Deviation correcting method and deviation correcting device for conveying belt

Abstract

The invention discloses a deviation rectifying method and device for a conveying belt, and belongs to the technical field of conveying belt deviation rectifying. The deviation rectifying method for the conveying belt comprises the steps that the set position of a fixing base is preset; driving a conveyor belt, wherein the conveyor belt drives the fixed seat to move to a set position; the current actual position of the fixing base is obtained, the actual position is compared with the set position, and the real-time deviation correction distance is obtained; according to the real-time correction distance, the real-time correction speed is obtained; the conveying belt is adjusted to drive the fixing base to move towards the set position at the real-time deviation rectifying speed. According to the deviation rectifying method of the conveying belt, the deviation rectifying accuracy of the fixing base can be improved, and the time needed for deviation rectifying can be shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of conveyor belt deviation correction, and in particular to a conveyor belt deviation correction method and a conveyor belt deviation correction device. Background Art

[0002] In the prior art, conveyor belts are widely used for transporting workpieces. However, after long-term use, conveyor belts are prone to wear and aging, which causes gaps in the conveyor belts and makes them difficult to tighten. This leads to mechanical transmission errors, resulting in the workpiece being unable to be accurately moved to the set position. At this time, it is necessary to correct the position of the workpiece moved by the conveyor belt. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention is to provide a conveyor belt deviation correction method, which can improve the accuracy of deviation correction of a fixed seat and reduce the time required for deviation correction.

[0004] The present invention also provides a deviation correction device using the deviation correction method.

[0005] According to an embodiment of the present invention, the method for correcting the deviation of a conveyor belt includes: presetting a set position of a fixed seat; driving the conveyor belt, and the fixed seat is moved toward the set position by the conveyor belt; obtaining the current actual position of the fixed seat, comparing the actual position with the set position, and obtaining a real-time deviation correction distance; obtaining a real-time deviation correction speed based on the real-time deviation correction distance; and adjusting the conveyor belt to drive the fixed seat to move toward the set position at the real-time deviation correction speed.

[0006] According to the conveyor belt correction method of the embodiment of the present invention, the real-time correction speed can be adjusted according to the real-time correction distance, which can reduce the inertia influence of the fixed seat when it moves and stops at the set position, so that the fixed seat can move and stop at the set position more accurately, reduce or the reciprocating movement of the fixed seat at the set position when it moves to the set position, improve the accuracy of the fixed seat moving to the set position and reduce the time required for the movement, which is beneficial to improving the transfer efficiency of the workpiece.

[0007] In some embodiments, the real-time correction speed is directly proportional to the real-time correction distance.

[0008] In some embodiments, obtaining the real-time correction speed based on the real-time correction distance includes: presetting a maximum correction distance; obtaining a ratio of the real-time correction distance to the maximum correction distance, and using the ratio as a real-time correction ratio; and obtaining the real-time correction speed based on the real-time correction ratio.

[0009] Furthermore, obtaining the real-time correction speed based on the real-time correction ratio includes: presetting a plurality of continuously distributed correction ratio intervals, each correction ratio interval corresponding to a preset correction speed; determining the correction ratio interval according to the real-time correction ratio, and obtaining the corresponding preset correction speed as the real-time correction speed.

[0010] Furthermore, the preset multiple continuously distributed correction ratio intervals, each correction ratio interval corresponds to a preset correction speed, including: a preset average correction speed and multiple speed ratios, each correction ratio interval corresponds to one speed ratio, the average correction speed is multiplied by the corresponding speed ratio to obtain the preset correction speed; wherein, the multiple correction ratio intervals are continuous and monotonically decreasing, and the speed ratios corresponding to the multiple correction ratios are correspondingly monotonically decreasing.

[0011] Furthermore, the speed ratio is α, 0<α≤2.

[0012] In some embodiments, the real-time correction ratio is T, 0<T<1.

[0013] In some embodiments, the conveyor belt deviation correction method further includes: while obtaining the real-time deviation correction distance, detecting the deviation correction direction of the actual position relative to the set position; and the conveyor belt adjusting the real-time deviation correction speed according to the deviation correction direction.

[0014] In some embodiments, the transmission belt deviation correction method further includes: presetting an allowable error value; comparing the real-time deviation correction distance with the allowable error value; if the real-time deviation correction distance is greater than the allowable error value, obtaining a real-time deviation correction speed based on the real-time deviation correction distance, and driving the conveyor belt to move the fixed seat from the actual position to the set position at the real-time deviation correction speed; if the real-time deviation correction distance is less than or equal to the allowable error value, the conveyor belt stops to keep the fixed seat at the actual position.

[0015] According to the conveyor belt correction device of the present invention, the conveyor belt correction method of the above embodiment is adopted, including: a fixed seat, the fixed seat is used to fix the workpiece; a conveyor belt, the fixed seat is connected to the conveyor belt, and the conveyor belt drives the fixed seat to move to the set position; a distance measuring sensor, the distance measuring sensor is used to detect the actual position of the fixed seat to obtain a real-time correction distance between the actual position and the set position; a processor, the processor is electrically connected to the distance measuring sensor and the controller of the conveyor belt to control the conveyor belt to drive the fixed seat to move to the set position at the real-time correction speed.

[0016] According to the conveyor belt correction device of the present invention, the real-time correction speed can be adjusted according to the real-time correction distance, which can reduce the inertia influence of the fixed seat when it moves and stops at the set position, so that the fixed seat can move and stop at the set position more accurately, reduce or the reciprocating movement of the fixed seat at the set position when it moves to the set position, improve the accuracy of the fixed seat moving to the set position and reduce the time required for the movement, which is beneficial to improving the transfer efficiency of the workpiece.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a flow chart of a conveyor belt deviation correction method according to an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of a flow chart of a conveyor belt deviation correction method according to another embodiment of the present invention;

[0020] Figure 3 A schematic flow chart of a conveyor belt deviation correction method according to another embodiment of the present invention;

[0021] Figure 4 Schematic diagram of the structure of a conveyor belt deviation correction device according to an embodiment of the present invention.

[0022] Reference numerals:

[0023] Correction device 100,

[0024] A fixing seat 10 , a conveyor belt 20 , a distance measuring sensor 30 , and a conveyor belt supporting platform 40 . DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0026] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific processes and examples of materials, but those of ordinary skill in the art can be aware of the applicability of other processes and / or the use of other materials.

[0027] The following describes a conveyor belt deviation correction method and a deviation correction device 100 according to an embodiment of the present invention with reference to the accompanying drawings.

[0028] like Figure 1 As shown, the conveyor belt deviation correction method according to an embodiment of the present invention includes:

[0029] S1: preset the setting position of the fixing seat 10;

[0030] S2: driving the conveyor belt 20, and the conveyor belt 20 drives the fixing seat 10 to move to the set position;

[0031] S3: Obtain the current actual position of the fixing seat 10, compare the actual position with the set position, and obtain the real-time correction distance;

[0032] S4: Obtain the real-time correction speed according to the real-time correction distance;

[0033] S5: adjusting the conveyor belt 20 at a real-time deviation correction speed to drive the fixed seat 10 to move to a set position.

[0034] It is understandable that the fixed seat 10 is used to carry the workpiece, and there is inertia when the conveyor belt 20 drives the fixed seat 10 to move. Under the action of inertia, it is difficult for the fixed seat 10 to stop in time at the set position, and as the moving speed of the fixed seat 10 increases, it is more difficult for the fixed seat 10 to stop in time at the set position, which easily leads to the fixed seat 10 having to perform multiple reciprocating movements near the set position before it can accurately stop at the set position.

[0035] The set position is a position where the workpiece is operated, for example, the workpiece is clamped at the set position.

[0036] Therefore, the real-time correction speed can be adjusted according to the real-time correction distance, which can reduce the inertia influence of the fixed seat 10 when it moves and stops at the set position, so that the fixed seat 10 can move and stop at the set position more accurately, reduce or the reciprocating movement of the fixed seat 10 at the set position when it moves to the set position, improve the accuracy of the fixed seat 10 moving to the set position and reduce the time required for the movement, which is beneficial to improving the transfer efficiency of the workpiece.

[0037] It should be noted that in the present application, when obtaining the current actual position of the fixed seat 10, there is no limitation on whether the fixed seat 10 is in a moving state or a stationary state. In other words, when the fixed seat 10 moves close to the set position, the real-time deviation correction distance and the real-time deviation correction speed can be obtained while the fixed seat 10 keeps moving, and then the speed of the conveyor belt 20 is adjusted to the real-time deviation correction speed while the fixed seat 10 keeps moving, eliminating the process of stopping and restarting the fixed seat 10 when close to the set position, and further improving the transfer efficiency of the workpiece.

[0038] In the present application, the moving path of the fixed seat 10 driven by the conveyor belt 20 is defined. For example, the conveyor belt 20 may extend along a straight line, and the fixed seat 10 moves along the straight line with the conveyor belt 20. For another example, the conveyor belt 20 is set as an annular conveyor belt 20, and the fixed seat 10 moves along the annular path with the conveyor belt 20.

[0039] In some embodiments, the real-time correction speed is directly proportional to the real-time correction distance.

[0040] Thus, as the fixed seat 10 gradually approaches the set position, the real-time correction distance gradually decreases, and accordingly, the real-time correction speed gradually decreases. That is, the speed of the fixed seat 10 far away from the set position is the largest, and the speed is reduced to the minimum when it moves to the set position, thereby increasing the average speed of the fixed seat 10 moving to the set position while reducing the influence of inertia when the fixed seat 10 moves to the set position, further improving the accuracy of the conveyor belt 20 driving the fixed seat 10 to move to the set position and reducing the time required for transfer.

[0041] In some embodiments, Figure 2 As shown, the real-time correction speed is obtained according to the real-time correction distance, including:

[0042] S4.1: Preset maximum deviation correction distance d set ;

[0043] S4.2: Get real-time correction distance d now and the maximum correction distance d set ratio, and use this ratio as the real-time correction ratio p now ;

[0044] S4.3: Obtain the real-time correction speed according to the real-time correction ratio.

[0045] It is understandable that the position of the fixing base 10 is affected by the weight of the workpiece it carries. When the weight of the workpiece increases, the overall inertia of the fixing base 10 increases, and it is more difficult for it to stop moving accurately at the set position.

[0046] Specifically, the real-time correction ratio p now It is calculated through the following relationship:

[0047]

[0048] Therefore, the maximum deviation correction distance can be used as a standard for judging the size of the real-time deviation correction distance, and the real-time deviation correction ratio can be obtained. Under different preset maximum deviation correction distances, the fixed seat 10 can have different real-time deviation correction speeds at the same real-time deviation correction distance. Among them, when the mass of the workpiece carried by the fixed seat 10 is larger, the maximum deviation correction distance increases, so that the fixed seat 10 can have a smaller real-time deviation correction speed at the same real-time deviation correction distance, making it easier for the fixed seat 10 to stop, and then the fixed seat 10 can be more accurately customized at the set position.

[0049] In addition, the maximum correction distance can limit the distance range for correcting the fixing base 10, reducing or avoiding the fixing base 10 being damaged due to the fixing base 10 moving beyond its allowed movement range due to the correction range being too large.

[0050] Furthermore, according to the real-time correction ratio, the real-time correction speed is obtained, including:

[0051] Preset a plurality of continuously distributed deviation correction ratio intervals, each deviation correction ratio interval corresponds to a preset deviation correction speed;

[0052] According to the real-time correction ratio, the correction ratio interval is determined, and the corresponding preset correction speed is obtained as the real-time correction speed.

[0053] Therefore, the real-time correction speed of the fixed seat 10 at different real-time correction distances is obtained according to the real-time correction ratio, so that the real-time correction speed of the fixed seat 10 can be reduced more evenly during the process of moving to the set position, further improving the accuracy of the fixed seat 10 moving to the set position.

[0054] Furthermore, a plurality of continuously distributed correction ratio intervals are preset, and each correction ratio interval corresponds to a preset correction speed, including: a preset average correction speed and a plurality of speed ratios, and each correction ratio interval corresponds to a speed ratio, and the average correction speed is multiplied by the corresponding speed ratio to obtain the preset correction speed.

[0055] Among them, multiple correction ratio intervals are continuous and monotonically decreasing, and the speed ratios corresponding to the multiple correction ratios are monotonically decreasing accordingly, so as to ensure that the real-time correction speed of the fixing seat 10 can be reduced more evenly during the process of moving to the set position.

[0056] Thus, a smaller real-time correction ratio can be obtained at a smaller real-time correction distance, and a smaller real-time correction ratio can correspond to a smaller preset correction speed. In other words, as the real-time correction ratio decreases, the fixing base 10 gradually approaches the set position, and correspondingly, the real-time correction speed of the fixing base 10 can be gradually reduced, so that the fixing base 10 can be more accurately customized at the set position.

[0057] In the present application, the speed ratio can be a non-arithmetic progression. Preferably, when the real-time correction ratio is large, the speed ratio can be set larger, and the speed ratio difference corresponding to adjacent correction ratio intervals is large, the real-time correction speed changes faster, and the real-time correction distance can be quickly shortened. When the real-time correction ratio is small, the speed ratio can be set smaller, and the speed ratio difference corresponding to adjacent correction ratio intervals is small, and the real-time correction speed changes slower, so as to improve the accuracy of the movement of the fixed seat 10 and reduce the influence of inertia.

[0058] In some specific embodiments, five continuously distributed correction ratio intervals are preset, and the five preset correction speeds correspond to the five speed ratios one by one. Correspondingly, the five correction ratio intervals correspond to the five preset correction speeds one by one, and when the real-time correction ratio falls into different correction ratio intervals, the corresponding preset correction speed is used as the real-time correction speed of the fixing seat 10.

[0059] The calculation formula of real-time correction speed is as follows:

[0060]

[0061] Among them, v now is the real-time correction speed, is the average correction speed, {α1, α2, α3, α4, α5} are the speed ratios, which are a monotonically decreasing series, and {T1, T2, T3, T4, T5} are the boundary points of the five correction ratio intervals, which are a monotonically decreasing series.

[0062] Furthermore, the speed ratio is α, 0<α≤2.

[0063] In this way, the maximum value of the real-time correction speed can be limited, reducing or avoiding the real-time correction speed from being too large under the same real-time correction ratio, thereby improving the stability of the movement of the fixing seat 10.

[0064] In some embodiments, the real-time correction ratio is T, 0<T<1.

[0065] In this way, it is ensured that the real-time correction distance can be less than the maximum correction distance, and the fixed seat 10 can perform correction operations within the range of the maximum correction distance, reducing or avoiding the position correction range of the fixed seat 10 being too large, causing the fixed seat 10 to move outside its allowed movement range and cause damage.

[0066] In some embodiments, the conveyor belt deviation correction method further includes: while obtaining the real-time deviation correction distance, detecting the deviation correction direction of the actual position relative to the set position. The conveyor belt 20 adjusts the real-time deviation correction speed according to the deviation correction direction.

[0067] It is understandable that when the actual position of the fixing base 10 is offset from the set position, there may be two situations: the fixing base 10 has not moved to the set position and still has a certain distance, or the fixing base 10 has passed the set position and exceeded a certain distance.

[0068] Therefore, when the fixing seat 10 is in the above two different position offset situations, the direction of the real-time correction speed is different, so the direction of the real-time correction speed is set according to the offset direction of the actual position relative to the set position, which can improve the stability of the correction.

[0069] In some embodiments, Figure 3 As shown, the conveyor belt deviation correction method also includes:

[0070] S3.1: Preset the error tolerance value and compare the real-time correction distance with the error tolerance value;

[0071] S4: If the real-time deviation correction distance is greater than the allowable error value, the real-time deviation correction speed is obtained according to the real-time deviation correction distance, and the conveyor belt 20 is driven to drive the fixed seat 10 to move from the actual position to the set position at the real-time deviation correction speed;

[0072] S6: If the real-time deviation correction distance is less than or equal to the allowable error value, the conveyor belt 20 stops to keep the fixed seat 10 at the actual position.

[0073] It is understandable that when the real-time correction distance is within the range of the allowable error value, the workpiece on the fixed seat 10 can be operated normally. For example, when the real-time correction distance is within the range of the allowable error value, the workpiece on the fixed seat 10 can still be stably clamped.

[0074] like Figure 4 As shown, a conveyor belt deviation correction device 100 according to an embodiment of the present invention adopts the conveyor belt deviation correction method of the above embodiment, and includes: a fixed seat 10, a conveyor belt 20, a distance sensor 30 and a processor.

[0075] The fixed seat 10 is used to fix the workpiece. The fixed seat 10 is connected to the conveyor belt 20, and the conveyor belt 20 drives the fixed seat 10 to move to the set position. The distance sensor 30 is used to detect the actual position of the fixed seat 10 to obtain the real-time correction distance between the actual position and the set position. The processor is electrically connected to the distance sensor 30 and the controller of the conveyor belt 20 to control the conveyor belt 20 to drive the fixed seat 10 to move to the set position at the real-time correction speed.

[0076] The correcting device 100 of the present application can adjust the real-time correcting speed according to the real-time correcting distance, which can reduce the inertial influence of the fixed seat 10 when it moves and stops at the set position, so that the fixed seat 10 can move and stop at the set position more accurately, reduce or reciprocate the movement of the fixed seat 10 at the set position when it moves to the set position, improve the accuracy of the fixed seat 10 moving to the set position and reduce the time required for the movement, which is beneficial to improving the transfer efficiency of the workpiece.

[0077] The correction device 100 of the present application is used to accurately follow or reproduce a specified process, so that the output controlled quantity such as the position, orientation, state, etc. of the object can follow the input target, or any change of a given value. The correction device 100 makes it very flexible and convenient to amplify, transform and control the power according to the requirements of the control command.

[0078] In the present application, the moving path of the conveyor belt 20 driving the fixed seat 10 is defined. For example, the conveyor belt 20 may extend along a straight line, and the fixed seat 10 moves along the straight line with the conveyor belt 20. For another example, the conveyor belt 20 is set as an annular conveyor belt, and the fixed seat 10 moves along the annular line with the conveyor belt 20.

[0079] In some embodiments, the conveyor belt 20 is configured as an annular conveyor belt having an annular guide rail, which is composed of an inner ring, an outer ring and a slider. The slider can roll freely between the inner ring and the outer ring, thereby achieving efficient, stable and safe movement, which is suitable for horizontal and vertical transportation scenarios.

[0080] exist Figure 4 In the example, the conveyor belt deviation correction device 100 also includes a conveyor belt support platform 40, which can provide support for the conveyor belt 20 to improve the stability of the conveyor belt 20 driving the fixed seat 10 to move.

[0081] In some embodiments, the distance measuring sensor 30 is a laser distance measuring sensor, which uses a line-of-sight focused laser beam to emit a laser beam to a target, and then receives the laser beam reflected by the target. By measuring the time from the emission to the reception of the laser beam, the distance from the observer to the target can be calculated. Specifically, when the laser distance measurement uses a laser sensor, a line-of-sight focused laser beam is used to emit a laser beam to a target, and then the laser beam reflected by the target is received. By measuring the time from the emission to the reception of the laser beam, the distance from the observer to the target can be calculated.

[0082] In some embodiments, the servo system uses a feedback control system that accurately follows or reproduces a process. The servo system enables the output controlled quantity such as the position, orientation, state, etc. of an object to follow any change of the input target (or given value) automatically. Its main task is to make it very flexible and convenient to amplify, transform and control the power according to the requirements of the control command.

[0083] In some embodiments, the ranging cycle is a PLC scanning cycle, which refers to the time period required for the PLC to perform a program scanning operation (starting from the first instruction, executing the user program one by one in sequence until the program ends) when the PLC is in running mode.

[0084] Other structures and operations of the correction method and correction device 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0085] In the description of the present invention, it is necessary to understand that the terms "length", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0087] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0089] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0090] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A conveyor belt deviation correction method, characterized in that: include: Preset the setting position of the fixing seat; A driving conveyor belt is driven by the conveyor belt to move the fixing seat toward the set position; Obtaining the current actual position of the fixing seat, comparing the actual position with the set position, and obtaining a real-time deviation correction distance; According to the real-time deviation correction distance, a real-time deviation correction speed is obtained; The conveyor belt is adjusted to the real-time deviation correction speed to drive the fixed seat to move toward the set position.

2. The conveyor belt deviation correction method according to claim 1, characterized in that: The real-time deviation correction speed is in direct proportion to the real-time deviation correction distance.

3. The conveyor belt deviation correction method according to claim 1, characterized in that: The obtaining of the real-time deviation correction speed according to the real-time deviation correction distance includes: Preset maximum deviation correction distance; Obtaining a ratio of the real-time deviation correction distance to the maximum deviation correction distance, and taking the ratio as a real-time deviation correction ratio; The real-time deviation correction speed is obtained according to the real-time deviation correction ratio.

4. The conveyor belt deviation correction method according to claim 3, characterized in that: The step of obtaining the real-time deviation correction speed according to the real-time deviation correction ratio includes: Preset a plurality of continuously distributed deviation correction ratio intervals, each of the deviation correction ratio intervals corresponding to a preset deviation correction speed; According to the real-time deviation correction ratio, the deviation correction ratio interval is determined, and the corresponding preset deviation correction speed is obtained as the real-time deviation correction speed.

5. The conveyor belt deviation correction method according to claim 4, characterized in that: The preset multiple continuously distributed deviation correction ratio intervals, each of which corresponds to a preset deviation correction speed, include: Preset an average deviation correction speed and multiple speed ratios, each deviation correction ratio interval corresponds to one speed ratio, and the average deviation correction speed is multiplied by the corresponding speed ratio to obtain the preset deviation correction speed; Among them, the multiple deviation correction ratio intervals are continuous and monotonically decreasing, and the speed ratios corresponding to the multiple deviation correction ratios are correspondingly monotonically decreasing.

6. The conveyor belt deviation correction method according to claim 5, characterized in that: The speed ratio is α, 0<α≤2.

7. The conveyor belt deviation correction method according to claim 3, characterized in that: The real-time correction ratio is T, 0<T<1.

8. The conveyor belt deviation correction method according to claim 1, characterized in that: Also includes: While obtaining the real-time deviation correction distance, detecting the deviation correction direction of the actual position relative to the set position; The conveyor belt adjusts the real-time deviation correction speed according to the deviation correction direction.

9. The conveyor belt deviation correction method according to any one of claims 1 to 8, characterized in that: Also includes: Preset error tolerance; Comparing the real-time deviation correction distance with the allowable error value; If the real-time deviation correction distance is greater than the allowable error value, a real-time deviation correction speed is obtained according to the real-time deviation correction distance, and the conveyor belt is driven to drive the fixed seat to move from the actual position to the set position at the real-time deviation correction speed; If the real-time deviation correction distance is less than or equal to the allowable error value, the conveyor belt stops to keep the fixed seat at the actual position.

10. A conveyor belt deviation correction device using the conveyor belt deviation correction method according to any one of claims 1 to 9, characterized in that: include: A fixing seat, wherein the fixing seat is used to fix the workpiece; A conveyor belt, the fixed seat is connected to the conveyor belt, and the conveyor belt drives the fixed seat to move to a set position; A distance measuring sensor, the distance measuring sensor is used to detect the actual position of the fixing seat to obtain a real-time deviation correction distance between the actual position and the set position; A processor is electrically connected to the distance measuring sensor and the controller of the conveyor belt to control the conveyor belt to drive the fixed seat to move to the set position at the real-time deviation correction speed.

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