Belt conveyor with deviation correction function and method for correcting a belt conveyor

Abstract

The application discloses a belt conveyor with a deviation rectifying function and a belt deviation rectifying method, relates to the field of conveyors, and comprises a deviation rectifying support, a deviation rectifying mechanism, a carrier roller, a conveying belt, a plurality of sets of deviation measuring mechanisms and an electric control mechanism. The deviation rectifying mechanism is installed on the deviation rectifying support and comprises a self-aligning swing frame, a rotary power assembly and a cross shaft assembly. The swing frame center of the self-aligning swing frame is connected to the deviation rectifying support through the cross shaft assembly, and the carrier roller is installed on the top of the self-aligning swing frame. The rotary power assembly is arranged below the self-aligning swing frame and is connected to the self-aligning swing frame. The deviation measuring mechanism is arranged on the side or directly above the deviation rectifying support. The electric control mechanism is connected to the rotary power assembly, controls the rotation of the rotary power assembly and drives the self-aligning swing frame to swing around the swing frame center, and the conveying belt is corrected and returned to the original position based on the deflection generated by the carrier roller. The conveyor realizes multi-degree-of-freedom deviation rectification of the carrier roller through the cross shaft assembly and the rotary power assembly, simultaneously realizes high-precision deviation rectification through closed-loop control and detection of a deflection angle, and improves the deviation rectifying and conveying efficiency.

Description

Technical Field

[0001] This application relates to the field of belt conveyors, and particularly to a belt conveyor with a belt correction function and a belt correction method. Background Technology

[0002] A belt conveyor is a friction-driven machine that transports materials continuously. It mainly consists of a frame, conveyor belt, idlers, rollers, tensioning devices, and a transmission system. It can transport materials along a defined conveyor line from the initial feeding point to the final unloading point, creating a material transport flow. It can transport both bulk materials and packaged goods. Besides pure material transport, it can also be integrated with the technological requirements of various industrial production processes to form rhythmic assembly line transport operations.

[0003] In multi-segment long-distance transport, belt conveyors may deviate from the idlers. In related technologies, most correction is done manually, which is ineffective and affects operation. Some belt correction systems use gravity and other electrically controlled correction mechanisms, but their correction accuracy is not high, the correction and posture adjustment process is long, and the reliability is poor. Summary of the Invention

[0004] This application provides a belt conveyor with a correction function and a belt correction method to solve the problem of inaccurate correction in traditional conveyors.

[0005] On the one hand, this application provides a belt conveyor with a correction function, including a correction bracket, a correction mechanism, segmented idlers, a conveyor belt, several sets of deviation measuring mechanisms and an electrical control mechanism;

[0006] The correction mechanism is mounted on the correction bracket and includes a self-aligning swing frame, a rotary power assembly, and a cross shaft assembly. The center of the self-aligning swing frame is connected to the correction bracket through the cross shaft assembly. The idler roller is mounted on the top of the self-aligning swing frame to lift and drive the conveyor belt. The rotary power assembly is located below the self-aligning swing frame and is connected to the self-aligning swing frame.

[0007] The deviation measuring mechanism is used to detect the distance the conveyor belt travels to the edge of the idler roller;

[0008] The electrical control mechanism is connected to the rotary power assembly, controls its rotation and drives the self-aligning swing frame to swing around the center of the swing frame, and the conveyor belt corrects and returns to its original position based on the deflection generated by the idler roller.

[0009] On the other hand, this application provides a conveyor belt correction method for a belt conveyor, the method being used for a belt conveyor with correction function, the method comprising:

[0010] The electrical control system collects the deviation data of the conveyor belt through the deviation measuring mechanism and determines the deviation size of the conveyor belt;

[0011] Based on the deviation dimensions, the positional relationship between the conveyor belt and the idler, the radius of the swing arm turntable, and the swing arm length of the self-aligning swing frame, the attitude adjustment data of the idler is determined; the attitude adjustment data includes at least one of the idler deflection angle and the idler tilt angle.

[0012] The motor is controlled based on the attitude adjustment data, which drives the swing arm turntable to rotate to the target angle. The self-aligning bracket drives the idler roller to generate a deflection displacement based on the swing arm turntable.

[0013] The deflection angle of the self-aligning swing arm is detected by an angle sensor and then sent to the electronic control system.

[0014] The beneficial effects of the technical solution provided in this application include at least the following: the self-aligning swing frame and rotary power assembly enable the idler roller to swing left and right, achieving deviation correction through friction; while the cross shaft assembly and wheel-rail coordination assembly can hinge the self-aligning swing frame and precisely control its deflection angle and deflection height, achieving gravity-based deviation correction. The cross shaft assembly enables multi-degree-of-freedom adjustment, resulting in less machine vibration and wear, and better deviation correction effect. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the belt conveyor with correction function provided in the embodiments of this application;

[0016] Figure 2 This is a schematic diagram of the correction mechanism provided in the embodiments of this application;

[0017] Figure 3 This is a side view of the correction mechanism and the centering frame;

[0018] Figure 4 yes Figure 3 Sectional view at point AA;

[0019] Figure 5 This is a schematic diagram of the installation structure of the self-aligning swing frame and the swing arm turntable;

[0020] Figure 6 This is a structural schematic diagram of the cross shaft assembly and the swing arm turntable;

[0021] Figure 7 This is a top view of a belt conveyor;

[0022] Figure 8 This is a structural schematic diagram of the cross shaft assembly;

[0023] Figure 9 This is a schematic diagram of the wheel-rail coordination component;

[0024] Figure 10 These are schematic diagrams of wheel-rail co-operation components at different tilt angles;

[0025] Figure 11 This is a schematic diagram illustrating the principle of the deviation measurement mechanism collecting deviation data.

[0026] Figure 12 This is a schematic diagram illustrating the principle of calculating the idler roller deflection angle based on conveyor parameters;

[0027] Figure 13 This is a flowchart of the conveyor belt alignment algorithm.

[0028] Reference numerals: Correction bracket-10, Correction mechanism-20, Idler roller-30, Conveyor belt-40, Deviation measuring mechanism-50, Electrical control mechanism-60, Self-aligning swing arm-21, Rotary power assembly-22, Cross shaft assembly-23, Wheel-rail coordination component-24, Distance sensor-51, Industrial camera-52, Angle sensor-53, Swing arm lug-211, Swing arm turntable-221, Reducer-222, Motor-223, Raised frustum-224, Fixed frame-23, Swing arm pivot-232, Spherical sliding bearing-233, Roller track-241, Roller combination-242, Track plate-2411, Baffle-2412, Upper pulley-2421, Lower pulley-2422. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0030] In this article, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0031] like Figure 1 The diagram shown is a structural schematic of a belt conveyor with a correction function provided in an embodiment of this application, including a correction bracket 10, a correction mechanism 20, segmented idlers 30, a conveyor belt 40, several sets of deviation measuring mechanisms 50, and an electrical control mechanism 60.

[0032] The correction mechanism 20 is mounted on the correction bracket 10, which is also the main structure supporting the normal transmission of the conveyor belt 40. In one possible implementation, the bracket can be an integral structure composed of two trusses, and the entire conveyor belt is driven and transported by several sets of belt conveyors.

[0033] like Figure 2As shown, the alignment mechanism 20 specifically includes a self-aligning swing frame 21, a rotary power assembly 22, and a cross shaft assembly 23. The center of the self-aligning swing frame 21 is connected to the alignment bracket 10 via the cross shaft assembly 23. Idler rollers 30 are mounted on top of the self-aligning swing frame 21, supporting and driving the conveyor belt 40. The conveyor in this design is a grooved conveyor, consisting of multiple sections of idlers, such as... Figure 2 The diagram shows a three-section idler roller. The two swing arms of the self-aligning swing frame 21 are provided with support columns with a certain slope at their ends. The idler roller is placed on the support columns, and the swing frame as a whole is in a straight line shape.

[0034] The cross shaft assembly 23 can be fitted onto the two trusses of the correction bracket 10 and connected to the self-aligning swing arm 21 via a connector. The connection point is the center of the swing arm.

[0035] The rotary power assembly 22 is a device that provides power to the self-aligning pendulum frame 21. It is located below the self-aligning pendulum frame 21 and is hinged to the self-aligning pendulum frame 21. It drives the pendulum frame arm to rotate and swing by rotation.

[0036] The deviation measuring mechanism 50 is located on the side or directly above the correction bracket 10 and is used to detect the distance between the conveyor belt 40 and the edge of the idler roller 30, which is the deviation measurement data. The deviation measuring mechanism 50 and the rotary power assembly 22 are connected to the electrical control mechanism 60. The electrical control mechanism 60 judges the deviation of the conveyor belt by collecting deviation data, determines the attitude adjustment data through an algorithm, controls the rotary power assembly 22 to rotate, and drives the self-aligning swing frame 21 to swing around the center of the swing frame. The conveyor belt 40 is corrected and returned to its original position based on the deflection generated by the idler roller 30. Because the idler roller and the conveyor belt are placed perpendicularly under normal operation, when the idler roller deflects, it will generate a deflection friction force on the conveyor belt, thereby correcting the conveyor belt.

[0037] like Figure 3 and Figure 4 As shown, the rotary power assembly 22 is disposed below the swing arm of the self-aligning swing frame 21. In some embodiments, the rotary power assembly 22 can be symmetrically disposed in the two swing arm directions, or a single unit can be used. The rotary power assembly 22 includes a swing arm turntable 221, a reducer 222, and a motor 223. The reducer 222 is connected to the output shaft of the motor 223, and the swing arm turntable 221 is mounted on the output shaft of the reducer 222. The reducer 222 and the motor 223 can be fixed on the alignment bracket 10.

[0038] To achieve the swing arm function, this application provides a raised frustum 224 on the swing arm turntable 221, and a corresponding adjustment hole is provided at the bottom of the swing arm of the self-aligning swing frame 21. This adjustment hole can be an oblong hole or a rectangular elongated hole, and the raised frustum 224 is inserted into the adjustment hole. Because the swing arm turntable 221 will undergo arc deflection during rotation, the raised frustum 224 can generate a relative linear reciprocating motion within the oblong hole. This raised frustum 224 is the point of action for controlling the swing arm. Figure 5 and Figure 6 The diagram shows the connection between the self-aligning pendulum frame and the pendulum arm turntable.

[0039] like Figures 6 to 8 As shown, a swing arm lug 211, which is hinged to the cross shaft assembly 23, is provided at the center of the self-aligning swing arm 21. The cross shaft assembly 23 includes a fixed frame 231, a swing arm pivot 232, a spherical sliding bearing 233, a spacer 234, a retaining ring 235, and a fixing plate 236. The fixed frame 231 is fixed on the alignment bracket 10, the swing arm pivot 232 is sleeved on the fixed frame 231, and the spherical sliding bearing 233 is installed in the inner hole of the swing arm pivot 232. Its centerline is arranged horizontally, the swing arm pivot 232 passes through the inner hole of the spherical sliding bearing 233, and its axial direction is symmetrically distributed about the center of the inner hole.

[0040] On the swing arm pivot 232, the left and right sides of the spherical sliding bearing 233 are the swing arm lugs 211 of the self-aligning swing frame 21, which are engaged with the swing arm pivot 232 through shaft holes. A spacer 234 is designed on the outer side of the swing arm lug 211. The inner circumferential surface of the spacer 234 contacts the swing arm pivot 232, the outer circumferential surface contacts the fixing plate 236 on the alignment bracket 10, the inner end face contacts the swing arm lug 211, and the outer side is limited at the end of the swing arm pivot 232 by a snap ring 235. The fixing plate 236 is welded to the alignment bracket 10, has holes on it, and is located between the fixing frames 231. The swing arm pivot 232 is fitted in the fixing frame 231, providing limiting protection for the swing arm lug 211.

[0041] The cross-axis assembly serves two purposes. First, the self-aligning pendulum frame transmits the load it receives to the swing arm pivot, and then, through the cooperation of the spherical sliding bearing and the fixed plate, ultimately to the alignment support. Second, the spherical sliding bearing, with its multi-degree-of-freedom characteristics, allows the self-aligning pendulum frame to have multiple degrees of freedom relative to the alignment support through its cooperation with the swing arm pivot.

[0042] In some other embodiments, fisheye bearings can also be used for multi-degree-of-freedom adjustment. This adjustment is not limited to horizontal oscillation but also includes height adjustment. Because simple horizontal oscillation can cause the idler roller to deviate at a certain angle, the conveyor belt can be corrected by the frictional forces on both sides. However, by simultaneously adjusting the height during horizontal oscillation, the height of the idler roller can be changed, and the combined effect of gravity further shortens the correction time and makes the response more rapid.

[0043] like Figure 6 , Figure 9 and Figure 10As shown, to address the issue of height adjustment accuracy, in some other embodiments, a wheel-rail coordination component is added to the conveyor. Specifically, this includes a wheel track 241 and a wheel assembly 242. The wheel track 241 is mounted on a correction bracket, for example, on a correction bracket 10 near the end of the self-aligning swing frame 21, or on a correction bracket within the length of the swing arm. The wheel assembly 242 is mounted on the end of the self-aligning swing frame 21, or at any position between the end of the swing frame and the central axis, with the aim of allowing the wheel assembly 242 to roll along the wheel track 241.

[0044] In one possible implementation, the roller slide track 241 is configured as an inverted L-shape, including a track plate 2411 for roller sliding and limiting baffles 2412 at both ends of the track. The roller slide assembly 242 includes vertically distributed upper pulleys 2421 and lower pulleys 2422, and is mounted via a fixed shaft. Normally, the track plate 2411 of the roller slide track 241 is disposed between the upper pulleys 2421 and the lower pulleys 2422, and contacts the upper or lower track surface therein.

[0045] In one possible implementation, the track plate 2411 is placed horizontally, and the pulley assembly 242 at the end of the self-aligning swing arm 21 swings horizontally along the track plate 2411. In this way, the two sets of pulley tracks at the ends of the two swing arms are simultaneously placed horizontally, and the swing arms move in coordination under the action of the rotating disk.

[0046] In another possible implementation, the track plate 2411 is placed at an angle, and the pulley assembly 242 at the end of the self-aligning swing arm 21 swings at an angle along the track plate 2411. The angle of inclination can be set to left-high and right-low or left-low and right-high depending on the direction of the conveyor belt travel (the direction of travel is to the right). Because it is a swing type, the angles of inclination at the ends of the two swing arms are exactly opposite.

[0047] For track slabs with an inclined configuration, the horizontal oscillation is further enhanced by a change in height, which acts on the idlers to cause them to deflect and tilt. This allows the conveyor belt to be corrected back to the center position more quickly. The symmetrically distributed wheel-rail coordination components ensure that the load on the self-aligning swing frame is evenly and effectively transferred to the correction support.

[0048] Without a wheel-rail coordination component, the load on the self-aligning swing frame can only be transmitted to the correction support through components such as the intermediate shaft. The single-point support means that the vibration caused by the belt operation cannot be eliminated, the intermediate shaft component is prone to damage, which shortens the life of the entire device or even renders it unusable.

[0049] In some embodiments, several sets of mounting holes can be provided on the roller track 241, and the tilt angle of the track plate 2411 can be changed by adjusting the mounting holes, or it can be controlled by an electronic control mechanism.

[0050] The offset measuring mechanism 50 includes a distance sensor 51 and / or an industrial camera 52. The distance sensor 51 is distributed on both sides of the conveyor belt 40, with the detection angle consistent with the side slope of the conveyor belt, and detects the distance between the idler rollers and the conveyor belt, respectively. The industrial camera 52 is located directly above the belt conveyor, that is, directly above the cross shaft assembly, and detects the position images of the conveyor belt and idler rollers in real time.

[0051] The electronic control system uses a negative feedback mechanism to achieve precise control. Specifically, an angle sensor 53 is installed below the self-aligning swing arm 21, and this angle sensor is located on the central axis to detect the angle of the swing arm.

[0052] Compared to ordinary correction devices, this solution uses a self-aligning swing frame and a rotary power assembly to enable the idler rollers to swing left and right, achieving correction through friction. The cross shaft assembly and wheel-rail coordination component can hinge the self-aligning swing frame while precisely controlling its deflection angle and deflection height, resulting in less machine vibration and wear, and better correction effect.

[0053] This application also provides a conveyor belt correction method for a belt conveyor, which is used in any of the above embodiments of the belt conveyor with correction function, and the method includes the following steps:

[0054] S1, the electrical control system collects the deviation data of the conveyor belt through the deviation measuring mechanism and determines the deviation size of the conveyor belt;

[0055] S2, based on the deviation dimension, the positional relationship between the conveyor belt and the idler, the radius dimension of the swing arm turntable and the swing arm length of the self-aligning swing frame, determine the attitude adjustment data of the idler; the attitude adjustment data includes at least one of the idler deflection angle and tilt angle;

[0056] S3 controls the motor operation based on attitude adjustment data, driving the swing arm turntable to rotate to the target angle, and the self-aligning bracket drives the idler roller to generate deflection displacement based on the swing arm turntable;

[0057] S4 detects the deflection angle of the self-aligning swing arm using an angle sensor and sends the deflection angle to the electronic control system.

[0058] The aforementioned deviation measurement mechanism includes at least one of a distance sensor and an industrial camera. Deviation dimensions include the left side distance of the belt, the right side distance of the belt, the left reference point of the sensor, and the right reference point of the sensor. For example... Figure 11 As shown, the left and right distances of the belt represent the distances from the sides of the conveyor belt to the edge of the idler (distance A and distance B), and the left and right references of the sensor represent the distances from the sensor to the edge of the conveyor belt (distance C and distance D).

[0059] Determining the conveyor belt deviation dimensions includes:

[0060] The conveyor belt weighting coefficient is determined based on deviation data detected by distance sensors and industrial cameras;

[0061] Data fusion is performed based on the corresponding weighting coefficients and deviation data. The conveyor belt deviation dimension fused by the deviation measuring mechanism is obtained by the following fusion calculation formula.

[0062]

[0063] in, This indicates that the fused conveyor belt deviates from its original dimensions. and These represent the deviation data detected by the distance sensor and the industrial camera, respectively. This represents the weighting coefficient.

[0064] like Figure 12 As shown, A represents the circle of the swing arm turntable, O represents the center of the swing arm, r is the radius of the swing arm turntable, and L is the distance between the two circles. and These represent the forward and reverse deflection angles of the swing arm turntable, respectively. and These represent the forward and reverse deflection angles of the idler roller (swing frame), respectively. B, C, and D represent the points corresponding to the turntable deflection angles.

[0065] based on Figure 12 The calculation principle shows that:

[0066]

[0067]

[0068]

[0069] The formulas for forward and reverse calculations are the same, based on which the following can be calculated: The value.

[0070] Because the cross-shaft assembly can achieve deflection in the height direction, when the pulley track is placed horizontally, the deflection angle of the idler roller can be determined directly based on the deviation dimension, the positional relationship between the conveyor belt and the idler roller, the radius of the swing arm turntable, and the swing arm length of the self-aligning swing frame. As above.

[0071] When the roller track is placed at an angle, first calculate the deflection angle of the idler roller as described above. Then, the roller tilt angle can be calculated based on the track tilt angle, roller deflection angle, and trigonometric function relationships.

[0072] The tilt angle of the idler rollers, combined with the deflection angle, works together to correct the conveyor belt, allowing it to quickly return to its original position.

[0073] During the calibration process, the angle sensor collects data in real time and feeds it back to the electronic control system for attitude correction, realizing closed-loop negative feedback control. Its control principle is as follows: Figure 13 As shown, the angle sensor collects and feeds back data to the control unit of the electronic control system in real time. When the angle or height does not meet the requirements, negative feedback adjustment is performed until the belt is aligned.

[0074] This intelligent belt alignment system uses a belt alignment algorithm to perform non-contact belt alignment measurement, eliminating belt wear. It utilizes a cross-axis self-aligning frame and wheel-rail coordination to achieve high and low tilting functions. Under the influence of gravity, the alignment efficiency is higher and the operation is more stable. Furthermore, the combination of the alignment algorithm and closed-loop control makes the deflection angle control more precise, the structure more compact, and the control more intelligent.

[0075] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above. The devices and structures not described in detail should be understood as being implemented in a conventional manner in the art. Any person skilled in the art can make many possible changes and modifications, or equivalent changes to equivalent embodiments without departing from the technical solution of the present invention. This does not affect the substantive content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A belt conveyor with a correction function, characterized in that, It includes a correction bracket (10), a correction mechanism (20), segmented idlers (30), a conveyor belt (40), several sets of deviation measuring mechanisms (50) and an electrical control mechanism (60); The correction mechanism (20) is mounted on the correction bracket (10) and includes a self-aligning swing frame (21), a rotary power assembly (22), and a cross shaft assembly (23). The center of the swing frame of the self-aligning swing frame (21) is connected to the correction bracket (10) through the cross shaft assembly (23). The idler roller (30) is mounted on the top of the self-aligning swing frame (21) to lift and drive the conveyor belt (40). The rotary power assembly (22) is located below the self-aligning swing frame (21) and is connected to the self-aligning swing frame (21). An angle sensor (53) is provided below the self-aligning swing frame (21) to detect the angle of the swing arm. The offset measuring mechanism (50) is used to detect the distance from the conveyor belt (40) to the edge of the idler (30), and includes a distance sensor (51) and an industrial camera (52). The distance sensor (51) is distributed on both sides of the conveyor belt (40), and the detection angle is consistent with the side slope of the conveyor belt, respectively detecting the distance between the idler and the conveyor belt; the industrial camera (52) is located directly above the belt conveyor and detects the position of the conveyor belt and the idler. The electronic control mechanism (60) is connected to the rotary power assembly (22), controls its rotation and drives the self-aligning swing frame (21) to swing around the center of the swing frame, and the conveyor belt (40) is corrected and returned to its original position based on the deflection generated by the idler roller (30); Determining the conveyor belt deviation dimensions includes: The conveyor belt weighting coefficient is determined based on the deviation data detected by the distance sensor (51) and the industrial camera (52); Data fusion is performed based on the corresponding weighting coefficients and deviation data. The conveyor belt deviation dimension fused by the deviation measuring mechanism is obtained by the following fusion calculation formula. in, This indicates that the fused conveyor belt deviates from its original dimensions. and These represent the deviation data detected by the distance sensor and the industrial camera, respectively. This represents the weighting coefficient.

2. The belt conveyor with correction function according to claim 1, characterized in that, The rotary power assembly (22) is located below the swing arm of the self-aligning swing frame (21), and includes a swing arm turntable (221), a reducer (222) and a motor (223). The reducer (222) is connected to the output shaft of the motor (223), and the swing arm turntable (221) is mounted on the output shaft of the reducer (222). The swing arm turntable (221) is provided with a raised frustum (224), and the bottom of the swing arm of the self-aligning swing frame (21) is provided with an adjustment hole, and the raised frustum (224) is placed into the adjustment hole.

3. The belt conveyor with correction function according to claim 2, characterized in that, The center of the self-aligning swing frame (21) is provided with a swing arm lug (211) that is connected to the cross shaft assembly (23); The cross shaft assembly (23) includes a fixed frame (231), a swing arm pivot (232), and a spherical sliding bearing (233); the fixed frame (231) is fixed on the correction bracket (10), the swing arm pivot (232) is sleeved on the fixed frame (231), and the spherical sliding bearing (233) is installed on the swing arm pivot (232) and cooperates with the swing arm lug (211) on the self-aligning swing frame (21).

4. The belt conveyor with correction function according to claim 1, characterized in that, The correction mechanism (20) further includes a wheel-rail coordination component (24), which includes a wheel track (241) and a wheel combination (242); the wheel track (241) is disposed on the correction bracket (10), the wheel combination (242) is installed on the self-aligning swing frame (21), and the wheel combination (242) rolls along the wheel track (241).

5. The belt conveyor with correction function according to claim 4, characterized in that, The roller track (241) is inverted L-shaped and includes a track plate (2411) for roller rolling and limiting baffles (2412) at both ends of the track; The roller skate assembly (242) includes a vertically distributed upper pulley (2421) and a lower pulley (2422), and the track plate (2411) of the roller skate track (241) is disposed between the upper pulley (2421) and the lower pulley (2422).

6. The belt conveyor with correction function according to claim 5, characterized in that, The track plate (2411) is placed horizontally, and the roller assembly (242) swings horizontally along the track plate (2411).

7. The belt conveyor with correction function according to claim 5, characterized in that, The track plate (2411) is placed at an angle, and the roller assembly (242) swings at an angle along the track plate (2411).

8. A method for correcting belt deviation in a belt conveyor, characterized in that, The method is used in any one of the belt conveyors with correction function as described in claims 1-7, and the method includes: The electrical control system collects the deviation data of the conveyor belt through the deviation measuring mechanism and determines the deviation size of the conveyor belt; Based on the deviation dimensions, the positional relationship between the conveyor belt and the idler, the radius of the swing arm turntable, and the swing arm length of the self-aligning swing frame, the attitude adjustment data of the idler is determined; the attitude adjustment data includes at least one of the idler deflection angle and the idler tilt angle. The motor is controlled based on the attitude adjustment data, which drives the swing arm turntable to rotate to the target angle. The self-aligning bracket drives the idler roller to generate a deflection displacement based on the swing arm turntable. The deflection angle of the self-aligning swing arm is detected by an angle sensor and then sent to the electronic control system.

9. The method according to claim 8, characterized in that, The deviation measurement mechanism includes at least one of a distance sensor and an industrial camera; the deviation data includes the left side distance of the belt, the right side distance of the belt, the left reference of the sensor, and the right reference of the sensor; the left side distance of the belt and the right side distance of the belt represent the distances from the sides of the conveyor belt to the edges of the idlers, and the left reference of the sensor and the right reference of the sensor represent the distances from the sensors to the edges of the conveyor belt.

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