Tower type rotary belt distributor

Abstract

The present application relates to the technical field of tower type distribution machine, disclose a kind of tower type rotary rubber belt distribution machine, comprising: tower body assembly;Rotary distribution arm, it is installed in tower top, for conveying material;Parameter perception module, for real-time acquisition the environmental parameter and own state parameter of distribution machine;Wind resistance performance control module, it includes active mass damping unit and pneumatic stabilizing unit arranged on rotary distribution arm.The present application is realized to the intelligent active control of tower type distribution machine wind resistance stability by setting parameter perception module, wind resistance performance control module and control module, effectively improves the operation safety and efficiency of equipment in complex wind field environment, compared with traditional passive wind resistance mode, active mass damping and pneumatic stabilizing double execution unit are used to work cooperatively, form multidimensional vibration suppression system, wherein active mass damping unit can provide stable dynamic control force, and pneumatic stabilizing unit can generate certain pneumatic compensation force.

Description

Technical Field

[0001] This invention relates to the field of tower-type conveyor belt feeding machine technology, and more specifically, to a tower-type rotary conveyor belt feeding machine. Background Technology

[0002] Tower concrete placing booms are key equipment for transporting bulk materials in metallurgy, mining, ports, material yards, and water conservancy projects. They are particularly suitable for large-scale placement operations of materials such as conventional concrete and roller-compacted concrete. Among them, the tower rotary belt placing boom, with its tall tower structure and rotatable, variable-amplitude long cantilever belt conveyor system, achieves large-radius, high-efficiency continuous placement, making it an indispensable piece of equipment in modern large-scale engineering construction.

[0003] However, the tall towers and long cantilever structures employed in these machines to achieve wide operational coverage also make them typical tall machines extremely sensitive to wind loads. In open-air operating environments, especially in complex wind fields such as coastal ports and mountain valleys, wind loads acting on large cantilever structures can induce continuous structural vibrations, while sudden turbulence and gusts can trigger strong dynamic responses. This wind-induced vibration not only leads to operational quality problems such as material spillage and loss of fabric placement accuracy, but also significantly accelerates structural fatigue, threatening the stability and safety of the entire machine. While existing concrete placing booms generally employ passive protection methods such as high-wind warning shutdowns and mechanical locking, which can prevent extreme risks, they cannot achieve real-time suppression of wind vibrations during normal operation, severely limiting the all-weather performance of the equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a tower-type rotary conveyor belt feeder to solve the aforementioned technical problems.

[0005] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0006] This invention provides a tower-type rotary conveyor belt feeding machine, comprising:

[0007] Tower body assembly;

[0008] A rotating boom, installed at the top of the tower, is used to transport materials;

[0009] The parameter sensing module is used to collect environmental parameters and its own status parameters in real time.

[0010] The wind resistance performance control module includes an active mass damping unit and an aerodynamic stabilization unit mounted on the rotating fabric arm. The active mass damping unit is used to generate an active control force to suppress the vibration of the rotating fabric arm by controlling the motion state of the internal counterweight. The aerodynamic stabilization unit is used to generate an aerodynamic compensation force to balance the wind load by controlling the change of its external aerodynamic profile.

[0011] The control module communicates with the parameter sensing module and the wind resistance performance regulation module, and is configured as follows:

[0012] Receive environmental parameters and its own status parameters sent by the environmental sensing module;

[0013] Control commands are generated based on calculations performed using environmental parameters and the user's own state parameters.

[0014] Control commands are sent to the active mass damping unit and the aerodynamic stabilization unit respectively to work together to improve the wind resistance stability of the rotating fabric boom.

[0015] Preferably, the active mass damping unit includes an adjustable inertial body disposed inside the rotary fabric arm, and a first drive mechanism for driving the adjustable inertial body to move along the axial direction of the rotary fabric arm.

[0016] Preferably, the pneumatic stabilization unit includes at least one pneumatic adjustment surface disposed on the rotary fabric arm, and a second drive mechanism for driving the pneumatic adjustment surface to deflect to change its relative angle with the airflow.

[0017] Preferably, the parameter sensing module includes a wind condition sensing unit for collecting wind speed and wind direction, an attitude sensing unit for collecting vibration and attitude of the slewing boom, and a stress sensing unit for collecting stress of the tower assembly or slewing boom structure.

[0018] Preferably, the wind condition sensing unit is an ultrasonic anemometer and wind direction meter, which is installed on the top of the tower assembly; the attitude sensing unit consists of multiple inertial measurement units installed at the root, middle and end of the rotating fabric boom.

[0019] Preferably, the control module is configured to use a linear quadratic Gaussian control algorithm to calculate the optimal control force based on the data from the parameter sensing module and generate corresponding control commands.

[0020] Preferably, the control module has a built-in expert rule base, which pre-stores control strategies corresponding to different parameter combinations. When the environmental parameters and its own state parameters meet the preset conditions, the control strategy corresponding to the preset conditions is automatically triggered.

[0021] Preferably, the control strategy includes a wind-resistant operation mode and an emergency avoidance mode; wherein, when the emergency avoidance mode is triggered, the control module also sends instructions to the slewing mechanism and the luffing mechanism of the concrete placing boom to control the slewing boom to rotate to the downwind position and / or retract to a safe range.

[0022] Preferably, the control module further includes a data fusion unit, which uses a Kalman filter to fuse multi-source data sent by the parameter sensing module to obtain an accurate estimate of the vibration state of the rotary fabric arm.

[0023] Preferably, the fabric placing machine also includes a human-machine interface that communicates with the control module to display wind field information, equipment vibration patterns, structural stress levels, and system early warning information in real time.

[0024] The beneficial effects of this invention are as follows:

[0025] This invention achieves intelligent active control of the wind resistance stability of a tower concrete placing boom by setting up a parameter sensing module, a wind resistance performance adjustment module, and a control module. This effectively improves the safety and efficiency of the equipment in complex wind fields. Compared with traditional passive wind resistance methods, this invention can accurately capture the vibration characteristics of the rotating placing boom through multi-source data fusion and real-time state estimation, avoiding control deviations caused by model simplification. It adopts a dual-mode control strategy that combines LQG control algorithm and expert rule base, which ensures optimal control performance under normal working conditions and can respond quickly under extreme wind conditions. It uses active mass damping and aerodynamic stabilization dual actuators to work together to form a multi-dimensional vibration suppression system. The active mass damping unit can provide stable dynamic control force, and the aerodynamic stabilization unit can generate a certain aerodynamic compensation force. Attached Figure Description

[0026] Figure 1 This is a structural schematic diagram of a tower-type rotary conveyor belt feeding machine according to the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the rotary conveyor arm in a tower-type rotary conveyor belt feeder of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure between the inertial body and the rotating fabric arm in a tower-type rotary conveyor belt fabricating machine according to the present invention.

[0029] Figure 4 This is a block diagram showing the relationship between the functional modules in a tower-type rotary conveyor belt feeding machine according to the present invention.

[0030] Figure 5 This is a flowchart illustrating the active control process of a tower-type rotary conveyor belt feeder when encountering wind disturbances, according to the present invention.

[0031] In the diagram: 10, tower assembly; 20, rotating boom; 30, active mass damping unit; 301, inertial body; 302, first drive mechanism; 40, aerodynamic stabilization unit; 401, wing plate; 402, second drive mechanism; 50, wind condition sensing unit; 60, attitude sensing unit; 70, stress sensing unit. Detailed Implementation

[0032] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0033] Please refer to the following: Figures 1 to 5 A tower-type rotary conveyor belt placing machine includes: a tower assembly 10, a rotary placing arm 20, a parameter sensing module, a wind resistance performance adjustment module, and a control module. The tower assembly 10 may include functional components such as a tower section lifting mechanism, an electro-hydraulic jacking mechanism, a lifting sleeve, and tower sections. The rotary placing arm 20 is equipped with related placing functional components such as a reciprocating placing trolley, a maintenance trolley, a reciprocating rotary mechanism, a spray cleaning device, a traction actuator, a placing conveyor, a placing balance arm, an active rotary mechanism, and a safety guardrail. The placing machine is fed by a G-type feeder. Since the basic functional components of the placing machine are existing technology, their specific structural details and working process will not be elaborated here.

[0034] The parameter sensing module is used to collect environmental parameters and its own status parameters in real time, including:

[0035] Wind condition sensing unit 50: It can be an ultrasonic anemometer or wind direction meter, installed on the top of the tower assembly 10 or the end of the rotating fabric boom 20. It is mainly used to collect accurate wind speed and wind direction data.

[0036] Multiple attitude sensing units 60: High-precision inertial measurement units (IMUs) can be used, which are installed at the root, middle and end of the rotary fabric arm 20 respectively. They are mainly used to collect the pitch angle, roll angle, acceleration and angular velocity of the rotary fabric arm 20, so as to calculate its vibration frequency and amplitude.

[0037] Stress sensing unit 70: It can be a fiber optic grating sensor, which can be attached to the root of the rotating fabric arm 20, the key stress-bearing section of the tower body, etc. It is mainly used to directly monitor the micro-strain of the structural components and reflect their stress state.

[0038] The wind resistance performance control module is mainly used to apply stabilizing force or torque to the rotating fabric arm 20 according to control commands to suppress its vibration. It includes:

[0039] Active mass damping unit 30: Located inside the rotary fabric arm 20, its main function is to generate an active control force to suppress the vibration of the rotary fabric arm 20 by controlling the motion state of the internal counterweight. The active mass damping unit 30 includes an adjustable inertial body 301 and a first drive mechanism 302 for driving the adjustable inertial body 301 to move along the axial direction of the rotary fabric arm 20. In this embodiment, the inertial body 301 is a counterweight block slidably disposed inside the rotary fabric arm 20, and the first drive mechanism 302 is a conventional linear actuator, such as a linear actuator composed of a servo motor and a ball screw. The counterweight block is threadedly connected to the ball screw. By rotating the servo motor, the ball screw can drive the counterweight block to slide linearly along the rotary fabric arm 20. This unit generates a reverse inertial force (i.e., active control force) opposite to the vibration direction of the rotary fabric arm 20 by controlling the reciprocating motion of the adjustable inertial body 301 along the axial direction of the rotary fabric arm 20, thereby counteracting the vibration energy.

[0040] Aerodynamic stabilization unit 40: Located outside the rotating fabric arm 20, it generates aerodynamic compensation force to balance wind load by controllingly changing its external aerodynamic profile. The aerodynamic stabilization unit 40 includes at least one aerodynamic adjustment surface and a second drive mechanism 402. In this embodiment, the aerodynamic adjustment surface is a wing plate 401 hinged to the lower end of the rotating fabric arm 20. The wing plate 401 is made of a lightweight composite material, such as aluminum alloy. The second drive mechanism 402 can be an angle adjustment structure composed of a linear push rod, a toothed plate, and a gear. The extension end of the linear push rod is hinged to the wing plate 401. By extending and retracting the linear push rod, the wing plate 401 can be rotated accordingly. This unit changes the aerodynamic force distribution acting on the rotating fabric arm 20 by controllingly driving the aerodynamic adjustment surface to deflect, thereby changing its relative angle (i.e., angle of attack) with the airflow. This generates aerodynamic compensation force (such as lift or drag) to partially balance wind load.

[0041] The control module communicates with all the above modules. Its core lies in the built-in advanced algorithm model and decision logic, and it is configured to perform the following tasks:

[0042] Data fusion and state estimation: The control module includes a data fusion unit that uses a Kalman filter. This filter fuses multi-source, noisy data from different sensors (IMU, stress sensor) to obtain the optimal and smooth estimate of the vibration state (such as displacement and velocity) of the rotary fabric arm 20, providing a reliable input for precise control.

[0043] Control decision calculation: The control module adopts the linear quadratic Gaussian (LQG) control algorithm as the core controller. This algorithm combines the optimal control of the linear quadratic regulator (LQR) and the state estimation of Kalman filtering. Its working principle is: taking the state estimation value output by the data fusion unit as input, and minimizing a specific performance index (which takes into account both vibration suppression effect and control energy consumption) as the objective, the optimal control force applied to the active mass damping unit and the aerodynamic stabilization unit is calculated in real time by solving the Riccati equation.

[0044] Intelligent rule-based judgment: The control module has a built-in expert rule base, which pre-stores control strategies based on fluid mechanics, structural dynamics, and engineering experience; for example:

[0045] If the continuous wind speed is greater than 15 m / s and the vibration amplitude is less than the threshold A, then the "wind-resistant operation mode" will be activated, the LQG controller will be activated, and the two execution units will be driven in a coordinated manner.

[0046] If the instantaneous gust is greater than 25 m / s or the structural stress is greater than the threshold B, the "emergency avoidance mode" is triggered. While driving the execution unit, it sends instructions to the slewing mechanism and luffing mechanism of the fabric placing machine to control the slewing fabric placing arm to automatically rotate to the downwind position and retract to a safe range.

[0047] The thresholds in the aforementioned expert rule base are set based on the structural dynamic characteristics and allowable material stress of the tower rotary conveyor. Threshold A (vibration displacement threshold): set according to the maximum allowable dynamic deflection of the boom, ranging from 100mm to 200mm, and in this embodiment, 150mm is used. Threshold B (structural stress threshold): set according to the fatigue strength of the boom material, ranging from 150με to 250με, and in this embodiment, 200με is used.

[0048] In addition, the control terminal of the concrete placing machine is equipped with a human-machine interface that communicates with the control module to display wind field information, equipment vibration mode, structural stress level and system early warning information in real time.

[0049] The specific implementation process of the technical solution of this invention is described in detail below. When the tower-type rotary conveyor belt placing machine of this invention encounters wind disturbance, its wind resistance stability system operates according to a closed-loop control process of "sensing, decision-making, execution, and feedback," and the specific implementation process is as follows:

[0050] S100. Sensing and Data Acquisition Phase:

[0051] After the system starts up, the parameter sensing module begins to collect data comprehensively, specifically:

[0052] The ultrasonic anemometer installed on the top of the tower assembly continuously measures wind speed U and wind direction angle θ at a sampling frequency of 10Hz, with wind speed measurement accuracy of ±0.2m / s and wind direction measurement accuracy of ±3°.

[0053] IMUs distributed at the base, middle, and end of the rotating fabric arm synchronously acquire triaxial acceleration (α) at ​​a sampling frequency of 100Hz. x , a y , a z ) and triaxial angular velocity (ω x , ω y , ω z );

[0054] Fiber grating sensors, located at the base of the 20th rotating fabric boom and at the 10th key section of the tower body, monitor the structural strain ε at a sampling frequency of 200Hz and convert it into micro-strain values ​​using a wavelength demodulator.

[0055] S200. Data Processing and State Estimation:

[0056] After receiving data from each sensor, the control module first performs data preprocessing, including outlier removal and coordinate system stabilization, before proceeding to core calculations, which specifically include:

[0057] Data fusion and Kalman filtering: Establishing the system state vector X=[x,v,θ] T Where x is the lateral displacement of the rotating fabric arm 20, v is the vibration velocity, and θ is the torsion angle of the rotating fabric arm 20; construct the state-space model of the system:

[0058] ;

[0059] ;

[0060] Where A is the system state transition matrix, B is the control input matrix, H is the observation matrix, and W and V are the process noise and observation noise, respectively;

[0061] The Kalman filter operates recursively through two steps: prediction and update.

[0062] Prediction steps: ;

[0063] Update steps: ;

[0064] Using this algorithm, the system can extract the optimal estimate of the vibration state of the rotating fabric arm 20 from noisy observation data.

[0065] It should be noted that the above state-space model is based on finite element analysis and modal condensation method of the rotating fabric arm 20, using the first three bending modes and the first torsional mode of the rotating fabric arm 20 as state variables; specifically, the system state vector X = [q1, q2, q3, q4, dq1, dq2, dq3, dq4] T Where q1~q3 are bending mode coordinates, q4 is torsional mode coordinates, and dq1~dq4 are their first derivatives with respect to time; the state transition matrix A and the control input matrix B are obtained by discretization of the modal model; the observation matrix H is determined by modal mode interpolation based on the actual installation positions of the IMU and stress sensor; the process noise covariance matrix Q and the observation noise covariance matrix R of the Kalman filter are initialized in the following way: Q is a diagonal matrix, and its diagonal elements are set to [0.01, 0.01, 0.01, 0.001, 0.1, 0.1, 0.1, 0.01] according to the wind speed fluctuation range; R is a diagonal matrix, and its elements are set according to the nominal accuracy of each sensor.

[0066] S300. Control Decision Generation:

[0067] LQG controller calculation: Based on the state estimate X from the Kalman filter output, the LQG controller solves the following performance index minimization problem:

[0068] ;

[0069] Where Q is the state weight matrix, which mainly penalizes vibration displacement and velocity; R is the control weight matrix, which limits control energy consumption;

[0070] By solving the algebraic Riccati equation:

[0071] ;

[0072] Achieving optimal control:

[0073] ;

[0074] in, The optimal feedback gain matrix;

[0075] In practice, the controller calculates every 20ms and outputs the following:

[0076] Active mass damping unit 30 control force ;

[0077] Pneumatic stabilization unit 40 control torque Where K1~K4 are the corresponding elements of the gain matrix;

[0078] Specifically, the state weight matrix Q is preferably a diagonal matrix, and its design principle is that the penalty for displacement state is heavier than the penalty for velocity state. For example, the specific value range is: Q = diag([1e5, 1e5, 1e5, 1e4, 1e3, 1e3, 1e3, 1e2]).

[0079] The control weight matrix R is preferably a diagonal matrix used to limit the energy output of each actuator. Its value is coordinated with Q to ensure that the controller bandwidth is higher than 1.5 times the first natural frequency of the boom. For example: R = diag([1e-3, 1e-2]);

[0080] By solving the above algebraic Riccati equation, the optimal feedback gain matrix K is obtained, and then the optimal control force U* = -KX̂ is calculated.

[0081] Expert rule base decision-making: The system operates in parallel based on a rule-based decision-making mechanism: When the continuous wind speed is >15m / s and the vibration displacement is <150mm, the "wind-resistant operation mode" is activated and the LQG controller outputs the full control force;

[0082] When the instantaneous gust is greater than 25 m / s or the stress in the critical part is greater than 200 με, the "emergency avoidance mode" is triggered. While maintaining LQG control, a priority command is sent to the host control system to control the slewing mechanism to turn the slewing fabric arm 20 to the downwind direction at a speed of 0.5 r / min, and the luffing mechanism to retract the slewing fabric arm 20 to the safe range at a speed of 5 m / min.

[0083] S400. Executive Response

[0084] Control commands are transmitted to each actuator via the CAN bus:

[0085] Active mass damping unit 30: The servo motor receives speed commands and drives the counterweight to move on the guide rail of the rotary fabric arm 20 through the ball screw. The mass of the counterweight is about 2% of the mass of the rotary fabric arm 20, the maximum stroke is ±3m, and the maximum acceleration can reach 2m / s².

[0086] Aerodynamic stabilization unit 40: The linear push rod receives position commands and pushes the wing plate to rotate around the hinge point. The angle of attack adjustment range is -15° to +15°, and the response time is <1s.

[0087] Example description

[0088] Taking a concrete placing operation in a water conservancy project as an example: Initial state: wind speed 12m / s, slewing boom 20 with an amplitude of 40m, normal concrete placing. Sudden situation: gusts of wind speed increased to 18m / s, and the vibration displacement at the end of the slewing boom 20 increased to 120mm. System response:

[0089] a. The Kalman filter estimated the first-order vibration frequency of the rotating fabric arm 20 to be 0.8 Hz and the amplitude to be 130 mm;

[0090] b. The LQG controller calculates the required control force: Famd = 850 N, Maero = 3200 N·m.

[0091] c. The expert rule base determines that the system should enter "wind-resistant operation mode".

[0092] d. Actuator: The counterweight moves 2.1m in the opposite direction of vibration with an acceleration of 1.2m / s²; the wing plate 402 is adjusted to a +8° angle of attack to generate aerodynamic compensation force.

[0093] e. Effect: Within 10 seconds, the vibration of the rotating fabric arm decreased to below 35mm, and normal operation was restored.

[0094] When the wind speed further increases to 28m / s, the system immediately triggers the "emergency avoidance mode", which automatically adjusts the position of the rotating fabric arm by 20 degrees while maintaining active control to ensure structural safety.

[0095] Through the above implementation process, this invention achieves intelligent active control of the wind resistance stability of a tower concrete placing boom, effectively improving the operational safety and efficiency of the equipment in complex wind fields. Compared with traditional passive wind resistance methods, this technical solution has significant advantages: First, through multi-source data fusion and real-time state estimation, it can accurately capture the vibration characteristics of the rotating placing arm 20, avoiding control deviations caused by model simplification; Second, the dual-mode control strategy combining LQG control algorithm and expert rule base ensures optimal control performance under normal operating conditions and rapid response under extreme wind conditions; Third, the active mass damping and aerodynamic stabilization dual execution units work together to form a multi-dimensional vibration suppression system, where the active mass damping unit provides stable dynamic control force, and the aerodynamic stabilization unit generates a certain aerodynamic compensation force; Fourth, the entire control process is fully automated, requiring no manual intervention, and the system response time is greatly shortened, meeting real-time control requirements.

[0096] The embodiments of the present invention have been described above, but the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention, all of which are within the protection scope of the present invention.

Claims

1. A tower slewing rubber belt distributor, characterized in that, The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine. The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine. The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine. The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine. The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine. The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine. The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine. The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine. The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine. The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine.

2. A tower slewing rubber belt feeder according to claim 1, characterised in that The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine.

3. A tower slewing rubber belt feeder according to claim 1, characterized in that The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine.

4. A tower slewing rubber belt feeder according to claim 3, characterised in that The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine.

5. A tower slewing rubber belt feeder according to claim 1, characterized in that The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine.

6. A tower slewing rubber belt feeder according to claim 1, characterized in that The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine.

7. A tower slewing rubber belt feeder according to claim 1, characterized in that The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine.

8. A tower slewing rubber belt feeder according to claim 1, characterized in that The application relates to a wind-resistant control system for a rotary distributing arm of a distributing machine.

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