Telescopic belt conveyor and intelligent cooperative control system and method thereof

Abstract

The invention discloses a telescopic belt conveyor and an intelligent cooperative control system and method thereof. The system is characterized in that a driving roller and a gear motor are mounted at the upper end of a headstock; a driven roller and a tensioning mechanism are mounted at the upper end of the tailstock; the middle frame is connected between the upper ends of the head frame and the tail frame; the conveying belt is wound outside the driving roller and the driven roller; two ends of the telescopic driving mechanism are respectively connected with the tail frame and the middle frame; the control mechanism comprises a central processing module, a man-machine interaction module, a position detection module, a tension detection module, a load detection module, a motor driving module, a telescopic control module and a tensioning control module; the method comprises: setting a target conveying length; determining the length needing to be stretched out and drawn back; cooperative starting and dynamic tension maintenance are executed in the extension mode; in the contraction mode, intelligent load emptying, gear motor shutdown and cooperative contraction and tension control are executed; light-load low-speed operation is realized, and safety monitoring is carried out. According to the invention, full-flow automatic and intelligent cooperative control of the stretching and conveying process of the conveyor can be realized.

Description

Technical Field

[0001] This invention belongs to the field of intelligent control technology for mining conveyors, specifically a retractable belt conveyor and its intelligent collaborative control system and method. Background Technology

[0002] Belt conveyors are a type of continuous conveying equipment widely used in industrial production. In mines, ports, power plants, and other locations, it is often necessary to change the effective conveying distance of the conveyor according to changes in material accumulation location, loading and unloading points, or process adjustments. Traditional stationary belt conveyors cannot meet this flexibility requirement.

[0003] Currently, although some extendable belt conveyors exist, they generally have the following drawbacks: 1. Low level of automation: The telescopic operation relies heavily on manual judgment and control, resulting in slow response, low efficiency, and the belt is prone to deviation, loosening, or becoming too tight due to improper operation.

[0004] 2. Poor control precision and coordination: Lack of coordinated control over belt tension, running speed, and extension / retraction. During extension, sudden drop in tension and slippage can easily occur due to untimely belt replenishment; during retraction, material accumulation and spillage can easily occur due to incomplete material removal, or belt stacking and damage can occur due to asynchronous belt retraction.

[0005] 3. Insufficient security: Lack of real-time monitoring and protection of the surrounding environment and the equipment's own status.

[0006] 4. High energy consumption: The inability to dynamically adjust operating parameters according to the actual load leads to energy waste.

[0007] Therefore, there is an urgent need to provide a system and method that can intelligently, smoothly, efficiently and safely automatically adjust the conveying length and coordinate the extension and conveying processes. Summary of the Invention

[0008] To address the problems existing in the prior art, this invention provides a retractable belt conveyor and its intelligent collaborative control system and method. The system has a simple structure and a high degree of automation. It can adjust the conveyor length through intelligent extension and retraction, and simultaneously monitor various operating parameters of the conveyor. The method is simple to implement and highly intelligent, achieving fully automated and intelligent collaborative control of the conveyor's extension and retraction process. This effectively ensures the smoothness and safety of the conveyor's operation, while ensuring that the conveyor operates in a highly efficient, energy-saving, and reliable state throughout the entire process.

[0009] To achieve the above objectives, the present invention provides a retractable belt conveyor and its intelligent collaborative control system, comprising a head frame, a tail frame, an intermediate frame, a conveyor belt, a telescopic drive mechanism, and a control mechanism. The head frame is fixedly supported on the left end, and a drive roller and a reduction motor are installed on its upper end; The tailstock is movably mounted on the right end, and a driven roller and a tensioning mechanism are installed on its upper end; The intermediate frame is connected between the upper ends of the head frame and the tail frame. The intermediate frame is formed by connecting multiple standard sections in series, and several support rollers are arranged sequentially along the length of the top of the intermediate frame. The conveyor belt is wound around the outside of the drive drum and the driven drum, and is supported by a number of support rollers; The telescopic drive mechanism is connected to the tail frame and the intermediate frame at both ends, and is used to drive the length extension and retraction between the intermediate frame and the tail frame. The control mechanism includes a central processing module, a human-machine interaction module, a position detection module, a tension detection module, a load detection module, a motor drive module, a telescopic control module, and a tension control module. The central processing module is connected to the human-machine interaction module, the position detection module, the tension detection module, the load detection module, the motor drive module, the telescopic control module, and the tension control module, respectively. The human-computer interaction module is used to provide a human-computer interaction interface; The position detection module is installed on the intermediate frame and is used to detect the telescopic displacement signal and send it to the central processing module; The tension detection module is installed on the conveyor belt to detect the tension signal of the conveyor belt and send it to the central processing module. The load detection module is installed on the intermediate frame and is used to detect the load signal of the conveyor belt and send it to the central processing module. The motor drive module is used to drive the movement of the geared motor; The telescopic control module is used to drive the telescopic drive mechanism. The tension control module is used to drive the movement of the tensioning mechanism.

[0010] As a preferred embodiment, the telescopic drive mechanism is a telescopic hydraulic cylinder, a linear electric push rod, or a linear gear and rack drive mechanism.

[0011] As a preferred embodiment, the tensioning mechanism is an electric winch, a hydraulic cylinder tensioning trolley, or a ball screw tensioning mechanism driven by a servo motor.

[0012] To facilitate warnings and alerts for abnormal operating conditions, an alarm module is also included, which is connected to the central processing module.

[0013] As a preferred embodiment, the central processing module is a PLC controller.

[0014] The system has a simple structure and a high degree of automation. It can adjust the conveying length of the conveyor through an intelligent telescopic method. At the same time, it can comprehensively detect various operating parameters of the conveyor, and can achieve full-process automation and intelligent collaborative control of the telescoping and conveying of the conveyor, effectively ensuring the stable, safe, energy-saving and efficient operation of the conveyor.

[0015] The present invention also provides a telescopic belt conveyor and its intelligent collaborative control method. A telescopic belt conveyor and its intelligent collaborative control system are adopted, including the following steps: Step 1: Set the target conveying length L_target through the human-computer interaction module; Step 2: After the central processing module receives the target conveying length L_target, obtain the length ΔL that needs to be telescoped; Step 3: Discriminate the telescopic mode and the retraction module. If L_target > L_current, it is discriminated as the elongation mode and S31 is executed. If L_target < L_current, it is discriminated as the retraction mode and S32 is executed; S31: Execute the elongation action; S31-1: Perform collaborative start; the central processing module synchronously sends an elongation instruction and an acceleration instruction to the telescopic control module and the motor drive module. After receiving the elongation instruction, the telescopic control module controls the telescopic drive mechanism to slowly elongate the intermediate frame. After receiving the acceleration instruction, the motor drive module controls the deceleration motor to slowly accelerate; S31-2: Perform dynamic tension maintenance; during the elongation process of the telescopic drive mechanism, synchronously collect the tension signal of the conveyor belt in real time through the tension detection module and send it to the central processing module. The central processing module obtains the conveyor belt tension T_real according to the tension signal and sends a tension signal to the tension control module according to the conveyor belt tension T_real. After receiving the tension signal, the tension control module controls the tensioning mechanism to release the conveyor belt, and makes the conveyor belt tension T_real stably maintained within the preset tension range [T_min, T_max] through closed-loop control until the target conveying length L_target is reached; S32: Execute contraction action; S32-1: Intelligent load clearing; The load detection module detects the load signal and sends it to the central processing module. The central processing module determines whether there is material based on the load signal. If there is material, it sends a low-speed clearing signal to the motor drive module. After receiving the low-speed clearing signal, the motor drive module controls the reduction motor to run at a low speed for a set time t_delay to ensure that all material is conveyed to the head frame, and then executes S32-2; If there is no material, S32-2 is executed directly; S32-2: Reduction motor stops; The central processing module sends a stop signal to the motor drive module. After receiving the stop signal, the motor drive module controls the reduction motor to stop; S32-3: Coordinated contraction and tension control; The central processing module sends a retraction command to the telescopic control module. After receiving the retraction command, the telescopic control module controls the telescopic drive mechanism to slowly retract the intermediate frame. During the retraction process of the telescopic drive mechanism, the tension signal of the conveyor belt is collected in real time through the tension detection module and sent to the central processing module. The central processing module obtains the conveyor belt tension T_real based on the tension signal and sends a retraction signal to the tension control module based on the conveyor belt tension T_real. After receiving the retraction signal, the tension control module controls the tensioning mechanism to retract the slack conveyor belt. Through closed-loop control, the conveyor belt tension T_real is not lower than the safety lower limit tension T_min to prevent the conveyor belt from becoming too loose until the target conveying length L_target is reached. Step 4: During normal conveying, the load signal is detected synchronously by the load detection module and sent to the central processing module. The central processing module obtains real-time load data based on the load signal, calculates the energy-saving speed signal based on the real-time load data, and sends it to the motor drive module. After receiving the energy-saving speed signal, the motor drive module controls the geared motor to run in a light-load, low-speed state, and maintains the geared motor stably in a light-load, low-speed state through closed-loop control to achieve the purpose of energy saving. Simultaneously, the tension signal of the conveyor belt is detected in real time by the tension detection module and sent to the central processing module. The current signal is detected by the current detection module on the geared motor and sent to the central processing module. The displacement signal is detected in real time by the position detection module and sent to the central processing module. The central processing module obtains tension data, current data, and displacement data based on the tension signal, current signal, and displacement signal, respectively, and compares them with the tension threshold data, current threshold data, and displacement threshold data. If an abnormal tension, motor overload, or displacement exceeding the limit occurs, the central processing module simultaneously sends a stop signal to the motor drive module, telescopic control module, and tension control module. At the same time, it controls the alarm module to activate the audible and visual alarm. After receiving the stop signal, the motor drive module, telescopic control module, and tension control module respectively control the geared motor to stop, the telescopic drive mechanism to stop, and the tension mechanism to stop.

[0016] This invention enables fully automated and intelligent control of the conveyor adjustment process. Only the target conveying length L_target needs to be input, and the extension / retraction drive mechanism, geared motor, and tensioning mechanism can be adaptively and collaboratively controlled, minimizing manual intervention, significantly improving adjustment efficiency, and enhancing the safety factor during the adjustment process. During adjustment, this invention ensures extremely stable tension and operation during extension / retraction through closed-loop linkage control of the drive, extension / retraction, and tensioning components, effectively preventing slippage, deviation, belt overlap, and impact damage, achieving a coordinated and stable control process. During extension adjustment, this invention synchronously accelerates and releases the conveyor belt. During contraction, it intelligently detects the load condition and ensures tension stability during adjustment by emptying the material before synchronously contracting and retracting the conveyor belt. Simultaneously, intelligent emptying logic ensures operational continuity and effectively guarantees reliability and stability during adjustment. Furthermore, load-based speed adjustment significantly reduces energy consumption under no-load and light-load conditions, achieving high efficiency and energy saving. This invention intelligently adjusts the operating status of the geared motor according to the load during the operation of the conveyor, realizing energy-saving control. At the same time, by detecting abnormal operating conditions during the conveying process through the detection of multiple parameters, it effectively ensures the safety of equipment and personnel.

[0017] This method is simple to implement and highly intelligent. It realizes the full-process automated and intelligent collaborative control of the conveyor's extension and conveying process, which can effectively ensure the smoothness and safety of the conveyor's operation. At the same time, it can ensure that the conveyor is in a highly efficient, energy-saving and safe and reliable operating state throughout the entire process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the conveyor structure in this invention; Figure 2 This is a schematic diagram of the correction system in this invention; Figure 3 This is a flowchart of the correction method in this invention.

[0019] In the diagram: 1. Head frame, 2. Tail frame, 3. Intermediate frame, 4. Conveyor belt, 5. Standard section, 6. Support roller, 7. Drive roller, 8. Gear motor, 9. Driven roller, 10. Tensioning mechanism. Detailed Implementation

[0020] The invention will now be further described with reference to the accompanying drawings.

[0021] like Figure 1 and Figure 2 As shown, the present invention provides a retractable belt conveyor and its intelligent collaborative control system, including a head frame 1, a tail frame 2, an intermediate frame 3, a conveyor belt 4, a telescopic drive mechanism, and a control mechanism; The head frame 1 is fixedly supported on the left end, and a drive roller 7 and a reduction motor 8 are installed on its upper end. The tailstock 2 is movably mounted on the right end, and a driven roller 9 and a tensioning mechanism 10 are installed on its upper end; The intermediate frame 3 is connected between the upper ends of the head frame 1 and the tail frame 2. The intermediate frame 3 is formed by connecting multiple standard sections 5 in series, and a number of support rollers 6 are arranged sequentially along the length direction on the top of the intermediate frame 3. The conveyor belt 4 is wound around the outside of the drive roller 7 and the driven roller 9, and is supported by a number of support rollers 6; The two ends of the telescopic drive mechanism are respectively connected to the tail frame 2 and the intermediate frame 3, and are used to drive the length extension and retraction between the intermediate frame 3 and the tail frame 2. The control mechanism includes a central processing module, a human-machine interaction module, a position detection module, a tension detection module, a load detection module, a motor drive module, a telescopic control module, and a tension control module. The central processing module is connected to the human-machine interaction module, the position detection module, the tension detection module, the load detection module, the motor drive module, the telescopic control module, and the tension control module, respectively. The human-computer interaction module is used to provide a human-computer interaction interface; The position detection module is installed on the intermediate frame 3 and is used to detect the telescopic displacement signal and send it to the central processing module. The tension detection module is installed on the conveyor belt 4 to detect the tension signal of the conveyor belt 4 and send it to the central processing module; The load detection module is installed on the intermediate frame 3 and is used to detect the load signal of the conveyor belt 4 and send it to the central processing module; preferably, the load detection module can be a weighing sensor.

[0022] The motor drive module is used to drive the action of the geared motor 8, and can be a frequency converter; The telescopic control module is used to drive the telescopic drive mechanism and can be a hydraulic servo valve; The tension control module is used to drive the movement of the tensioning mechanism 10.

[0023] The central processing module integrates and processes signals from the position detection module, tension detection module, and load detection module, and coordinates the control of the motor drive module, telescopic control module, and tension control module. As a preferred embodiment, the telescopic drive mechanism is a telescopic hydraulic cylinder, a linear electric push rod, or a linear gear and rack drive mechanism.

[0024] As a preferred embodiment, the tensioning mechanism 10 is an electric winch, a hydraulic cylinder tensioning trolley, or a ball screw tensioning mechanism driven by a servo motor.

[0025] In order to facilitate the warning reminder action under abnormal conditions, an alarm module is further included, and the alarm module is connected to the central processing module.

[0026] As an optimization, the central processing module is a PLC controller.

[0027] The system has a simple structure and a high degree of automation. It can adjust the conveying length of the conveyor by means of intelligent telescoping. At the same time, it can comprehensively detect various operating parameters of the conveyor, and can realize the full-process automation and intelligent collaborative control of the telescoping and conveying of the conveyor, effectively ensuring the stable, safe, energy-saving and efficient operation of the conveyor.

[0028] Such as Figure 1 and Figure 3 As shown in Step 1: Set the target conveying length L_target through the human-computer interaction module; in one embodiment, the current conveying length is 30 meters, and the target conveying length L_target is 50m; Step 2: After the central processing module receives the target conveying length L_target, obtain the length ΔL that needs to be telescoped; in one embodiment, the length ΔL is 20m; Step 3: Discriminate the telescoping mode and the retracting module. If L_target > L_current, it is discriminated as the elongation mode and S31 is executed. If L_target < L_current, it is discriminated as the retracting mode and S32 is executed; S31: Execute the extension action; S31-1: Perform coordinated start-up; The central processing module synchronously sends extension and acceleration commands to the telescopic control module and the motor drive module (in one embodiment, the motor drive module is a frequency converter). After receiving the extension command, the telescopic control module controls the telescopic drive mechanism (in one embodiment, the telescopic drive mechanism is a telescopic hydraulic cylinder) to drive the intermediate frame 3 to extend slowly. After receiving the acceleration command, the motor drive module controls the reduction motor 8 to accelerate slowly; S31-2: Perform dynamic tension maintenance; During the extension process of the telescopic drive mechanism, the tension signal of the conveyor belt 4 is simultaneously collected in real time through the tension detection module and sent... The signal is sent to the central processing module, which obtains the tension T_real of the conveyor belt 4 based on the tension signal and sends a tension signal to the tension control module based on the tension T_real of the conveyor belt 4. After receiving the tension signal, the tension control module controls the tensioning mechanism 10 (in one embodiment, the tensioning mechanism is an electric winch) to release the conveyor belt 4. Through closed-loop control, the tension T_real of the conveyor belt 4 is stably maintained within the preset tension range [T_min, T_max] until the target conveying length L_target is reached. In one embodiment, T_min is 12kN and T_max is 15kN.

[0029] S32: Execute the retraction action; (To illustrate the retraction process, in another embodiment, the current conveying length can be 60 meters, the target conveying length L_target is 40 meters, and there is material at the tail end;) S32-1: Intelligent load clearing; The load detection module detects the load signal and sends it to the central processing module. The central processing module determines whether there is material based on the load signal. If there is material, it sends a low-speed clearing signal to the motor drive module. After receiving the low-speed clearing signal, the motor drive module controls the reduction motor 8 to run at a low speed (in another embodiment, the speed is reduced to 15Hz) for the clearing module's set time t_delay (in another embodiment, the set time t_delay is 90 seconds) to ensure that all the material (in another embodiment, there is 20 meters of material at the tail end) is conveyed to the head frame 1, and then S32-2 is executed; If there is no material, S32-2 is executed directly; S32-2: The geared motor 8 stops; the central processing module sends a stop signal to the motor drive module. After receiving the stop signal, the motor drive module controls the geared motor 8 to stop; S32-3: Coordinated contraction and tension control; the central processing module sends a contraction command to the telescopic control module. After receiving the contraction command, the telescopic control module controls the telescopic drive mechanism to drive the intermediate frame 3 to contract slowly. During the contraction process of the telescopic drive mechanism, the tension signal of the conveyor belt 4 is collected in real time through the tension detection module and sent to the central processing module. The central processing module obtains the tension T_real of the conveyor belt 4 according to the tension signal and sends a contraction signal to the tension control module according to the tension T_real of the conveyor belt 4. After receiving the contraction signal, the tension control module controls the tension mechanism 10 to retract the slack conveyor belt 4. Through closed-loop control, the tension T_real of the conveyor belt 4 is not lower than the safety lower limit tension T_min (in another embodiment, the safety lower limit tension T_min is 8 kN) to prevent the conveyor belt 4 from becoming too loose until the target conveying length L_target is reached; Step 4: During normal conveying, the load signal is detected synchronously by the load detection module and sent to the central processing module. The central processing module obtains real-time load data based on the load signal, calculates the energy-saving speed signal based on the real-time load data, and sends it to the motor drive module. After receiving the energy-saving speed signal, the motor drive module controls the geared motor 8 to run in a light-load, low-speed state, and maintains the geared motor 8 stably in a light-load, low-speed state through closed-loop control to achieve the purpose of energy saving. Simultaneously, the tension signal of conveyor belt 4 is detected in real time by the tension detection module and sent to the central processing module. The current signal is detected by the current detection module on the geared motor 8 and sent to the central processing module. The displacement signal is detected in real time by the position detection module and sent to the central processing module. The central processing module obtains tension data, current data, and displacement data based on the tension signal, current signal, and displacement signal, respectively, and compares them with the tension threshold data, current threshold data, and displacement threshold data. If an abnormal tension, motor overload, or displacement exceeding the limit occurs, the central processing module simultaneously sends a stop signal to the motor drive module, telescopic control module, and tension control module. At the same time, it controls the alarm module to activate the audible and visual alarm. After receiving the stop signal, the motor drive module, telescopic control module, and tension control module respectively control the geared motor 8 to stop, the telescopic drive mechanism to stop, and the tension mechanism 10 to stop.

[0030] This invention enables fully automated and intelligent control of the conveyor adjustment process. Only the target conveying length L_target needs to be input, and the extension / retraction drive mechanism, geared motor, and tensioning mechanism can be adaptively and collaboratively controlled, minimizing manual intervention, significantly improving adjustment efficiency, and enhancing the safety factor during the adjustment process. During adjustment, this invention ensures extremely stable tension and operation during extension / retraction through closed-loop linkage control of the drive, extension / retraction, and tensioning components, effectively preventing slippage, deviation, belt overlap, and impact damage, achieving a coordinated and stable control process. During extension adjustment, this invention synchronously accelerates and releases the conveyor belt. During contraction, it intelligently detects the load condition and ensures tension stability during adjustment by emptying the material before synchronously contracting and retracting the conveyor belt. Simultaneously, intelligent emptying logic ensures operational continuity and effectively guarantees reliability and stability during adjustment. Furthermore, load-based speed adjustment significantly reduces energy consumption under no-load and light-load conditions, achieving high efficiency and energy saving. This invention intelligently adjusts the operating status of the geared motor according to the load during the operation of the conveyor, realizing energy-saving control. At the same time, by detecting abnormal operating conditions during the conveying process through the detection of multiple parameters, it effectively ensures the safety of equipment and personnel.

[0031] This method is simple to implement and highly intelligent. It realizes the full-process automated and intelligent collaborative control of the conveyor's extension and conveying process, which can effectively ensure the smoothness and safety of the conveyor's operation. At the same time, it can ensure that the conveyor is in a highly efficient, energy-saving and safe and reliable operating state throughout the entire process.

Claims

1. A retractable belt conveyor and its intelligent collaborative control system, comprising a head frame (1) and a tail frame (2), characterized in that, It also includes an intermediate frame (3), a conveyor belt (4), a telescopic drive mechanism and a control mechanism; The head frame (1) is fixedly supported at the left end, and a driving roller (7) and a reduction motor (8) are installed at its upper end; The tail frame (2) is movably arranged at the right end, and a driven roller (9) and a tensioning mechanism (10) are installed at its upper end; The intermediate frame (3) is connected between the upper ends of the head frame (1) and the tail frame (2). The intermediate frame (3) is formed by connecting multiple standard sections (5) in series in sequence, and a number of supporting rollers (6) are arranged along the length direction at the top of the intermediate frame (3); The conveyor belt (4) is wound around the outside of the driving roller (7) and the driven roller (9), and is supported by a number of supporting rollers (6); Both ends of the telescopic drive mechanism are respectively connected to the tail frame (2) and the intermediate frame (3), and are used to drive the telescopic action of the length between the intermediate frame (3) and the tail frame (2); The control mechanism includes a central processing module, a human-machine interaction module, a position detection module, a tension detection module, a load detection module, a motor drive module, a telescopic control module and a tensioning control module. The central processing module is respectively connected to the human-machine interaction module, the position detection module, the tension detection module, the load detection module, the motor drive module, the telescopic control module and the tensioning control module; The human-machine interaction module is used to provide a human-machine interaction interface; The position detection module is installed on the intermediate frame (3), and is used to detect the telescopic displacement signal and send it to the central processing module; The tension detection module is installed on the conveyor belt (4), and is used to detect the tension signal of the conveyor belt (4) and send it to the central processing module; The load detection module is installed on the intermediate frame (3), and is used to detect the load signal of the conveyor belt (4) and send it to the central processing module; The motor drive module is used to drive the action of the reduction motor (8); The telescopic control module is used to drive the action of the telescopic drive mechanism; The tensioning control module is used to drive the action of the tensioning mechanism (10).

2. The extendable belt conveyor and its intelligent collaborative control system according to claim 1, characterized in that, The telescopic drive mechanism is a telescopic hydraulic cylinder or a linear electric push rod or a linear gear-rack drive mechanism.

3. A retractable belt conveyor and its intelligent collaborative control system according to claim 1 or 2, characterized in that, The tensioning mechanism (10) is an electric winch, a hydraulic cylinder tensioning trolley or a ball screw tensioning mechanism driven by a servo motor.

4. The retractable belt conveyor and its intelligent collaborative control system according to claim 3, characterized in that, It also includes an alarm module, and the alarm module is connected to the central processing module.

5. A retractable belt conveyor and its intelligent collaborative control system according to claim 4, characterized in that, The central processing module is a PLC controller.

6. A retractable belt conveyor and its intelligent collaborative control method, employing a retractable belt conveyor and its intelligent collaborative control system as described in any one of claims 1 to 5, characterized in that, It includes the following steps: [[ID=ID=19]]Step 1: Set the target conveying length L_target through the human-machine interaction module; Step 2: After the central processing module receives the target conveying length L_target, obtain the length ΔL that needs to be telescoped; Step 3: Discriminate the telescopic mode and the contraction module. If L_target > L_current, it is discriminated as the elongation mode and S31 is executed. If L_target < L_current, it is discriminated as the contraction mode and S32 is executed; S31: Execute the extension action; S31-1: Perform coordinated start-up; The central processing module synchronously sends extension and acceleration commands to the telescopic control module and the motor drive module. After receiving the extension command, the telescopic control module controls the telescopic drive mechanism to drive the intermediate frame (3) to extend slowly. After receiving the acceleration command, the motor drive module controls the deceleration motor (8) to accelerate slowly; S31-2: Perform dynamic tension maintenance; During the extension process of the telescopic drive mechanism, the tension signal of the conveyor belt (4) is collected in real time through the tension detection module and sent to the central processing module. The central processing module obtains the tension T_real of the conveyor belt (4) according to the tension signal and sends a tension signal to the tension control module according to the tension T_real of the conveyor belt (4). After receiving the tension signal, the tension control module controls the tension mechanism (10) to release the conveyor belt (4). Through closed-loop control, the tension T_real of the conveyor belt (4) is stably maintained within the preset tension range [T_min,T_max] until the target conveying length L_target is reached; S32: Perform contraction action; S32-1: Intelligent load clearing; The load signal is detected by the load detection module and sent to the central processing module. The central processing module determines whether there is material based on the load signal. If there is material, it sends a low-speed clearing signal to the motor drive module. After receiving the low-speed clearing signal, the motor drive module controls the geared motor (8) to run the low-speed clearing module for a set time t_delay to ensure that all material is transported to the head frame (1) and then executes S32-2; If there is no material, S32-2 is executed directly; S32-2: Geared motor (8) stops; The central processing module sends a stop signal to the motor drive module. After receiving the stop signal, the motor drive module controls the geared motor (8) to stop; S32-3: Coordinated contraction and tension control; Central processing module A contraction command is sent to the telescopic control module. After receiving the contraction command, the telescopic control module controls the telescopic drive mechanism to drive the intermediate frame (3) to contract slowly. During the contraction process of the telescopic drive mechanism, the tension signal of the conveyor belt (4) is collected in real time through the tension detection module and sent to the central processing module. The central processing module obtains the tension T_real of the conveyor belt (4) according to the tension signal and sends a contraction signal to the tension control module according to the tension T_real of the conveyor belt (4). After receiving the contraction signal, the tension control module controls the tension mechanism (10) to retract the slack conveyor belt (4). Through closed-loop control, the tension T_real of the conveyor belt (4) is not lower than the safety lower limit tension T_min to prevent the conveyor belt (4) from being too loose until the target conveying length L_target is reached. Step 4: During the normal conveying process of the conveyor, the load signal is detected synchronously through the load detection module and sent to the central processing module. The central processing module obtains real-time load data based on the load signal, calculates the energy-saving speed signal based on the real-time load data, and sends it to the motor drive module. After receiving the energy-saving speed signal, the motor drive module controls the geared motor (8) to run in a light load and low speed state, and maintains the geared motor (8) stably in a light load and low speed state through closed-loop control to achieve the purpose of energy saving. Simultaneously, the tension signal of the conveyor belt (4) is detected in real time by the tension detection module and sent to the central processing module. The current signal is detected by the current detection module on the geared motor (8) and sent to the central processing module. The displacement signal is detected in real time by the position detection module and sent to the central processing module. The central processing module obtains tension data, current data and displacement data according to the tension signal, current signal and displacement signal respectively, and compares them with the tension threshold data, current threshold data and displacement threshold data respectively. If there is an abnormal tension, motor overload or displacement exceeding the limit, the central processing module sends a stop signal to the motor drive module, telescopic control module and tension control module at the same time. At the same time, it controls the alarm module to perform audible and visual alarm action. After receiving the stop signal, the motor drive module, telescopic control module and tension control module control the geared motor (8) to stop, the telescopic drive mechanism to stop, and the tension mechanism (10) to stop.

7. The extendable belt conveyor and its intelligent collaborative control method according to claim 6, characterized in that, In step two, the required length ΔL is obtained according to formula (1); ΔL=|L_target-L_current|(1).

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