movement of the telescopic oil cylinder (2); The scraper (3) conveyor further comprises a head, the driving motor is arranged at the head, the auxiliary motor is further arranged at the tail (1), and the method further comprises: Comparing the length value with the preset setting interval, based on the comparison result, control the movement of the driving motor and the auxiliary motor; The preset setting interval comprises a first numerical interval and a second numerical interval; the comparison of the length value and the preset setting interval, based on the comparison result, control the movement of the driving motor, comprises: Real-time comparison of the length value of the upper chain and the first numerical interval and the length value of the lower chain and the second numerical interval; In the case that the length value of the upper chain is in the first numerical interval and the length value of the lower chain is in the second numerical interval, the torque and the rotating speed of the driving motor and the auxiliary motor are kept unchanged; in the case that 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 less than the lower limit value of the second numerical interval, the torque and the rotating speed of the driving motor are controlled to increase; in the case that 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 greater than the upper limit value of the second numerical interval, the torque and the rotating speed of the auxiliary motor are controlled to increase.

2. The chain tension dynamic adjustment method of claim 1, wherein, The preset setting interval comprises a first numerical interval and a second numerical interval; the comparison of the length value and the preset setting interval, based on the comparison result, control the movement of the telescopic oil cylinder (2), comprises: Real-time comparison of the length value of the upper chain and the first numerical interval and the length value of the lower chain and the second numerical interval; In the case that the length value of the upper chain is in the first numerical interval and the length value of the lower chain is in the second numerical interval, the telescopic oil cylinder is kept unchanged; in the case that 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 telescopic oil cylinder (2) is controlled to increase the extension amount; in the case that 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 telescopic oil cylinder (2) is controlled to reduce the extension amount.

3. The chain tension dynamic adjustment method of claim 2, wherein, the first numerical interval is S A ± ΔS1, and the second numerical interval is S B ± ΔS2; where S A is the length value of the uplink channel, and ΔS1 is the uplink channel length correction value B is the length value of the downlink channel, and ΔS2 is the downlink channel length correction value.

4. The chain tension dynamic adjustment method of claim 3, wherein, The value range of the ΔS1 is 3S A / 10000~S A The value range of the ΔS2 is 3S B / 10000~S B / 1000.

5. The chain tension dynamic adjustment method of claim 1, wherein, The acquisition of the spacing data of a plurality of scrapers (3) spaced from each other comprises: Record the 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 scrapers (3) passing through the detection position, the spacing data of a plurality of scrapers (3) spaced apart from each other is calculated.

6. The chain tension dynamic adjustment method of claim 5, wherein, The detection position is provided with a magnetic field monitoring unit (4) which is triggered when the scraper (3) passes through the detection position.

7. The chain tension dynamic adjustment method of claim 5, wherein, A visual perception unit (5) is provided on the tail (1), and the detection end of the visual perception unit (5) is arranged towards the detection position.

8. The chain tension dynamic adjustment method of claim 1, wherein, When the spacing data of a plurality of scrapers (3) spaced apart from each other is 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 running times are determined based on the spacing data of a plurality of scrapers (3) spaced apart from each other, the scraper (3) conveyor is in a normal running mode.

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