Belt conveyor and high-speed path combining method for belt conveyor

Abstract

The invention provides a belt conveyor and a high-speed road combining method for the belt conveyor. The belt conveyor comprises a controller platform, a main road section and a road combining section; in the main road section and the combined road section, the inlet and outlet ends of the first main road belt conveying section, the inlet and outlet ends of the second main road belt conveying section, the combined position of the second main road belt conveying section and the third combined road belt conveying section and the inlet end of the third main road belt conveying section are arranged; inductors are arranged at the inlet ends of the first combined belt conveying section, the second combined belt conveying section and the third combined belt conveying section. The controller platform calculates the linear speed and position of the material boxes according to signals of the sensors, controls the operation and / or rotating speed of each belt conveying section, and inserts the material boxes of the combined section between the material boxes of the main section. The conveying distance between the material boxes is controlled and adjusted, the distance between the material boxes is reduced, and higher conveying efficiency is achieved.

Description

Technical Field

[0001] The present application relates to the field of intelligent warehousing technology, and in particular to a belt conveyor and a high-speed combining method for the belt conveyor. Background Art

[0002] Belt conveyors are generally used to transport packages and boxes in the logistics and warehousing industries. Existing belt conveyors adjust their motor speed and adjust the belt conveyor. The feedback of the motor speed is achieved by using a tachometer wheel and a magnetic switch. The tachometer wheel is a metal wheel with 5 hollow holes in the middle. For every rotation of the tachometer wheel, the magnetic switch receives 5 signals, resulting in a large speed error and inability to accurately measure the speed.

[0003] In the existing scheme, belt conveyors form a conveyor line. Generally, the conveyor line will be set up with a main section and a merging section. To improve the conveying efficiency of the main section, it is only necessary to increase the speed of the belt conveyor to improve the efficiency. Once there is a merging section, the efficiency will be reduced. Wave control is used to convey the straight-moving material boxes before conveying the merging material boxes. The disadvantage is that the material boxes cannot be transported according to the first-in-first-out principle. The material boxes in the main section need to wait for the merging section to be transported, and the material boxes in the merging section need to wait for the main section to be transported. The method of using the main section for continuous transportation and inserting the material boxes into the main section has the disadvantage that the detection of each conveying section is inaccurate. When inserting the material boxes from the merging section to the main section, it is easy to collide with the box or the spacing is too large, which affects the conveying efficiency. Summary of the invention

[0004] The present application provides a belt conveyor and a high-speed merging method for the belt conveyor, which can be used to solve the problems of inaccurate detection of the conveying sections of the existing belt conveyor, easy collision with the material box when the merging section is inserted into the main section, or the spacing is too large, which affects the conveying efficiency.

[0005] On the one hand, the present application provides a belt conveyor, including a controller platform, a main section and a combined section, wherein the main section includes a first main belt conveying section, a second main belt conveying section and a third main belt conveying section along a conveying direction:

[0006] The combined section includes a first combined belt conveyor section, a second combined belt conveyor section and a third combined belt conveyor section along the conveying direction, wherein the output end of the third combined belt conveyor section is adjacent to the middle of the second main belt conveyor section, and is used to insert the material box of the combined section into the main section;

[0007] The entrance and exit of the first main belt conveyor section, the entrance and exit of the second main belt conveyor section, the junction of the second main belt conveyor section and the third junction belt conveyor section, and the entrance of the third main belt conveyor section;

[0008] The inlet ends of the third main belt conveyor section, the first combined belt conveyor section, the second combined belt conveyor section and the third combined belt conveyor section are all equipped with sensors;

[0009] The controller platform is used to calculate the linear speed and position of the material box according to the signals of the sensors of each belt conveyor section, and control the operation and / or speed of each belt conveyor section, so that the spacing between the material boxes on the main section at the junction is 1-2 times the length of the material box that needs to be inserted into the junction section, and control the material box of the junction section to be inserted between the material boxes of the main section.

[0010] Further, the controller platform includes an industrial computer platform;

[0011] The industrial computer platform is connected to the sensors of each conveying section through the I / O module;

[0012] The industrial computer platform is connected to the servo drive module via the I / O module and the EtherCAT bus module in sequence, and the servo drive module is connected to the servo motor in each conveying section to control the operation of the servo motor.

[0013] Furthermore, the main road section also includes a fourth main road belt conveyor section, which is used to connect with the third main road belt conveyor section;

[0014] A sensor is provided at the inlet end of the fourth main road belt conveyor section, and the outlet end of the fourth main road section is connected to the slider sorter, and two sensors with preset distances along the conveying direction are provided to adjust the speed of the material box to match the same linear speed of the slider sorter.

[0015] Furthermore, the power of each belt conveying section is provided by a servo motor, and the sensor is a photoelectric sensor;

[0016] The controller of the controller platform is used to output a driving signal for controlling the servo motor of each belt conveyor section according to the sensing signal and the preset algorithm. The servo motor of each belt conveyor section operates according to the driving signal. The calculation formula is as follows, wherein the efficiency formula is as follows:

[0017]

[0018] The speed unit is m / s, the turnover box size unit is m, and the coefficient range is 0.0~2.0;

[0019] Current main road material box length = line speed * time, which is the time when the sensor at the entrance of the first main road belt conveyor section is blocked;

[0020] Current main road material box head position = line speed * time, the time is the rising edge of the sensor at the entrance of the first main road belt conveyor section;

[0021] Current main road material box tail position = current main road material box head position - current main road material box length

[0022] The current combining position calculation formula is:

[0023] The current length of the combined material box = line speed * time, which is the time the sensor at the combined location is blocked;

[0024] The current position of the head of the combined material box = line speed * time, which is the time starting from the rising edge of the sensor at the combined position;

[0025] The current end position of the combined material box = the current head position of the combined material box - the current length of the combined material box;

[0026] Among them, the unit of line speed is m / s; the unit of time is s; the unit of current material box length is m;

[0027] The calculation formula for the spacing between main lines and combined lines is as follows:

[0028] The empty spacing = the current combined material box length * (1 + coefficient), where the empty spacing is: m.

[0029] On the other hand, the present application provides a high-speed joining method for a belt conveyor, the method being used for any of the belt conveyors described above, the method comprising the following steps:

[0030] S1, obtaining the signals of the sensors of each belt conveying section;

[0031] S2, calculate the linear speed and position of the material box;

[0032] S3, control the operation and / or speed of each belt conveyor section so that the spacing between the material boxes on the main section at the junction is 1-2 times the length of the material boxes required to be inserted into the junction section;

[0033] S4. Control the material box of the combined section to be inserted between the material boxes of the main section.

[0034] Furthermore, the step S2 includes:

[0035] Calculate the linear speed and position of the material box based on the time it takes for the material box to pass through the sensor and the size of the material box;

[0036] or,

[0037] The linear speed and position of the material box are calculated based on the speed of each belt conveyor section and the time when the material box reaches the corresponding sensor.

[0038] Furthermore, the step S2 includes:

[0039] When the material box triggers the sensor at the entrance of the first main road belt conveyor section, the length of the material box in the main road section is calculated, and the linear speed and current position of the material box are obtained according to the speed of each belt conveyor section of the main road section and the sensing signal;

[0040] When the material box triggers the sensor at the entrance of the first combined belt conveyor section, the length of the combined section material box is calculated, and the linear speed and current position of the material box are obtained based on the speed of each belt conveyor section of the combined section and the sensing signal.

[0041] Furthermore, the step S3 includes:

[0042] Determine whether each belt conveyor section has no boxes or is unloading boxes;

[0043] If the current belt conveyor section has no boxes or is unloading boxes, the previous belt conveyor section is allowed to load boxes into the current belt conveyor section;

[0044] If there is no box at the junction of the second main belt conveyor section and the third junction belt conveyor section, the third junction belt conveyor section is allowed to feed boxes into the second main belt conveyor section;

[0045] If the first main belt conveyor section allows box entry, controlling the first main belt conveyor section to rotate;

[0046] When the material box reaches the photoelectric sensor at the exit of the first main belt conveyor section, if the second main belt conveyor section allows the box to enter, the second main belt conveyor section is controlled to rotate, otherwise the first main belt conveyor section is controlled to stop rotating;

[0047] The material box arrives at the sensors at the entrance, junction and exit of the second main belt conveyor section in sequence. If the third main belt conveyor section allows the box to enter, the third main belt conveyor section is controlled to rotate, otherwise the second main belt conveyor section stops. If the junction of the second main belt conveyor section allows the box to enter, the third junction belt conveyor section is controlled to rotate, otherwise the third junction belt conveyor section is controlled to stop, so that the spacing between the material boxes on the main section at the junction is 1-2 times the length of the material box that needs to be inserted into the junction section;

[0048] If the first combined belt conveyor section allows box entry, controlling the first combined belt conveyor section to rotate;

[0049] When the material box triggers the sensor at the inlet end of the first combined belt conveyor section, if the second combined belt conveyor section allows the box to enter, the second combined belt conveyor section is controlled to rotate, otherwise the first combined belt conveyor section is controlled to stop rotating;

[0050] When the material box reaches the sensor at the inlet end of the second combined belt conveyor section, if the third combined belt conveyor section allows the box to enter, the third combined belt conveyor section is controlled to rotate, otherwise the second combined belt conveyor section is controlled to stop rotating.

[0051] Furthermore, if the main road section also includes a fourth main road belt conveyor section, when the material box reaches the sensor at the entrance of the third main road belt conveyor section, if the fourth main road belt conveyor section allows the box to enter, the fourth main road belt conveyor section is controlled to rotate;

[0052] Before the material box reaches the sensor at the exit of the fourth main belt conveyor section, the rotation speed of the fourth main belt conveyor section is controlled so that the material box speed is the same as that of the slider sorter.

[0053] Furthermore, the speed of each belt conveyor section is controlled according to the following preset algorithm, the calculation formula is as follows, and the efficiency formula is as follows:

[0054]

[0055] The speed unit is m / s, the turnover box size unit is m, and the coefficient range is 0.0~2.0;

[0056] Current main road material box length = line speed * time, which is the time when the sensor at the entrance of the first main road belt conveyor section is blocked;

[0057] Current main road material box head position = line speed * time, the time is the rising edge of the sensor at the entrance of the first main road belt conveyor section;

[0058] Current main road material box tail position = current main road material box head position - current main road material box length

[0059] The current combining position calculation formula is:

[0060] The current length of the combined material box = line speed * time, which is the time the sensor at the combined location is blocked;

[0061] The current position of the head of the combined material box = line speed * time, which is the time starting from the rising edge of the sensor at the combined position;

[0062] The current end position of the combined material box = the current head position of the combined material box - the current length of the combined material box;

[0063] Among them, the unit of line speed is m / s; the unit of time is s; the unit of current material box length is m;

[0064] The calculation formula for the spacing between main lines and combined lines is as follows:

[0065] The empty spacing = the current combined material box length * (1 + coefficient), where the empty spacing is: m.

[0066] Compared with the AC belt conveyor controlled by the frequency converter, the solution provided by the present application can control and adjust the conveying distance between the material boxes under the premise of the same speed, reduce the distance between the material boxes, and achieve higher conveying efficiency. And the conveying equipment connected to the output end of the belt conveyor matches the same line speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 It is a schematic diagram of the power control and sensor layout structure of the belt conveyor of the present application;

[0068] Figure 2 It is a schematic diagram of the electrical control structure of the belt conveyor of the present application;

[0069] Figure 3 It is a schematic diagram of the control flow of the high-speed combining method of the belt conveyor of the present application;

[0070] Figure 4 It is a relationship diagram of efficiency coefficients in the efficiency formula of this application. DETAILED DESCRIPTION

[0071] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0072] The implementation environment and hardware architecture described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of the hardware architecture, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems in different implementation environments.

[0073] Let's first combine Figure 1 and Figure 2The structure of the belt conveyor of the present application is introduced. The belt conveyor of the present application includes a controller platform, a main section and a combined section. The main section includes a first main belt conveyor section (M1), a second main belt conveyor section (M2) and a third main belt conveyor section (M3) along the conveying direction. The combined section includes a first combined belt conveyor section (M5), a second combined belt conveyor section (M6) and a third combined belt conveyor section (M7) along the conveying direction. The output end of the third combined belt conveyor section (M7) is adjacent to the middle of the second main belt conveyor section (M2). Insert the material box of the combined section into the main section; the entrance and exit of the first main belt conveyor section (M1), the entrance and exit of the second main belt conveyor section (M2), the junction of the second main belt conveyor section (M2) and the third combined belt conveyor section (M7), and the entrance of the third main belt conveyor section (M3); sensors are configured at the entrances of the third main belt conveyor section (M3), the first combined belt conveyor section (M5), the second combined belt conveyor section (M6) and the third combined belt conveyor section (M7); the position of the sensors on each belt conveyor section is as follows: Figure 1 In the positions shown in S1-S12, the controller platform is used to calculate the linear speed and position of the material box according to the signals of the sensors of each belt conveyor section, and control the operation and / or speed of each belt conveyor section, so that the spacing between the material boxes on the main section at the junction is 1-2 times the length of the material box that needs to be inserted into the junction section, and control the material box of the junction section to be inserted between the material boxes on the main section.

[0074] The main road section also includes a fourth main road belt conveyor section (M4) for docking with the third main road belt conveyor section (M3); a sensor is provided at the inlet end of the fourth main road belt conveyor section (M4), and the outlet end of the fourth main road section is docked with the slider sorter, and is provided with two sensors with a preset distance between them along the conveying direction, which are used to adjust the speed of the material box to match the same linear speed of the slider sorter.

[0075] In summary, the belt conveyor can be 6 sections, but in order to match the slider sorter, it is preferably set to 7 sections. Section M1 is the main section box inlet end, and section M4 is the main section box outlet end and is connected to the slider sorter. M5 is the combined section box inlet end, and M7 is the combined section box outlet end. S1-S12 are sensors, usually photoelectric sensors. Of course, electromagnetic wave radars and visual sensor lights can also be installed to judge or calculate the length, speed, position, etc. of the material box. The conveying direction of the main section box is from M1-M2-M3-M4, and the conveying direction of the combined section box is M5-M6-M7-M2-M3-M4, according to Figure 1Mirror reflection type photoelectric sensors are installed at the positions shown, that is, at the entrance and exit of section M1, at the entrance and exit of section M2 and in the middle of the combined triangle section with section M7, and at the entrances of sections M3, M5, M6 and M7.

[0076] Furthermore, the controller platform includes an industrial computer platform, which is connected to the sensors of each conveying section through the I / O module; the industrial computer platform is connected to the servo drive module through the I / O module and the EtherCAT bus module in turn, and the servo drive module is connected to the servo motor in each conveying section for controlling the operation of the servo motor.

[0077] The industrial computer platform is Figure 2 The industrial computer of the Codesys platform of the electrical control cabinet shown in the figure can of course also be used for other types or brands of industrial computers with similar functions. The illustration of this application is only used as an example. The cabinet is connected to a remote IO that supports the EtherCAT protocol, and a servo drive that supports the EtherCAT protocol is used. The servo motor is installed on the belt conveyor and connected to the corresponding servo drive through a power cable and an encoder cable. The servo response of the EtherCAT bus is fast, and 100 axes can be synchronized in 1ms. The controller can know the real-time speed of each servo motor, so as to calculate the linear speed of the material box on the belt conveyor.

[0078] The controller of the controller platform is used to output a driving signal for controlling the servo motor of each belt conveyor section according to the sensing signal and the preset algorithm, and the servo motor of each belt conveyor section operates according to the driving signal, wherein the algorithm formula is as follows:

[0079]

[0080] The speed unit is m / s, the turnover box size unit is m, and the coefficient range is 0.0 to 2.0.

[0081] The coefficient range is (0.0~2.0). The length of the material box is within 1m. The coefficient range of the material box is affected by the spacing between them. If the material boxes are close together without any gaps, the coefficient is infinitely close to 2.0. If the spacing between the material boxes is equal to the length of a material box, the coefficient is 1.0. The spacing between the material boxes is half the length of the material box, then the coefficient is 1.5. The coefficient from 0.5 to 2.0 is linearly related to the spacing between the material boxes, such as Figure 4The schematic diagram shown. The derivation process of the efficiency formula: speed*3600: the distance the material box moves on the conveyor in one hour, that is, 3600 seconds; speed*3600 / turnaround box size / 2: the distance between the turnover boxes is slightly larger than the distance of one turnover box, so the actual distance of one turnover box is the distance of two turnover boxes; coefficient*speed*3600 / turnaround box size / 2: the final estimated efficiency;

[0082] Current main road position calculation formula:

[0083] Current main road material box length = line speed * time, which is the time of the sensor at the inlet end of the first main road belt conveyor section ( Figure 1 S1) is blocked time;

[0084] Current main road material box head position = line speed * time, which is the time at the inlet end of the first main road belt conveyor section ( Figure 1 The timing starts from the rising edge of S1 in the figure;

[0085] The current main road material box tail position = the current main road material box head position - the current main road material box length;

[0086] The current combining position calculation formula is:

[0087] Current combined material box length = line speed * time, the time is the sensor at the combined position ( Figure 1 S10) is blocked time;

[0088] Current position of the head of the material box = line speed * time, which is the time of the sensor at the junction ( Figure 1 The rising edge of S10 in the figure starts timing;

[0089] Current combined material box tail position = current combined material box head position - current combined material box length

[0090] Among them, the above line speed unit is: m / s; time unit: s; current material box length unit: m.

[0091] The calculation formula for the spacing between main lines and combined lines is as follows:

[0092] Clearance spacing = current combined material box length * (1 + coefficient), unit: Clearance spacing unit: m.

[0093] This application then gives an example, for example, if the length of the material box is 0.6m, the efficiency needs to be no less than 5000 boxes / H, and the line speed is 2m / s. The coefficient is coefficient = efficiency / ((speed*1800) / turnover box size) = 5000 / ((2*1800) / 0.6)≈0.83. The coefficient is 0.83, and the corresponding conveying spacing should not be greater than 0.83 times the length of the turnover box. Therefore, the conveyor only needs to calculate the current location of the turnover box. If there are boxes on the main section and the combined section also has boxes, the main road will leave a spacing of 1+0.83 times the length of the material box during transportation to facilitate the insertion of the combined section into the main road.

[0094] The second aspect of the present application provides a high-speed combining method for a belt conveyor, which can be referred to Figure 3 The schematic diagram shown in the figure, the method is used for any of the belt conveyors described above, and the method comprises the following steps:

[0095] S1. Obtain the signal of the sensor of each belt conveyor section.

[0096] S2, calculating the linear speed and position of the material box; when the material box triggers the sensor at the entrance of the first main road belt conveyor section (M1), the length of the main road section material box is calculated, and the linear speed and current position of the material box are obtained according to the speed of each belt conveyor section of the main road section and the sensing signal;

[0097] When the material box triggers the sensor at the entrance of the first combined belt conveyor section (M5), the length of the combined section material box is calculated, and the linear speed and current position of the material box are obtained based on the speed of each belt conveyor section of the combined section and the sensing signal.

[0098] S3, control the operation and / or speed of each belt conveyor section so that the spacing between the material boxes on the main section at the junction is 1-2 times the length of the material box that needs to be inserted into the junction section. The specific control is as follows: determine whether each belt conveyor section has no box or is discharging a box;

[0099] If the current belt conveyor section has no boxes or is unloading boxes, the previous belt conveyor section is allowed to load boxes into the current belt conveyor section;

[0100] If there is no box at the junction of the second main belt conveyor section (M2) and the third junction belt conveyor section (M7), the third junction belt conveyor section (M7) is allowed to feed boxes into the second main belt conveyor section (M2);

[0101] If the first main belt conveyor section (M1) allows box entry, controlling the first main belt conveyor section (M1) to rotate;

[0102] When the material box reaches the photoelectric sensor at the exit of the first main belt conveyor section (M1), if the second main belt conveyor section (M2) allows the box to enter, the second main belt conveyor section (M2) is controlled to rotate, otherwise the first main belt conveyor section (M1) is controlled to stop rotating;

[0103] The material box arrives at the sensors at the entrance, junction and exit of the second main belt conveyor section (M2) in sequence. If the third main belt conveyor section (M3) allows the box to enter, the third main belt conveyor section (M3) is controlled to rotate, otherwise the second main belt conveyor section (M2) stops. If the junction of the second main belt conveyor section (M2) allows the box to enter, the third junction belt conveyor section (M7) is controlled to rotate, otherwise the third junction belt conveyor section (M7) is controlled to stop, so that the spacing between the material boxes on the main section at the junction is 1-2 times the length of the material box that needs to be inserted into the junction section;

[0104] S4. Control the material box of the combined section to be inserted between the material boxes of the main section.

[0105] Furthermore, if the main road section also includes a fourth main road belt conveyor section (M4), when the material box reaches the sensor at the input end of the third main road belt conveyor section (M3), if the fourth main road belt conveyor section (M4) allows the box to enter, the fourth main road belt conveyor section (M4) is controlled to rotate; before the material box reaches the sensor at the output end of the fourth main road belt conveyor section (M4), the rotation speed of the fourth main road belt conveyor section (M4) is controlled so that the material box speed is the same as that of the slider sorter.

[0106] In summary, if M1 has no box or M1 is unloading a box, M1 is allowed to enter a box. If M3 has no box or M3 is unloading a box, M3 is allowed to enter a box. If M4 has no box or M4 is unloading a box, M4 is allowed to enter a box. If M5 has no box or M5 is unloading a box, M5 is allowed to enter a box. If M6 has no box or M6 is unloading a box, M6 is allowed to enter a box. If M7 has no box or M7 is unloading a box, M7 is allowed to enter a box. If M2 has no box or M2 is unloading a box, M2 is allowed to enter a box from the main road. If there is no box at the intersection of M2 and the combined road, M2 is allowed to enter a box from the combined road. If M1 is allowed to enter a box, M1 rotates, and when the material box triggers the S1 photoelectric sensor, the main road turnover box length and current location are calculated according to the algorithm. When the material box reaches the S2 photoelectric sensor, if M2 is allowed to enter a box, M2 rotates, otherwise M1 stops. After the material box reaches the S3 / S4 / S5 sensors in sequence, if M3 allows the box to enter, M3 rotates, otherwise M2 stops. When the material box reaches the S6 photoelectric sensor, if M4 allows the box to enter, M4 rotates, and the speed of the material box must be the same as that of the slider sorter before it reaches the S9 sensor. If M5 allows the box to enter, M5 rotates. When the material box triggers the S10 photoelectric sensor, the algorithm starts to calculate the length of the combined turnover box and the current position. When the material box reaches the S10 photoelectric sensor, if M6 allows the box to enter, M6 rotates, otherwise M5 stops. When the material box reaches the S11 photoelectric sensor, if M7 allows the box to enter, M7 rotates, otherwise M6 stops. If M2 allows the combined box to enter, the material box of M7 is inserted into the main road M2, otherwise M7 stops.

[0107] Furthermore, the speed of each belt conveyor section is controlled according to the following preset algorithm, and the algorithm formula is as follows:

[0108]

[0109] The speed unit is m / s, the turnover box size unit is m, and the coefficient range is 0.0 to 2.0.

[0110] Current main road position calculation formula:

[0111] Current main road material box length = line speed * time, which is the time of the sensor at the inlet end of the first main road belt conveyor section ( Figure 1 S1) is blocked time;

[0112] Current main road material box head position = line speed * time, which is the time at the inlet end of the first main road belt conveyor section ( Figure 1 The timing starts from the rising edge of S1 in the figure;

[0113] The current main road material box tail position = the current main road material box head position - the current main road material box length;

[0114] The current combining position calculation formula is:

[0115] Current combined material box length = line speed * time, the time is the sensor at the combined position ( Figure 1 S10) is blocked time;

[0116] Current position of the head of the material box = line speed * time, which is the time of the sensor at the junction ( Figure 1 The rising edge of S10 in the figure starts timing;

[0117] Current combined material box tail position = current combined material box head position - current combined material box length

[0118] Among them, the above line speed unit is: m / s; time unit: s; current material box length unit: m.

[0119] The calculation formula for the spacing between main lines and combined lines is as follows:

[0120] Clearance spacing = current combined material box length * (1 + coefficient), unit: Clearance spacing unit: m.

[0121] The above high-speed combining method has the same principle as that of the belt conveyor scheme described in this application, and will not be described in detail.

[0122] In summary, the material box on the belt conveyor of this application can reach a linear speed of 2-5m / s, and the efficiency can reach 5000-2000 boxes / H. Compared with the AC belt conveyor controlled by the frequency converter, it can control and adjust the conveying distance between the material boxes under the premise of the same speed, which can reduce the distance between the material boxes and achieve higher conveying efficiency. And it can match the same linear speed with the conveying equipment connected to the output end of the belt conveyor. The electrical solution uses a controller and servo drive with EtherCAT protocol, and the real-time control and response are high.

[0123] In addition, the present application also provides a computer storage medium, wherein the computer storage medium may store a program or executable instructions, and when the program or instructions are executed, some or all of the steps in the method embodiment provided in the present application may be included. The storage medium may be a disk, an optical disk, a read-only storage memory ROM or a random access memory RAM, etc. The computer program product includes one or more computer instructions. When the computer loads and executes the computer program, the process or function described in the above embodiments of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network or other programmable device.

[0124] Those skilled in the art can clearly understand that the technology in the embodiments of the present application can be implemented by means of software plus the necessary hardware platform. Based on this understanding, the technical solutions in the embodiments of the present application are essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention or certain parts of the embodiments.

[0125] In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more than two. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art will understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different. The above-described embodiments of the present application do not constitute a limitation on the scope of protection of the present application.

Claims

1. A belt conveyor, comprising a controller platform, a main section and a combined section, characterized in that: The main road section includes a first main road belt conveying section, a second main road belt conveying section and a third main road belt conveying section along the conveying direction: The combined section includes a first combined belt conveyor section, a second combined belt conveyor section and a third combined belt conveyor section along the conveying direction, wherein the output end of the third combined belt conveyor section is adjacent to the middle of the second main belt conveyor section, and is used to insert the material box of the combined section into the main section; The entrance and exit of the first main belt conveyor section, the entrance and exit of the second main belt conveyor section, the junction of the second main belt conveyor section and the third junction belt conveyor section, and the entrance of the third main belt conveyor section; The inlet ends of the third main belt conveyor section, the first combined belt conveyor section, the second combined belt conveyor section and the third combined belt conveyor section are all equipped with sensors; The controller platform is used to calculate the linear speed and position of the material box according to the signals of the sensors of each belt conveyor section, and control the operation and / or speed of each belt conveyor section, so that the spacing between the material boxes on the main section at the junction is 1-2 times the length of the material box that needs to be inserted into the junction section, and control the material box of the junction section to be inserted between the material boxes of the main section.

2. The belt conveyor according to claim 1, characterized in that: The controller platform includes an industrial computer platform; The industrial computer platform is connected to the sensors of each conveying section through the I / O module; The industrial computer platform is connected to the servo drive module via the I / O module and the EtherCAT bus module in sequence, and the servo drive module is connected to the servo motor in each conveying section to control the operation of the servo motor.

3. The belt conveyor according to claim 2, characterized in that: The main road section also includes a fourth main road belt conveyor section, which is used to connect with the third main road belt conveyor section; A sensor is provided at the inlet end of the fourth main road belt conveyor section, and the outlet end of the fourth main road section is connected to the slider sorter, and two sensors with preset distances along the conveying direction are provided to adjust the speed of the material box to match the same linear speed of the slider sorter.

4. The belt conveyor according to any one of claims 1 to 3, characterized in that: The power of each belt conveying section is provided by a servo motor, and the sensor adopts a photoelectric sensor; The controller of the controller platform is used to output a driving signal for controlling the servo motor of each belt conveyor section according to the sensing signal and the preset algorithm, and the servo motor of each belt conveyor section operates according to the driving signal, wherein the calculation formula is as follows, and the efficiency formula is as follows: The speed unit is m / s, the turnover box size unit is m, and the coefficient range is 0.0~2.0; Current main road material box length = line speed * time, which is the time when the sensor at the entrance of the first main road belt conveyor section is blocked; Current main road material box head position = line speed * time, the time is the rising edge of the sensor at the entrance of the first main road belt conveyor section; Current main road material box tail position = current main road material box head position - current main road material box length The current combining position calculation formula is: The current length of the combined material box = line speed * time, which is the time the sensor at the combined location is blocked; The current position of the head of the combined material box = line speed * time, which is the time starting from the rising edge of the sensor at the combined position; The current end position of the combined material box = the current head position of the combined material box - the current length of the combined material box; Among them, the unit of line speed is m / s; the unit of time is s; the unit of current material box length is m; The calculation formula for the spacing between main lines and combined lines is as follows: The empty spacing = the current combined material box length * (1 + coefficient), where the empty spacing is: m.

5. A high-speed joining method for a belt conveyor, characterized in that: The method is used for any of the belt conveyors described above, and the method comprises the following steps: S1, obtaining the signals of the sensors of each belt conveying section; S2, calculate the linear speed and position of the material box; S3, control the operation and / or speed of each belt conveyor section so that the spacing between the material boxes on the main section at the junction is 1-2 times the length of the material boxes required to be inserted into the junction section; S4. Control the material box of the combined section to be inserted between the material boxes of the main section.

6. The high-speed combining method for a belt conveyor according to claim 5, characterized in that: The step S2 comprises: Calculate the linear speed and position of the material box based on the time it takes for the material box to pass through the sensor and the size of the material box; or, The linear speed and position of the material box are calculated based on the speed of each belt conveyor section and the time when the material box reaches the corresponding sensor.

7. The high-speed joining method for a belt conveyor according to claim 6, characterized in that: The step S2 comprises: When the material box triggers the sensor at the entrance of the first main road belt conveyor section, the length of the material box in the main road section is calculated, and the linear speed and current position of the material box are obtained according to the speed of each belt conveyor section of the main road section and the sensing signal; When the material box triggers the sensor at the entrance of the first combined belt conveyor section, the length of the combined section material box is calculated, and the linear speed and current position of the material box are obtained based on the speed of each belt conveyor section of the combined section and the sensing signal.

8. The high-speed joining method for a belt conveyor according to any one of claims 5 to 7, characterized in that: The step S3 comprises: Determine whether each belt conveyor section has no boxes or is unloading boxes; If the current belt conveyor section has no boxes or is unloading boxes, the previous belt conveyor section is allowed to load boxes into the current belt conveyor section; If there is no box at the junction of the second main belt conveyor section and the third junction belt conveyor section, the third junction belt conveyor section is allowed to feed boxes into the second main belt conveyor section; If the first main belt conveyor section allows box entry, controlling the first main belt conveyor section to rotate; When the material box reaches the photoelectric sensor at the exit of the first main belt conveyor section, if the second main belt conveyor section allows the box to enter, the second main belt conveyor section is controlled to rotate, otherwise the first main belt conveyor section is controlled to stop rotating; The material box arrives at the sensors at the entrance, junction and exit of the second main belt conveyor section in sequence. If the third main belt conveyor section allows the box to enter, the third main belt conveyor section is controlled to rotate, otherwise the second main belt conveyor section stops. If the junction of the second main belt conveyor section allows the box to enter, the third junction belt conveyor section is controlled to rotate, otherwise the third junction belt conveyor section is controlled to stop, so that the spacing between the material boxes on the main section at the junction is 1-2 times the length of the material box that needs to be inserted into the junction section; If the first combined belt conveyor section allows box entry, controlling the first combined belt conveyor section to rotate; When the material box triggers the sensor at the inlet end of the first combined belt conveyor section, if the second combined belt conveyor section allows the box to enter, the second combined belt conveyor section is controlled to rotate, otherwise the first combined belt conveyor section is controlled to stop rotating; When the material box reaches the sensor at the inlet end of the second combined belt conveyor section, if the third combined belt conveyor section allows the box to enter, the third combined belt conveyor section is controlled to rotate, otherwise the second combined belt conveyor section is controlled to stop rotating.

9. The high-speed joining method for a belt conveyor according to claim 8, characterized in that: If the main road section also includes a fourth main road belt conveyor section, when the material box reaches the sensor at the entrance of the third main road belt conveyor section, if the fourth main road belt conveyor section allows the box to enter, the fourth main road belt conveyor section is controlled to rotate; Before the material box reaches the sensor at the exit of the fourth main belt conveyor section, the rotation speed of the fourth main belt conveyor section is controlled so that the material box speed is the same as that of the slider sorter.

10. The high-speed combining method for a belt conveyor according to claim 9, characterized in that: The speed of each belt conveyor section is controlled according to the following preset algorithm, the calculation formula is as follows, and the efficiency formula is as follows: The speed unit is m / s, the turnover box size unit is m, and the coefficient range is 0.0~2.0; Current main road material box length = line speed * time, which is the time when the sensor at the entrance of the first main road belt conveyor section is blocked; Current main road material box head position = line speed * time, the time is the rising edge of the sensor at the entrance of the first main road belt conveyor section; Current main road material box tail position = current main road material box head position - current main road material box length The current combining position calculation formula is: The current length of the combined material box = line speed * time, which is the time the sensor at the combined location is blocked; The current position of the head of the combined material box = line speed * time, which is the time starting from the rising edge of the sensor at the combined position; The current end position of the combined material box = the current head position of the combined material box - the current length of the combined material box; Among them, the unit of line speed is m / s; the unit of time is s; the unit of current material box length is m; The calculation formula for the spacing between main lines and combined lines is as follows: The empty spacing = the current combined material box length * (1 + coefficient), where the empty spacing is: m.

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