Fully-sealed coal feeder

Abstract

The invention provides a fully-sealed coal feeder, which comprises a sealing module, a dynamic cleaning module, a coal feeding module, a coal feeding module, a coal feeding module, a coal feeding module and a coal feeding module and is characterized in that the sealing module adopts a three-layer composite sealing structure based on fluid mechanics and electromagnetism principles to wrap a conveying belt channel; the deviation detection module obtains the deviation amount of the conveying belt through a vibration spectrum analysis channel and a visual recognition channel, and negative feedback adjustment is formed by the deviation detection module and the intelligent tensioning module. All the modules are connected with the central control module, and cooperative control is achieved through a sealing pressure balance model, a cleaning track parameter model and a deviation frequency characteristic model which are arranged in the central control module. By means of the three-layer composite sealing structure, efficient sealing of a conveying belt channel is achieved; the cleaning scraping plate forms a spiral cycloid motion trail through the planetary gear driving mechanism, the conveying belt can be cleaned comprehensively and efficiently, and the cleaning effect is improved; precise detection and efficient adjustment of deviation of the conveying belt are achieved; cooperative control of all the modules is achieved, the overall performance and operation stability of equipment are improved, and energy consumption is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of coal transportation, and in particular to a fully sealed coal feeder. Background Art

[0002] In the early days, the technology of coal transportation and feeding equipment was relatively simple. Coal feeders mostly adopted open or simple sealed structures, and cleaning relied on manual or simple mechanical devices. Conveyor belt deviation detection and tension adjustment also mainly relied on manual experience. With the advancement of industrial automation, coal feeders are gradually developing towards automation and intelligence.

[0003] However, the sealing structure of the traditional coal feeder is difficult to adapt to complex working conditions. When the conveyor belt runs at high speed or the internal pressure fluctuates, dust leakage is likely to occur. At the same time, the existing cleaning device has a single cleaning track and cannot fully cover the surface of the conveyor belt, resulting in incomplete cleaning. The residual material will affect the normal operation of the conveyor belt, increase the wear of the conveyor belt, shorten its service life, and may also cause secondary pollution of materials during the conveying process. In the past, deviation detection mainly relied on a single detection method, which was not accurate enough, and the tension adjustment had a slow response speed and low adjustment accuracy. Deviation of the conveyor belt will not only increase the wear of the conveyor belt, but in severe cases it will also cause the conveyor belt to tear, causing production interruptions, increasing maintenance costs and downtime. In addition, the functional modules of the existing coal feeder are relatively independent, lacking an effective collaborative control mechanism, and unable to be optimized and adjusted according to the overall operating status of the equipment, resulting in poor equipment operation stability and high energy consumption.

[0004] Therefore, there is an urgent need in the art for a fully sealed coal feeder to solve the above problems. Summary of the invention

[0005] The present invention provides a fully sealed coal feeder, aiming to solve the problems existing in the above-mentioned prior art. Through a three-layer composite sealing structure, the principles of fluid mechanics and electromagnetics are utilized to achieve efficient sealing of the conveyor belt channel; through a planetary gear drive mechanism, the cleaning scraper forms a spiral cycloid motion trajectory, which can comprehensively and efficiently clean the conveyor belt and improve the cleaning effect; accurate detection and efficient adjustment of conveyor belt deviation are achieved; coordinated control of various modules is achieved, the overall performance and operating stability of the equipment are improved, and energy consumption is reduced.

[0006] The present invention provides a fully sealed coal feeder, comprising: a sealing module, a dynamic cleaning module, a deviation detection module, an intelligent tensioning module and a central control module; The sealing module uses a three-layer composite sealing structure based on the principles of fluid mechanics and electromagnetics to wrap the conveyor belt channel, forming a closed-loop cleaning system with the dynamic cleaning module; The deviation detection module obtains the conveyor belt deviation through dual channels of vibration spectrum analysis and visual recognition, and forms negative feedback regulation with the intelligent tensioning module; Each module is connected to the central control module, and collaborative control is achieved through the built-in sealed pressure balance model, cleaning trajectory parameter model, and deviation frequency characteristic model in the central control module.

[0007] According to a fully sealed coal feeder provided by the present invention, the sealing module includes three units: an elastic sealing layer, a magnetic force assisting layer, and a negative pressure compensation layer; The elastic sealing layer is made of super-elastic silicone rubber material; the magnetic force assisting layer is composed of a permanent magnet array, generating a closed magnetic field with a strength of to enhance the sealing effect and reduce the dynamic gap; the negative pressure compensation layer establishes a local negative pressure area through an ejector, and the negative pressure value has a linear relationship with the conveyor belt speed and can dynamically adjust the negative pressure according to the speed during the operation of the conveyor belt to maintain the stability of the seal.

[0008] According to a fully sealed coal feeder provided by the present invention, the dynamic cleaning module includes a cleaning scraper and a planetary gear drive mechanism; the movement trajectory of the cleaning scraper is determined by the cleaning trajectory parameter model of the central control module, forming a spiral cycloid movement trajectory for comprehensively and efficiently cleaning the conveyor belt.

[0009] According to a fully sealed coal feeder provided by the present invention, the reduction ratio of the planetary gear drive mechanism satisfies ; wherein, is the radius of the sun gear, is the radius of the planetary gear; this reduction ratio formula determines the rotational speed relationship between the sun gear and the planetary gear, enabling the planetary gear drive mechanism to provide appropriate movement speed and torque for the cleaning scraper to match the requirements of the cleaning trajectory.

[0010] According to a fully sealed coal feeder provided by the present invention, the deviation detection module includes a vibration sensor array, a visual recognition unit, and a signal processing unit; The arrangement spacing of the vibration sensor array satisfies , where is the conveyor belt speed, is the maximum sampling frequency; this arrangement spacing formula is used to ensure that when the vibration sensor array collects the vibration signal of the conveyor belt, signal collection omission or overlap is avoided; The signal processing unit uses fast Fourier transform to extract the characteristic frequency , which satisfies ; wherein is the modal order, related to the vibration mode of the conveyor belt; is the real-time tension, which reflects the current force on the conveyor belt; is the support spacing, which affects the vibration characteristics of the conveyor belt; is the deformation amount, which reflects the degree of deformation of the conveyor belt during operation; is the flexural rigidity, which is related to the material and structure of the conveyor belt; by extracting this characteristic frequency , to judge the deviation of the conveyor belt; that is, when the characteristic frequency exceeds the characteristic frequency under normal conditions , it is determined that the conveyor belt is deviated; the above parameters are obtained by the vibration sensor array and the visual recognition unit.

[0011] According to a fully sealed coal feeder provided by the present invention, the intelligent tensioning module includes a hydraulic actuator; The output force of the hydraulic actuator satisfies , where is the preset target tension, which is a value set according to the tension required for the normal operation of the conveyor belt; is the hydraulic efficiency, which reflects the efficiency of the hydraulic system in converting energy into output force; is the effective area of the piston; the output force is used to adjust the tension of the conveyor belt and correct the deviation.

[0012] According to a fully sealed coal feeder provided by the present invention, the built-in seal pressure balance model of the central control module is:

[0013] Among them, is the actual seal pressure; is the density of the sealing medium; is the radius of curvature of the seal contact surface; is the angular velocity of the relevant rotating parts; is the viscosity of the sealing medium; is the thickness of the elastic sealing layer; is the magnetic field strength generated by the magnetic auxiliary layer; is the conveyor belt speed; is the negative pressure value of the negative pressure compensation layer; When the difference between the actual seal pressure and the preset standard pressure threshold exceeds the preset range, it is determined that the seal is imperfect, and by adjusting the conveyor belt speed or the negative pressure value of the negative pressure compensation layer , the difference is adjusted to the preset range to achieve seal compensation.

[0014] A fully sealed coal feeder provided by the present invention, the cleaning trajectory parameter model built in the central control module is as follows:

[0015] Wherein, is the amplitude eigenvalue, which determines the amplitude of the movement of the cleaning scraper; is the angular velocity of the drive shaft, which controls the movement speed of the cleaning scraper; is the radius of the planetary gear, which affects the shape of the movement trajectory; is the helix angle coefficient, which is related to the helical movement characteristics of the cleaning scraper; is the planetary gear rotation angle function, which reflects the rotation angle of the planetary gear at different times; the models of the respective parameters of the planetary gear drive mechanism are determined; and represent the landing points of the cleaning scraper on the x-axis and y-axis at different times; The cleaning trajectory parameter model is used to control the planetary gear drive mechanism to drive the cleaning scraper to form a spiral cycloid movement trajectory, improving the cleaning area of the cleaning scraper.

[0016] A fully sealed coal feeder provided by the present invention, the deviation frequency characteristic model built in the central control module is composed of combined with ; when the characteristic frequency exceeds the characteristic frequency under normal conditions, it is determined that the conveyor belt is deviated; a corresponding output force is generated to realize the adjustment of the conveyor belt tension and correct the deviation.

[0017] Compared with the prior art, the beneficial effects of the present application are as follows: The present application adopts a three-layer composite sealing structure based on the principles of fluid mechanics and electromagnetism; the elastic sealing layer, the magnetic force assisting layer and the negative pressure compensation layer cooperate with each other. The elastic sealing layer provides initial sealing, the magnetic force assisting layer reduces the dynamic gap and enhances the sealing effect, and the negative pressure compensation layer dynamically adjusts the negative pressure according to the conveyor belt speed to maintain the sealing stability; this sealing structure can effectively prevent dust leakage, reduce environmental pollution, reduce material waste, improve the cleanliness of the production environment and product quality, and at the same time avoid the corrosion and damage of the equipment caused by dust leakage, and extend the service life of the equipment; The cleaning scraper of the dynamic cleaning module of the present application forms a spiral cycloid movement trajectory under the drive of the planetary gear drive mechanism according to the cleaning trajectory parameter model of the central control module; compared with the traditional single cleaning trajectory, it can clean the conveyor belt more comprehensively and efficiently, increase the cleaning area, ensure that the materials on the surface of the conveyor belt are completely removed, reduce the influence of material residue on the operation of the conveyor belt, reduce the wear of the conveyor belt, extend the service life of the conveyor belt, and improve the overall operation efficiency of the equipment; The deviation detection module of the present application obtains the offset of the conveyor belt through the dual channels of vibration spectrum analysis and visual recognition. The signal processing unit extracts the characteristic frequency to judge the deviation situation, which is more accurate than the traditional single detection method. The intelligent tensioning module calculates and outputs an appropriate force to adjust the conveyor belt tension according to the deviation detection result, with a fast response speed and high adjustment accuracy. It can effectively avoid problems such as increased wear and tear and tearing caused by conveyor belt deviation, reduce production interruptions and maintenance costs, and ensure the stable operation of the equipment. Each module of the present application is connected to the central control module and realizes collaborative control through the built-in sealed pressure balance model, cleaning trajectory parameter model, and deviation frequency characteristic model. The central control module can adjust the working state of each module in real time according to the data fed back by each module to optimize the overall operation of the equipment. For example, when the sealed pressure is abnormal, it automatically adjusts the conveyor belt speed or the negative pressure value of the negative pressure compensation layer; adjusts the tension force in a timely manner according to the deviation situation; accurately controls the movement trajectory of the cleaning scraper. This collaborative control improves the stability and reliability of the equipment operation, reduces energy consumption, and realizes the efficient and intelligent operation of the equipment.

[0018] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structure specifically pointed out in the written specification and the drawings.

[0019] The technical solutions of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0020] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure 1 is a schematic topological structure diagram of a fully sealed coal feeder provided by an embodiment of the present invention. Detailed Embodiments

[0021] The following describes the preferred embodiments of the present invention with reference to the 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.

[0022] Embodiment 1: The embodiment of the present invention provides a fully sealed coal feeder. Please refer to Figure 1 , including: a sealing module, a dynamic cleaning module, a deviation detection module, an intelligent tensioning module, and a central control module; The sealing module uses a three-layer composite sealing structure based on the principles of fluid mechanics and electromagnetics to wrap the conveyor belt channel and forms a closed-loop cleaning system with the dynamic cleaning module; The deviation detection module obtains the conveyor belt offset through the dual channels of vibration spectrum analysis and visual recognition, and forms a negative feedback regulation with the intelligent tensioning module; Each module is connected to the central control module, and realizes collaborative control through the built-in sealed pressure balance model, cleaning trajectory parameter model, and deviation frequency characteristic model in the central control module.

[0023] Among them, the sealing module includes three units: an elastic sealing layer, a magnetic force assisting layer, and a negative pressure compensation layer; The elastic sealing layer is made of super-elastic silicone rubber material; the magnetic force assisting layer is composed of a permanent magnet array, generating a closed magnetic field with an intensity of to enhance the sealing effect and reduce the dynamic gap; the negative pressure compensation layer establishes a local negative pressure area through an ejector, and the negative pressure value has a linear relationship with the conveyor belt speed and can dynamically adjust the negative pressure according to the speed during the operation of the conveyor belt to maintain the stability of the seal.

[0024] It should be noted that the implementation method of the elastic sealing layer: Select a super-elastic silicone rubber material with a suitable thickness and make it into a sealing structure adapted to the conveyor belt channel, such as a sealing strip or a gasket. Utilize the good flexibility and resilience of the super-elastic silicone rubber to make it closely fit the surface of the conveyor belt. Even if the conveyor belt has a certain amount of shaking or deformation during operation, it can maintain a sealed contact to block dust and foreign objects from entering.

[0025] The implementation method of the magnetic force assisting layer: Design the layout of the permanent magnet array according to the structure and sealing requirements of the coal feeder. Fix the permanent magnets around the conveyor belt channel in a specific arrangement to ensure the generation of a closed magnetic field with an appropriate intensity. The direction and intensity of the magnetic field need to be accurately calculated and tested so that it can effectively act on the gap between the conveyor belt and the elastic sealing layer, and use the magnetic attraction to reduce the dynamic gap and enhance the sealing effect.

[0026] The implementation method of the negative pressure compensation layer: Install an ejector at a suitable position in the conveyor belt channel. The working principle of the ejector is based on the generation of negative pressure by high-speed air flow. Connect it to an external air source to make the ejector generate high-speed air flow, and then form a negative pressure area in a local area. To achieve a linear relationship between the negative pressure value and the conveyor belt speed, a speed sensor can be installed on the drive motor or transmission component of the conveyor belt to monitor the conveyor belt speed in real time. Transmit the speed signal to the controller, and the controller adjusts the air source flow or pressure of the ejector according to the preset linear relationship model, thereby changing the negative pressure value to ensure that during the operation of the conveyor belt, the negative pressure compensation layer can dynamically adjust the negative pressure according to the speed to maintain the seal stability.

[0027] To further optimize the above embodiments, the dynamic cleaning module includes a cleaning scraper and a planetary gear drive mechanism; the movement trajectory of the cleaning scraper is determined by the cleaning trajectory parameter model of the central control module to form a spiral cycloid movement trajectory for comprehensively and efficiently cleaning the conveyor belt.

[0028] It should be noted that the reduction ratio of the planetary gear drive mechanism satisfies ; where is the radius of the sun gear, is the radius of the planetary gear; this reduction ratio formula determines the rotational speed relationship between the sun gear and the planetary gear, enabling the planetary gear drive mechanism to provide appropriate movement speed and torque for the cleaning scraper to match the requirements of the cleaning trajectory.

[0029] Furthermore, the cleaning trajectory parameter model built in the central control module is:

[0030] where is the amplitude eigenvalue, which determines the amplitude size of the movement of the cleaning scraper; is the angular velocity of the drive shaft, which controls the movement speed of the cleaning scraper; is the radius of the planetary gear, which affects the shape of the movement trajectory; is the spiral lift angle coefficient, which is related to the spiral movement characteristics of the cleaning scraper; is the planetary gear rotation angle function, which reflects the rotation angle of the planetary gear at different times; the types of each parameter planetary gear drive mechanism are determined; and represent the landing points of the cleaning scraper on the x-axis and y-axis at different times; The cleaning trajectory parameter model is used to control the planetary gear drive mechanism to drive the cleaning scraper to form a spiral cycloid movement trajectory, improving the cleaning area of the cleaning scraper.

[0031] To further optimize the above embodiments, the deviation detection module includes a vibration sensor array, a visual recognition unit, and a signal processing unit; The arrangement spacing of the vibration sensor array satisfies , where is the conveyor belt speed, is the maximum sampling frequency; this arrangement spacing formula is used to ensure that when the vibration sensor array collects the vibration signal of the conveyor belt, signal collection omission or overlap is avoided; The signal processing unit uses fast Fourier transform to extract the characteristic frequency , which satisfies ; where is the modal order, which is related to the vibration mode of the conveyor belt; is the real-time tension, reflecting the current force-bearing situation of the conveyor belt; is the support spacing, affecting the vibration characteristics of the conveyor belt; is the deformation amount, reflecting the degree of deformation of the conveyor belt during operation; is the flexural rigidity, related to the material and structure of the conveyor belt; by extracting this characteristic frequency , to judge the deviation situation of the conveyor belt; that is, when the characteristic frequency exceeds the characteristic frequency under normal conditions, it is determined that the conveyor belt deviates; the above parameters are obtained by the vibration sensor array and the visual recognition unit.

[0032] The intelligent tensioning module includes a hydraulic actuator; The output force of the hydraulic actuator satisfies , where is the preset target tension, which is a value set according to the tension required for the normal operation of the conveyor belt; is the hydraulic efficiency, reflecting the efficiency of the hydraulic system in converting energy into output force; is the effective area of the piston; the output force is used to adjust the tension of the conveyor belt and correct the deviation.

[0033] It should be noted that the deviation frequency characteristic model built in the central control module is composed of combined with ; when the characteristic frequency exceeds the characteristic frequency under normal conditions, it is determined that the conveyor belt deviates; correspondingly, an output force is generated to adjust the tension of the conveyor belt and correct the deviation.

[0034] In order to further optimize the above embodiment, the built-in seal pressure balance model in the central control module is:

[0035] where, is the actual seal pressure; is the density of the sealing medium; is the radius of curvature of the sealing contact surface; is the angular velocity of the relevant rotating parts; is the viscosity of the sealing medium; is the thickness of the elastic sealing layer; is the magnetic field strength generated by the magnetic auxiliary layer; is the conveyor belt speed; is the negative pressure value of the negative pressure compensation layer; When the actual seal pressure When the difference from the preset standard pressure threshold exceeds the preset range, it is determined that the seal is imperfect, and the conveyor belt speed or the negative pressure value of the negative pressure compensation layer is adjusted to bring the difference within the preset range to achieve seal compensation.

[0036] It should be noted that the negative pressure value of the negative pressure compensation layer can be achieved by adjusting the power of the ejector; the determination of the preset standard pressure threshold and the preset range needs to comprehensively consider various factors such as the working environment of the coal feeder, the equipment structure, and the characteristics of the sealing material, and be accurately set through theoretical calculations, experimental tests, and the accumulation of actual operation experience to ensure that the sealing module is always in good working condition. To obtain the final value, the following four processes need to be experienced: Determine the base value based on theoretical calculations: According to the structural parameters of the sealing module, such as the curvature radius of the sealing contact surface and the thickness of the elastic sealing layer, and combined with the physical properties of the sealing medium, including density, viscosity, etc., use relevant theoretical formulas in fluid mechanics, material mechanics, etc. to initially calculate the pressure value required to maintain effective sealing under ideal working conditions, and use this as the theoretical reference value of the preset standard pressure threshold. For example, use the relationship between the parameters in the seal pressure balance model to analyze the change law of the seal pressure under different working conditions and determine a pressure benchmark that can theoretically ensure the sealing performance.

[0037] Optimize the value through experimental tests: Simulate the actual working environment of the coal feeder in the laboratory, build a sealing performance test platform, change the operating parameters such as the conveyor belt speed and the angular velocity of relevant rotating parts, as well as different combinations of the magnetic field intensity of the magnetic auxiliary layer and the negative pressure value of the negative pressure compensation layer, measure the actual seal pressure, and record the pressure data corresponding to good sealing effects. Through the statistical analysis of a large amount of experimental data, determine a more reasonable pressure range under different working conditions, and optimize and adjust the preset standard pressure threshold and the preset range obtained from theoretical calculations.

[0038] Correct according to actual operation experience: Put the coal feeder into actual industrial production environment for trial operation, collect the seal pressure data and seal performance feedback information under different operation stages and working conditions. If the seal is imperfect, analyze the difference between the actual seal pressure and the preset value, and summarize the pressure fluctuation range and common working conditions that cause seal problems. According to the actual operation feedback, further correct the preset standard pressure threshold and the preset range to make it more in line with the actual production requirements.

[0039] Determine the final value considering the safety margin: When determining the preset standard pressure threshold and the preset range, a certain safety margin needs to be considered. Since there may be unforeseen interference factors in the actual working environment, such as sudden pressure fluctuations, equipment vibrations, etc., in order to ensure that the seal can still work effectively in extreme cases, it is necessary to appropriately expand the preset range and set the preset standard pressure threshold at a value that can not only ensure the sealing effect but also cope with a certain degree of working condition changes, so as to improve the reliability and stability of the coal feeder sealing system.

[0040] Furthermore, the adjustment process of the above models can be realized by a PID controller, which is a prior art and will not be elaborated too much.

[0041] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully sealed coal feeder, characterized in that: include: Sealing module, dynamic cleaning module, deviation detection module, intelligent tensioning module and central control module; The sealing module uses a three-layer composite sealing structure based on the principles of fluid mechanics and electromagnetics to wrap the conveyor belt channel, forming a closed-loop cleaning system with the dynamic cleaning module; The deviation detection module obtains the conveyor belt deviation through dual channels of vibration spectrum analysis and visual recognition, and forms negative feedback regulation with the intelligent tensioning module; Each module is connected to the central control module, and collaborative control is achieved through the sealing pressure balance model, cleaning trajectory parameter model, and deviation frequency characteristic model built into the central control module.

2. A fully sealed coal feeder according to claim 1, characterized in that: The sealing module includes three units: an elastic sealing layer, a magnetic auxiliary layer and a negative pressure compensation layer; The elastic sealing layer has a thickness of Super elastic silicone rubber material; the magnetic auxiliary layer is composed of a permanent magnetic array, generating a strength of The closed magnetic field is used to enhance the sealing effect and reduce the dynamic gap; the negative pressure compensation layer establishes a local negative pressure zone through the ejector, and the negative pressure value Conveyor belt speed It is a linear relationship. During the operation of the conveyor belt, the negative pressure can be dynamically adjusted according to the speed to maintain the stability of the seal.

3. A fully sealed coal feeder according to claim 2, characterized in that: The dynamic cleaning module includes a cleaning scraper and a planetary gear drive mechanism; the motion trajectory of the cleaning scraper is determined by the cleaning trajectory parameter model of the central control module to form a spiral cycloid motion trajectory for comprehensive and efficient cleaning of the conveyor belt.

4. A fully sealed coal feeder according to claim 3, characterized in that: The reduction ratio of the planetary gear drive mechanism satisfy ; in, is the sun gear radius, is the radius of the planetary gear; the reduction ratio formula determines the speed relationship between the sun gear and the planetary gear, so that the planetary gear drive mechanism provides the cleaning scraper with appropriate movement speed and torque to match the requirements of the cleaning trajectory.

5. A fully sealed coal feeder according to claim 4, characterized in that: The deviation detection module includes a vibration sensor array, a visual recognition unit and a signal processing unit; The vibration sensor array is arranged at a pitch satisfy ,in is the conveyor belt speed, is the maximum sampling frequency; the arrangement spacing formula is used to ensure that when the vibration sensor array collects the vibration signal of the conveyor belt, the omission or overlap of the signal collection is avoided; The signal processing unit uses fast Fourier transform to extract characteristic frequencies , which satisfies ;in is the modal order, which is related to the vibration mode of the conveyor belt; It is the real-time tension, reflecting the current stress condition of the conveyor belt; To support the spacing, it affects the vibration characteristics of the conveyor belt; is the deformation variable, which reflects the deformation degree of the conveyor belt during operation; is the bending stiffness, which is related to the material and structure of the conveyor belt; by extracting the characteristic frequency , to determine the deviation of the conveyor belt; that is, when the characteristic frequency Exceeding the normal characteristic frequency When the conveyor belt is deviated, it is determined that the conveyor belt is deviating; the above parameters are obtained by the vibration sensor array and the visual recognition unit.

6. A fully sealed coal feeder according to claim 5, characterized in that: The intelligent tensioning module includes a hydraulic actuator; The output force of the hydraulic actuator satisfy ,in The preset target tension is the value set according to the tension required for the normal operation of the conveyor belt; The hydraulic efficiency reflects the efficiency of the hydraulic system in converting energy into output force; is the effective area of ​​the piston; the output force It is used to adjust the tension of the conveyor belt and correct deviation.

7. A fully sealed coal feeder according to claim 6, characterized in that: The sealing pressure balance model built into the central control module is: in, is the actual sealing pressure; is the density of the sealing medium; is the radius of curvature of the sealing contact surface; is the angular velocity of the relevant rotating component; is the sealing medium viscosity; is the thickness of the elastic sealing layer; is the magnetic field strength generated by the magnetic auxiliary layer; is the conveyor belt speed; is the negative pressure value of the negative pressure compensation layer; When the actual sealing pressure When the difference from the preset standard pressure threshold exceeds the preset range, the seal is judged to be imperfect and the conveyor belt speed is adjusted. Or the negative pressure value of the negative pressure compensation layer , adjust the difference to within the preset range to achieve sealing compensation.

8. A fully sealed coal feeder according to claim 7, characterized in that: The cleaning trajectory parameter model built into the central control module is: in, is the amplitude characteristic value, which determines the amplitude of the sweeping scraper movement; The angular velocity of the drive shaft controls the movement speed of the cleaning scraper; is the radius of the planetary gear, which affects the shape of the motion trajectory; is the helical angle coefficient, which is related to the spiral motion characteristics of the cleaning scraper; is the planetary gear rotation angle function, which reflects the rotation angle of the planetary gear at different times; the model of the planetary gear drive mechanism described by each parameter is determined; and Represents the landing point of the cleaning scraper on the x-axis and y-axis at different times; The cleaning trajectory parameter model is used to control the planetary gear drive mechanism to drive the cleaning scraper to form a spiral cycloid motion trajectory, thereby increasing the cleaning area of ​​the cleaning scraper.

9. A fully sealed coal feeder according to claim 8, characterized in that: The deviation frequency characteristic model built into the central control module is composed of Combination When the characteristic frequency Exceeding the normal characteristic frequency When the conveyor belt is deviated, the corresponding output force is generated. , to adjust the tension of the conveyor belt and correct the deviation.

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