CN114013911A - Feeder belt slip monitoring device and monitoring system - Google Patents
Feeder belt slip monitoring device and monitoring system Download PDFInfo
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- CN114013911A CN114013911A CN202111107066.7A CN202111107066A CN114013911A CN 114013911 A CN114013911 A CN 114013911A CN 202111107066 A CN202111107066 A CN 202111107066A CN 114013911 A CN114013911 A CN 114013911A
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- coal
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- belt
- proximity switch
- machine shell
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/24—Gearing between driving motor and belt- or chain-engaging elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/04—Control devices, e.g. for safety, warning or fault-correcting detecting slip between driving element and load-carrier, e.g. for interrupting the drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses a coal feeder belt slip monitoring device and a monitoring system, wherein a first coal machine shell is fixedly provided with a coal machine driving motor on the side wall, an output shaft of the coal machine driving motor penetrates through the side wall of the first coal machine shell and is connected with a motor rotating wheel, one end of the motor rotating wheel far away from the first coal machine shell is fixedly provided with a second coal machine shell, and a coal machine driven wheel is fixedly arranged between one end of the second coal machine shell far away from the motor rotating wheel and the first coal machine shell. According to the invention, through the cooperation of the laser proximity switch and the reflector and the mutual linkage of all modules of the monitoring system, the real-time skid detection function of the belt of the coal feeder in the use process of the coal feeder is realized, the coal feeding stability in the coal feeding process is ensured, the fault occurrence rate in the operation process of the coal feeder is reduced by utilizing the automatic detection process, and the overall working efficiency of the coal feeding process is improved.
Description
Technical Field
The invention relates to the technical field of thermal power plant equipment, in particular to a coal feeder belt slip monitoring device and a monitoring system.
Background
In the present power plant's coal feeding process, the feeder belt skids to be a comparatively hidden trouble, its production reason is because the gravity of coal on the belt is not enough overcome to the static friction power between feeder belt and the gyro wheel, thereby lead to becoming the slip by synchronous rotation between gyro wheel and the belt, and simultaneously, feeder motor converter receives the coal supply quantity set value signal, turn into the motor speed instruction with it, under the unchangeable circumstances of coal supply quantity instruction, motor speed can not change, thereby lead to the condition of skidding and need artifically monitor, if not handle in time, then can improve the unexpected risk rate that takes place of power plant's coal feeding in-process.
In addition, the coal quantity feedback value is obtained by calculating the rotating speed signal of the motor of the coal feeder on the inner plate, the running condition of the belt cannot be truly reflected, when the belt of the coal feeder slips, the parameter deviates from the set value within 3 to 8 minutes after the fault occurs, so that the coal quantity feedback value displayed in the control system is seriously deviated, and a worker needs to format the system again and adjust the belt, so that the overall working efficiency in the coal feeding process is reduced.
In order to solve the problems, a coal feeder belt slip monitoring device and a monitoring system are provided.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a belt slip monitoring device and a belt slip monitoring system for a coal feeder.
In order to achieve the purpose, the invention adopts the following technical scheme:
a feeder belt slip monitoring device, comprising:
the coal machine driving device comprises a first coal machine shell, wherein a coal machine driving motor is fixedly mounted on the side wall of the first coal machine shell, an output shaft of the coal machine driving motor penetrates through the side wall of the first coal machine shell and is connected with a motor rotating wheel, one end, far away from the first coal machine shell, of the motor rotating wheel is fixedly mounted with a second coal machine shell, a coal machine driven wheel is fixedly mounted between one end, far away from the motor rotating wheel, of the second coal machine shell and the first coal machine shell, and a coal machine belt is in transmission connection with the side wall of the second coal machine shell and the coal machine driven wheel;
and the belt induction device is used for respectively arranging the belt induction device internal components for carrying out displacement induction on the belt on the side walls of the coal machine belt and the second coal machine shell.
Preferably, belt induction system includes reflection of light piece, trepanning and laser proximity switch, reflection of light piece fixed mounting in the coal machine belt is close to the one end lateral wall of second coal machine shell, and is a plurality of between the reflection of light piece about the coal machine belt carries out the equidistance and distributes, two the trepanning is seted up in the top of second coal machine shell, laser proximity switch with carry out threaded connection between the trepanning, laser proximity switch with horizontal distance between the coal machine belt is 10-12mm, laser proximity switch carries out linear connection with outside wiring terminal box.
A feeder belt slip monitoring system, comprising:
the starting control module is used for transmitting a starting signal to the coal machine driving motor and receiving a rotating speed signal fed back by the coal machine driving motor;
the displacement sensing module is used for receiving a light sensation signal generated by the laser proximity switch under the rotation condition of the coal machine driving motor and converting the light sensation signal into an electric signal for transmission;
and the DCS slipping judgment module receives the electric signal generated by the displacement induction module, converts the electric signal into a judgment signal for slipping condition judgment, and finally feeds back a slipping detection signal to the starting control module for displaying.
Preferably, the start control module comprises a coal feeding start unit and a slip detection unit, the coal feeding start unit starts to transmit a start signal to the motor controller when the power supply of the central controller is switched on, and during the starting process of the motor, the central controller can set the rotating speed information and transmit the rotating speed information of the motor to the motor controller for rotating speed adjustment;
the skid detection unit transmits a power supply signal of a skid detection end, transmits the power supply signal to the DCS control cabinet and the laser proximity switch to start the DCS control cabinet and the laser proximity switch, and receives and displays a skid detection signal.
Preferably, the coal machine driving motor rotates at a rated rotating speed under the control of the motor controller, the belt runs at a rated speed, when the reflector plate arranged on the side wall of the belt is shifted to be parallel to the laser proximity switch, the laser proximity switch generates a photosensitive signal under the photosensitive condition and converts the photosensitive signal into an electric signal through the processing of the switch processor, and the output end of the laser proximity switch transmits the electric signal to the DCS control cabinet through the terminal end.
Preferably, the DCS slip determination system includes an electric signal conversion unit and a slip determination unit, and the electric signal starting unit performs signal conversion via the control cabinet processor and transmits the converted signal to the slip determination module for determination.
Preferably, the laser proximity switch has the characteristic of visible light spots, and can be calibrated through the reflection condition between the light spots and the reflector, and the laser proximity switch top end can be adjusted in a rotating mode, and the maximum range of up and down scheduling of the laser proximity switch is 15 degrees.
Preferably, the slip determination module calls the motor speed signal to the start control module preferentially before performing the determination, and the logic of the slip determination module determines that: the two proximity switches are respectively connected through a 'not' branch to make the switching judgment of switching values '0' and '1', the output values of the two proximity switches are connected with a timing block, when the proximity switch at the front position outputs '1', the timing block starts to time, and when the proximity switch at the rear position outputs '1', the timing block stops timing and resets the timer;
the output time difference of the two proximity switches is t, the distance between the two proximity switches is a fixed value s, and the diameter of the driven wheel of the coal feeder is a fixed value d;
the rotating speed of a driven wheel of the coal machine is omega & lt sd/2 t;
and comparing the rotating speed omega of the driven wheel with the rotating speed of a motor of the coal feeder, judging that the belt slips when the deviation exceeds 5%, and feeding a slip detection signal back to a slip detection unit in the starting control module to perform a display process of a central controller end.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, through the cooperation of the laser proximity switch and the reflector and the mutual linkage of all modules of the monitoring system, the real-time skid detection function of the belt of the coal feeder in the use process of the coal feeder is realized, the coal feeding stability in the coal feeding process is ensured, the fault occurrence rate in the operation process of the coal feeder is reduced by utilizing the automatic detection process, and the overall working efficiency of the coal feeding process is improved.
Drawings
FIG. 1 is a simplified diagram of a coal feeding end of a coal feeder belt slip monitoring device and monitoring system according to the present invention;
FIG. 2 is a diagram of a disassembled structure of a coal feeding end of a coal feeder of the belt slip monitoring device and monitoring system of the coal feeder according to the present invention;
FIG. 3 is a schematic diagram of a laser proximity switch of a belt slip monitoring device and a monitoring system for a coal feeder according to the present invention;
FIG. 4 is a connection diagram of a laser proximity switch of a coal feeder belt slip monitoring device and monitoring system according to the present invention;
FIG. 5 is a schematic diagram of a system module of a feeder belt slip monitoring device and system according to the present invention;
fig. 6 is a schematic signal transmission diagram of a belt slip monitoring device and a monitoring system for a coal feeder according to the present invention.
Wherein: 1. a first coal machine housing; 2. a coal machine driving motor; 3. a motor rotates the wheel; 4. a second coal machine housing; 5. a coal machine driven wheel; 6. a coal machine belt; 7. a light-reflecting sheet; 8. trepanning; 9. a laser proximity switch.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-6, a feeder belt slip monitoring device, comprising:
the coal machine driving device comprises a first coal machine shell 1, wherein a coal machine driving motor 2 is fixedly mounted on the side wall of the first coal machine shell 1, an output shaft of the coal machine driving motor 2 penetrates through the side wall of the first coal machine shell 1 and is connected with a motor rotating wheel 3, one end, far away from the first coal machine shell 1, of the motor rotating wheel 3 is fixedly provided with a second coal machine shell 4, a coal machine driven wheel 5 is fixedly mounted between one end, far away from the motor rotating wheel 3, of the second coal machine shell 4 and the first coal machine shell 1, and a coal machine belt 6 is in transmission connection between the second coal machine shell 4 and the side wall of the coal machine driven wheel 5;
and the belt induction device is used for respectively arranging the internal components of the belt induction device for carrying out displacement induction on the belt on the side walls of the coal machine belt 6 and the second coal machine shell 4.
The invention is further detailed: the belt induction system comprises reflection of light pieces 7, trepanning 8 and laser proximity switch 9, reflection of light piece 7 fixed mounting is in the one end lateral wall that coal machine belt 6 is close to second coal machine shell 4, carry out the equidistance distribution about coal machine belt 6 between a plurality of reflection of light pieces 7, two trepanning 8 are seted up on the top of second coal machine shell 4, carry out threaded connection between laser proximity switch 9 and the trepanning 8, the horizontal distance between laser proximity switch 9 and the coal machine belt 6 is 10-12mm, laser proximity switch 9 carries out linear connection with outside wiring terminal box.
A feeder belt slip monitoring system, comprising:
the starting control module is used for transmitting a starting signal to the coal machine driving motor and receiving a rotating speed signal fed back by the coal machine driving motor;
the displacement sensing module is used for receiving a light sensation signal generated by the laser proximity switch under the rotation condition of the coal machine driving motor and converting the light sensation signal into an electric signal for transmission;
and the DCS slipping judgment module receives the electric signal generated by the displacement induction module, converts the electric signal into a judgment signal for slipping condition judgment, and finally feeds back a slipping detection signal to the starting control module for displaying.
The invention is further detailed: the starting control module comprises a coal feeding starting unit and a slip detection unit, the coal feeding starting unit starts to transmit a starting signal to the motor controller under the condition that the power supply of the central controller is switched on, and in the starting process of the motor, the rotating speed information can be set through the central controller and transmitted to the motor controller for rotating speed adjustment;
the slip detection unit transmits a power supply signal of a slip detection end, transmits the power supply signal to the DCS control cabinet and the laser proximity switch to start the DCS control cabinet and the laser proximity switch, and receives and displays the slip detection signal.
The invention is further detailed: coal machine driving motor carries out rated revolution under motor controller's control and rotates, and the belt moves with rated speed, and when the reflector plate displacement that the belt lateral wall set up was to and laser proximity switch between parallel, the laser was close to and is opened light and produce the photosensing signal under the condition of sensitization this moment to handle via the switch treater and turn into the signal of telecommunication, laser proximity switch's output passes through the signal of telecommunication and connects the terminal end to transmit to the DCS switch board in.
The invention is further detailed: the DCS slippage judging system comprises an electric signal conversion unit and a slippage judging unit, wherein the electric signal starting unit is used for converting signals through a control cabinet processor and transmitting the converted signals to the slippage judging module for judging.
The invention is further detailed: the laser proximity switch has the characteristic that a light spot is visible, calibration can be performed through the reflection condition between the light spot and the reflection sheet, the laser proximity switch top end can be adjusted in a rotating mode, and the maximum range of up-down scheduling of the laser proximity switch is 15 degrees.
The invention is further detailed: the slipping judging module calls a motor rotating speed signal into the starting control module preferentially before judging, and the logic of the slipping judging module judges that: the two proximity switches are respectively connected through a 'not' branch to make the switching judgment of switching values '0' and '1', the output values of the two proximity switches are connected with a timing block, when the proximity switch at the front position outputs '1', the timing block starts to time, and when the proximity switch at the rear position outputs '1', the timing block stops timing and resets the timer;
the output time difference of the two proximity switches is t, the distance between the two proximity switches is a fixed value s, and the diameter of the driven wheel of the coal feeder is a fixed value d;
the rotating speed of a driven wheel of the coal machine is omega & lt sd/2 t;
and comparing the rotating speed omega of the driven wheel with the rotating speed of a motor of the coal feeder, judging that the belt slips when the deviation exceeds 5%, and feeding a slip detection signal back to a slip detection unit in the starting control module to perform a display process of a central controller end.
The first advantageous point of the present invention is explained by the following:
as can be seen from fig. 6, when the operation starts, the coal feeding starting unit inside the central controller starts to transmit a starting signal to the motor controller when the power supply of the central controller is turned on, during the starting process of the motor, the rotation speed information can be set through the central controller, and the motor rotation speed information is transmitted to the motor controller for rotation speed adjustment, the coal machine driving motor 2 rotates at a rated rotation speed under the control of the motor controller, the coal machine belt 6 operates at a rated speed, when the light reflecting sheet 7 arranged on the side wall of the coal machine belt 6 is displaced to be parallel to the laser proximity switch 9, the laser proximity switch 9 generates a light sensing signal under the condition of light sensing and converts the light sensing signal into an electric signal through the processing of the switch processor, the output end of the laser proximity switch transmits the electric signal to the DCS control cabinet through the sub-end, and the electric signal starting unit performs signal conversion through the processing of the control cabinet, the conversion signal is transmitted to a slipping judgment module for judgment;
when the slipping condition is judged to occur, the central controller gives an alarm and displays the alarm, and the coal feeding process can be stopped through the brake pull rod.
From what is described herein, it can be seen that: according to the invention, through the cooperation of the laser proximity switch 9 and the reflector 7 and the mutual linkage of all modules of the monitoring system, the real-time skid detection function of the belt 6 of the coal feeder in the use process of the coal feeder is realized, the coal feeding stability in the coal feeding process is ensured, the fault occurrence rate in the operation process of the coal feeder is reduced by utilizing the automatic detection process, and the overall working efficiency of the coal feeding process is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. A feeder belt slip monitoring device, comprising:
the coal mining machine comprises a first coal mining machine shell (1), wherein a coal mining machine driving motor (2) is fixedly mounted on the side wall of the first coal mining machine shell (1), an output shaft of the coal mining machine driving motor (2) penetrates through the side wall of the first coal mining machine shell (1) and is connected with a motor rotating wheel (3), one end, far away from the first coal mining machine shell (1), of the motor rotating wheel (3) is fixedly mounted with a second coal mining machine shell (4), a coal mining machine driven wheel (5) is fixedly mounted between one end, far away from the motor rotating wheel (3), of the second coal mining machine shell (4) and the first coal mining machine shell (1), and a coal mining machine belt (6) is in transmission connection between the second coal mining machine shell (4) and the side wall of the coal mining machine driven wheel (5);
and the belt induction device is used for respectively arranging internal components of the belt induction device for carrying out displacement induction on the belt on the side walls of the coal machine belt (6) and the second coal machine shell (4).
2. The coal feeder belt slip monitoring device according to claim 1, characterized in that the belt sensing device comprises a light-reflecting sheet (7), a sleeve hole (8) and a laser proximity switch (9), the light-reflecting sheet (7) is fixedly installed on one end side wall of the coal feeder belt (6) close to the second coal feeder housing (4), a plurality of the light-reflecting sheets (7) are distributed at equal intervals with respect to the coal feeder belt (6), two sleeve holes (8) are opened at the top end of the second coal feeder housing (4), the laser proximity switch (9) is in threaded connection with the sleeve hole (8), the horizontal distance between the laser proximity switch (9) and the coal feeder belt (6) is 10-12mm, and the laser proximity switch (9) is in linear connection with an external connection terminal box.
3. A feeder belt slip monitoring system, comprising:
the starting control module is used for transmitting a starting signal to the coal machine driving motor and receiving a rotating speed signal fed back by the coal machine driving motor;
the displacement sensing module is used for receiving a light sensation signal generated by the laser proximity switch under the rotation condition of the coal machine driving motor and converting the light sensation signal into an electric signal for transmission;
and the DCS slipping judgment module receives the electric signal generated by the displacement induction module, converts the electric signal into a judgment signal for slipping condition judgment, and finally feeds back a slipping detection signal to the starting control module for displaying.
4. The coal feeder belt slip monitoring system as claimed in claim 3, wherein the start control module comprises a coal feeding start unit and a slip detection unit, the coal feeding start unit starts to transmit a start signal to the motor controller when the power supply of the central controller is turned on, and during the starting process of the motor, the rotation speed information can be set through the central controller and transmitted to the motor controller for rotation speed adjustment;
the skid detection unit transmits a power supply signal of a skid detection end, transmits the power supply signal to the DCS control cabinet and the laser proximity switch to start the DCS control cabinet and the laser proximity switch, and receives and displays a skid detection signal.
5. The coal feeder belt slip monitoring system of claim 4, wherein the coal feeder drive motor is controlled by the motor controller to rotate at a rated speed, the belt is operated at a rated speed, when the reflector plate disposed on the side wall of the belt is displaced to be parallel to the laser proximity switch, the laser proximity switch generates a light sensing signal under the condition of light sensing and converts the light sensing signal into an electrical signal through the switch processor, and the output end of the laser proximity switch transmits the electrical signal to the DCS control cabinet through the terminal end.
6. The coal feeder belt slip monitoring system of claim 5, wherein the DCS slip determination system comprises an electrical signal conversion unit and a slip determination unit, and the electrical signal activation unit performs signal conversion through the control cabinet processor and transmits the converted signal to the slip determination module for determination.
7. The feeder belt slip monitoring system of claim 5, wherein said laser proximity switch has a spot visibility that is calibrated by reflection between the spot and the reflector, said laser proximity switch being rotationally adjustable up and down to a maximum extent of 15 ° on the open top.
8. The coal feeder belt slip monitoring system of claim 6, wherein the slip determination module preferentially calls a motor speed signal to the start control module before making the determination, the logic of the slip determination module determining that: the two proximity switches are respectively connected through a 'not' branch to make the switching judgment of switching values '0' and '1', the output values of the two proximity switches are connected with a timing block, when the proximity switch at the front position outputs '1', the timing block starts to time, and when the proximity switch at the rear position outputs '1', the timing block stops timing and resets the timer;
the output time difference of the two proximity switches is t, the distance between the two proximity switches is a fixed value s, and the diameter of the driven wheel of the coal feeder is a fixed value d;
the rotating speed of a driven wheel of the coal machine is omega & lt sd/2 t;
and comparing the rotating speed omega of the driven wheel with the rotating speed of a motor of the coal feeder, judging that the belt slips when the deviation exceeds 5%, and feeding a slip detection signal back to a slip detection unit in the starting control module to perform a display process of a central controller end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111107066.7A CN114013911B (en) | 2021-09-22 | 2021-09-22 | Monitoring device and monitoring system for belt slip of coal feeder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111107066.7A CN114013911B (en) | 2021-09-22 | 2021-09-22 | Monitoring device and monitoring system for belt slip of coal feeder |
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| CN114013911A true CN114013911A (en) | 2022-02-08 |
| CN114013911B CN114013911B (en) | 2024-08-23 |
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| CN202111107066.7A Active CN114013911B (en) | 2021-09-22 | 2021-09-22 | Monitoring device and monitoring system for belt slip of coal feeder |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2509134Y (en) * | 2001-08-29 | 2002-09-04 | 边锁 | Non-contact electronic protector for belt slipping, deviation and longitudinal tearing |
| EP2189795A1 (en) * | 2008-11-21 | 2010-05-26 | The Gates Corporation | Belt slip meter |
| CN109264333A (en) * | 2018-08-23 | 2019-01-25 | 中国神华能源股份有限公司 | Sealing-tape machine owes fast guard method, device, storage medium and sealing-tape machine |
| CN110589404A (en) * | 2019-09-09 | 2019-12-20 | 珠海格力电器股份有限公司 | Closed-loop control belt transmission system, control method thereof and electric curtain |
| CN110902316A (en) * | 2019-11-13 | 2020-03-24 | 甘肃酒钢集团宏兴钢铁股份有限公司 | Large-scale transportation belt slip detection method |
-
2021
- 2021-09-22 CN CN202111107066.7A patent/CN114013911B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2509134Y (en) * | 2001-08-29 | 2002-09-04 | 边锁 | Non-contact electronic protector for belt slipping, deviation and longitudinal tearing |
| EP2189795A1 (en) * | 2008-11-21 | 2010-05-26 | The Gates Corporation | Belt slip meter |
| CN109264333A (en) * | 2018-08-23 | 2019-01-25 | 中国神华能源股份有限公司 | Sealing-tape machine owes fast guard method, device, storage medium and sealing-tape machine |
| CN110589404A (en) * | 2019-09-09 | 2019-12-20 | 珠海格力电器股份有限公司 | Closed-loop control belt transmission system, control method thereof and electric curtain |
| CN110902316A (en) * | 2019-11-13 | 2020-03-24 | 甘肃酒钢集团宏兴钢铁股份有限公司 | Large-scale transportation belt slip detection method |
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| CN114013911B (en) | 2024-08-23 |
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