Conveyer belt automatic deviation rectifying system based on multiple sets of deviation rectifying devices

Abstract

This invention discloses an automatic conveyor belt correction system based on multiple sets of correction devices, belonging to the field of automatic conveyor belt correction technology. It includes at least two hydraulically coordinated correction devices and a hydraulic interconnected pipeline network; the at least two hydraulically coordinated correction devices are spaced apart along the extension path of the conveyor belt. This invention achieves passive, real-time, distributed coordinated correction of conveyor belt deviation through the cooperation of multiple sets of hydraulically coordinated correction devices and the hydraulic interconnected pipeline network. It eliminates the need for complex electrical control systems and external power sources, offering fast response speed and effectively avoiding interference and overshoot problems caused by independent operation of a single correction device. An adjustable fluid damping valve ensures stable dynamic response of the system, preventing secondary deviation; an air-filled accumulator maintains stable system stiffness, compensates for the effects of temperature differences and leakage, and improves correction accuracy and long-term system reliability.

Description

Technical Field

[0001] This invention relates to the field of automatic conveyor belt correction technology, and in particular to an automatic conveyor belt correction system based on multiple sets of correction devices. Background Technology

[0002] Conveyor belts are widely used in mining, ports, chemical and other fields for the continuous transport of materials. During operation, long-distance conveyor belts are prone to belt misalignment due to factors such as uneven material loading, abnormal belt joints, and uneven tension distribution. Long-term misalignment can lead to belt wear, edge tearing, and even equipment failure, affecting the normal operation and service life of the conveying system.

[0003] Existing conveyor belt alignment technologies mostly employ a single, independent electrically controlled alignment device. This device detects deviation signals through sensors, processes them through a controller, and then drives a motor to perform the alignment action. This approach suffers from issues such as response delay, independent and uncoordinated operation of each alignment device, reliance on external power supplies, and complex control algorithms. It is also prone to alignment interference and overshoot, making it difficult to meet the global alignment requirements of long-distance conveyor belts. Furthermore, it has high maintenance costs and insufficient reliability. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides an automatic conveyor belt correction system based on multiple sets of correction devices. The following technical solution is adopted: An automatic conveyor belt correction system based on multiple correction devices includes at least two hydraulically coordinated correction devices and a hydraulic interconnection pipeline network. At least two hydraulically coordinated correction devices are arranged at intervals along the extension path of the conveyor belt. Each hydraulically coordinated correction device includes a correction roller group that can rotate around a preset axis and a dual-piston hydraulic actuator unit mechanically connected to the correction roller group. The dual-piston hydraulic actuator unit is configured to drive the correction roller group to rotate around the preset axis according to the hydraulic pressure difference inside it to achieve the correction action. The hydraulic interconnection pipeline network is used to fluidly connect the dual-piston hydraulic actuator units of all hydraulic collaborative correction devices. When any hydraulic collaborative correction device is subjected to a lateral force due to local tension imbalance of the conveyor belt, the corresponding hydraulic collaborative correction device generates a passive hydraulic signal. The passive hydraulic signal is synchronously transmitted to at least one adjacent hydraulic collaborative correction device through the hydraulic interconnection pipeline network, and forces the corresponding hydraulic collaborative correction device to generate a rotation direction that matches the local tension imbalance, forming a global physical collaborative correction torque that resists the local tension imbalance.

[0005] Optionally, the dual-piston hydraulic actuator unit includes a first hydraulic cylinder and a second hydraulic cylinder. The first hydraulic cylinder and the second hydraulic cylinder are respectively installed on both sides of the rotating shaft of the rotating platform of the correction roller group, and are used to provide bidirectional correction torque for the rotating platform, thereby driving the correction roller group to achieve bidirectional rotation correction, adapting to the deviation trend of the conveyor belt in different directions.

[0006] Optionally, the hydraulic interconnection pipeline network adopts a cross-interconnection topology. Specifically, the connection method is as follows: the rod chamber of the first hydraulic cylinder of the i-th hydraulic collaborative correction device is connected to the rod chamber of the first hydraulic cylinder of the (i+1)-th hydraulic collaborative correction device through a pipeline; at the same time, the corresponding chambers of the second hydraulic cylinders of each hydraulic collaborative correction device are networked in the same way to form a backbone network for continuous transmission of pressure fluctuations, providing a physical channel for the synchronous propagation of pressure signals and coordinated action.

[0007] Optionally, the inner diameter and length of the hydraulic interconnected pipeline network are designed according to the principle of matching the pressure wave velocity and wave resistance of the entire transmission line, to ensure that the coordinated response delay of the remote hydraulic collaborative correction device to local disturbances is lower than the maximum allowable time for the development of conveyor belt deviation.

[0008] Optionally, an adjustable fluid damping valve is installed in series on the main line of the hydraulic interconnection pipeline network. By adjusting the fluid resistance parameter of the adjustable fluid damping valve, the dynamic response characteristics of the entire hydraulic interconnection network to deviation disturbances are set to a strongly damped convergence state with no overshoot and no oscillation.

[0009] Optionally, the control method for the adjustable fluid damping valve includes the following steps: Step A: Establish a coupled model that includes all hydraulic coordinated correction devices, hydraulic interconnected pipeline network and conveyor belt dynamic characteristics. The state vector of the coupled model includes the angular displacement and angular velocity of the rotating platform in each hydraulic coordinated correction device, as well as the pressure of each key node in the hydraulic interconnected pipeline network. Step B: The fluid resistance parameter of the adjustable fluid damping valve is taken as the variable to be optimized. The constraint condition is that all eigenvalues ​​of the system state matrix are negative real numbers and far from the imaginary axis. The solution is to find the range of fluid resistance parameters corresponding to the critical damping or strong damping that makes the system converge to steady state in a way without overshoot and without oscillation after being subjected to a unit deviation disturbance. Step C, during the physical debugging phase, by adjusting the opening of the adjustable fluid damping valve, the fluid resistance is set to within the range of the fluid resistance parameter obtained from the solution, so that the dynamic response characteristics of the entire hydraulic interconnected pipeline network are physically limited to a strongly damped convergence state, thereby avoiding secondary deviation caused by overshoot during the coordinated deviation correction process.

[0010] Optionally, the hydraulic interconnected pipeline network is also connected in parallel with an air-filled accumulator, which is configured to pre-charge the conveyor belt with pressure based on the rated operating tension, providing passive elastic compensation for the entire hydraulic interconnected pipeline network to compensate for stiffness changes caused by temperature differences and minor leaks.

[0011] Optionally, the gas-filled accumulator provides passive resilient compensation in the following manner: When local tension fluctuations in the conveyor belt cause transient changes in pressure within the hydraulic interconnected pipeline network, the pre-charge chamber in the inflatable accumulator acts as a gas spring, passively compressing or expanding according to the pressure changes. When the network pressure increases, the gas is compressed, absorbing some of the hydraulic medium, smoothing out pressure peaks and storing energy; when the network pressure decreases, the pre-charged gas expands, feeding the stored hydraulic medium back into the hydraulic interconnection pipeline network to compensate for pressure troughs. Through this passive charging and discharging process, the gas-filled accumulator provides dynamically variable additional volumetric stiffness to the hydraulic interconnected pipeline network. The additional stiffness automatically compensates for the hydraulic oil volume shrinkage and minor leakage caused by temperature differences, maintaining the overall system stiffness within the design range and ensuring the transmission accuracy of the global physical coordination correction torque.

[0012] Optionally, the optimal pre-charge pressure and volume of the pneumatic accumulator are determined through optimization, so that the optimal pre-charge pressure is within the rated tension range of the conveyor belt, providing additional stiffness of the hydraulic system that dynamically matches the stiffness of the conveyor belt.

[0013] Optionally, methods for determining the optimal pre-charge pressure and volume of a gas-filled accumulator include the following steps: Step 1: Measure the equivalent lateral stiffness of the conveyor belt within its rated operating tension range. The curve, where T is the real-time tension of the conveyor belt; Step 2, based on the coupled model, will use the pre-charge pressure of the gas accumulator... and volume Add a stiffness expression to the hydraulic system with variables Introduce the total system stiffness term; Step 3, construct the objective function The objective function characterizes the dynamic matching error between the additional stiffness of the hydraulic system and the stiffness of the conveyor belt within the full rated tension range. Step 4: Under the constraints of the maximum allowable working pressure and standard volume of the gas-filled accumulator, solve for the pre-charge pressure that minimizes the objective function J. and volume As the optimal precharge pressure and volume; Step 5: Based on the solution results, pre-charge the gas-filled accumulator and select and install it so that within the normal operating tension fluctuation range of the conveyor belt, the hydraulic interconnected pipeline network obtains passive elastic compensation that dynamically matches it.

[0014] In summary, the present invention has at least one of the following beneficial technical effects: This invention provides an automatic conveyor belt correction system based on multiple sets of correction devices. Through the coordination of multiple sets of hydraulically coordinated correction devices and a hydraulically interconnected pipeline network, it achieves passive, real-time, and distributed coordinated correction of conveyor belt misalignment. It eliminates the need for complex electrical control systems and external power sources, offering fast response and effectively avoiding interference and overshoot problems caused by independent operation of a single correction device. An adjustable fluid damping valve ensures stable dynamic response of the system, preventing secondary misalignment; an air-filled accumulator maintains stable system stiffness, compensating for the effects of temperature differences and leakage, improving correction accuracy and long-term system reliability. The overall structure is simple and easy to maintain, adaptable to the complex operating conditions of long-distance conveyor belts, extending the service life of the conveyor belt and equipment, and reducing operating and maintenance costs. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the automatic conveyor belt correction system based on multiple sets of correction devices according to the present invention; Figure 2 This is a schematic diagram of the hydraulic coordinated correction device structure of the automatic conveyor belt correction system based on multiple sets of correction devices according to the present invention; Figure 3 This is a schematic diagram showing the connection between the hydraulic collaborative correction device and the hydraulic interconnected pipeline network of the automatic correction system for conveyor belts based on multiple correction devices according to the present invention.

[0016] Explanation of reference numerals in the attached drawings: 1. Conveyor belt; 2. Hydraulic coordinated correction device; 21. Correction roller group; 22. Rotary platform; 23. Double piston hydraulic actuator unit; 231. First hydraulic cylinder; 232. Second hydraulic cylinder; 3. Hydraulic interconnection pipeline network; 4. Adjustable fluid damping valve; 5. Air-filled accumulator. Detailed Implementation

[0017] The present invention will be further described in detail below with reference to the accompanying drawings.

[0018] This invention discloses an automatic conveyor belt correction system based on multiple sets of correction devices.

[0019] Reference Figures 1-3Example 1: An automatic conveyor belt correction system based on multiple sets of correction devices includes at least two hydraulically coordinated correction devices 2 and a hydraulic interconnection pipeline network 3; at least two hydraulically coordinated correction devices 2 are arranged at intervals along the extension path of the conveyor belt 1, and each hydraulically coordinated correction device 2 includes a correction roller group 21 that can rotate around a preset rotating shaft and a double piston hydraulic actuator unit 23 mechanically connected to the correction roller group 21. The double piston hydraulic actuator unit 23 is configured to drive the correction roller group 21 to rotate around the preset rotating shaft according to the hydraulic pressure difference inside it to achieve the correction action; The hydraulic interconnection pipeline network 3 is used to fluidly connect all the dual-piston hydraulic actuator units 23 of the hydraulic collaborative correction device 2. When any hydraulic collaborative correction device 2 is subjected to a lateral force due to local tension imbalance of the conveyor belt 1, the corresponding hydraulic collaborative correction device 2 generates a passive hydraulic signal. The passive hydraulic signal is synchronously transmitted to at least one adjacent hydraulic collaborative correction device 2 through the hydraulic interconnection pipeline network 3, and forcibly drives the corresponding hydraulic collaborative correction device 2 to generate a rotation direction that matches the local tension imbalance, forming a global physical collaborative correction torque that resists the local tension imbalance.

[0020] By adopting the above technical solution, the system includes five sets of hydraulically coordinated correction devices 2 and a hydraulic interconnected pipeline network 3. The five sets of hydraulically coordinated correction devices 2 are arranged at equal intervals on the crossbeam of the conveyor's intermediate frame along the extension path of the conveyor belt 1, with a spacing of 30 meters between adjacent sets of hydraulically coordinated correction devices 2.

[0021] Each hydraulically coordinated correction device 2 includes a correction roller assembly 21 and a dual-piston hydraulic actuator unit 23. The correction roller assembly 21 is mounted on a rotary platform 22 via bearing seats. The rotary platform 22 can rotate within a range of ±10° around a preset axis that passes perpendicularly through its geometric center. The dual-piston hydraulic actuator unit 23 is arranged below the rotary platform 22, and its output end is mechanically connected to the drive lug of the rotary platform 22 via a pin. The internal structure of the dual-piston hydraulic actuator unit 23 is divided into two independent working chambers by a piston. When there is a hydraulic pressure difference between the two working chambers, the piston rod generates linear displacement, which is converted into rotational torque through a crank mechanism, driving the correction roller assembly 21 to rotate around the preset axis.

[0022] The hydraulic interconnected pipeline network 3 uses a combination of seamless steel pipes and high-pressure hoses to fluidly connect all the dual-piston hydraulic actuator units 23 of the hydraulic collaborative correction device 2. After the pipeline connection is completed, an airtightness test and flushing are performed to ensure that the cleanliness of the inner wall reaches NAS9 level or above.

[0023] When the conveyor belt 1 experiences a localized tension imbalance at a certain location due to material drop-off point deviation, the conveyor belt 1 at that location will exert a lateral force on the corrective roller assembly 21. This lateral force is transmitted through the rotary platform 22 to the dual-piston hydraulic actuator unit 23, causing the hydraulic medium in one of the working chambers to be compressed and discharged, forming a passive hydraulic signal. This passive hydraulic signal is transmitted synchronously along the hydraulic interconnection pipeline network 3 in the form of a pressure wave to the corresponding working chambers of adjacent and further-end hydraulic collaborative correction devices 2, driving their dual-piston hydraulic actuator units 23 to produce corresponding actions, driving their respective corrective roller assemblies 21 to rotate in a direction adapted to the initial tension imbalance, and generating a set of mutually coordinated lateral corrective forces distributed along the extension path of the conveyor belt 1, forming a global physical collaborative correction torque, completing the entire line correction without relying on any electronic control components or external energy.

[0024] In Example 2, the dual-piston hydraulic actuator unit 23 includes a first hydraulic cylinder 231 and a second hydraulic cylinder 232. The first hydraulic cylinder 231 and the second hydraulic cylinder 232 are respectively installed on both sides of the rotating shaft of the rotary platform 22 of the correction roller group 21, and are used to provide bidirectional correction torque for the rotary platform 22, thereby driving the correction roller group 21 to achieve bidirectional rotation correction, adapting to the deviation trend of the conveyor belt 1 in different directions.

[0025] By adopting the above technical solution, the dual-piston hydraulic actuator unit 23 adopts a dual-rod symmetrical hydraulic cylinder structure, specifically including a first hydraulic cylinder 231 and a second hydraulic cylinder 232. Both the first hydraulic cylinder 231 and the second hydraulic cylinder 232 are single-piston rod hydraulic cylinders with an inner diameter of 50mm, a piston rod diameter of 28mm, and a stroke of ±40mm.

[0026] The first hydraulic cylinder 231 and the second hydraulic cylinder 232 are respectively installed on both sides of the rotating shaft of the rotary platform 22 of the guiding roller assembly 21. Taking the conveying direction of the conveyor belt 1 as a reference, the first hydraulic cylinder 231 is installed on the upstream side of the rotating shaft, and the second hydraulic cylinder 232 is installed on the downstream side of the rotating shaft. The piston rod end of the first hydraulic cylinder 231 is hinged to the first drive point of the rotary platform 22 through a spherical bearing, and the piston rod end of the second hydraulic cylinder 232 is hinged to the second drive point of the rotary platform 22 through a spherical bearing. The first drive point and the second drive point are symmetrically arranged about the rotating shaft, and the lever arm of each is 180mm.

[0027] When the working chamber pressure of the first hydraulic cylinder 231 is higher than the corresponding working chamber pressure of the second hydraulic cylinder 232, the piston rod of the first hydraulic cylinder 231 extends, and the piston rod of the second hydraulic cylinder 232 retracts, jointly driving the rotary platform 22 to rotate in the first direction, thereby causing the straightening roller group 21 to perform a straightening action in the first direction. Conversely, when the working chamber pressure of the second hydraulic cylinder 232 is higher than the corresponding working chamber pressure of the first hydraulic cylinder 231, the rotary platform 22 rotates in the second direction, and the straightening roller group 21 performs a straightening action in the second direction. Thus, the dual-piston hydraulic actuator unit 23 can provide bidirectional straightening torque to the rotary platform 22, adapting to the tendency of the conveyor belt 1 to deviate in either the left or right direction.

[0028] In Example 3, the hydraulic interconnected pipeline network 3 adopts a cross-interconnected topology. Specifically, the connection method is as follows: the rod chamber of the first hydraulic cylinder 231 of the i-th hydraulic collaborative correction device 2 is connected to the rod chamber of the first hydraulic cylinder 231 of the (i+1)-th hydraulic collaborative correction device 2 through a pipeline; at the same time, the corresponding chambers of the second hydraulic cylinders 232 of each hydraulic collaborative correction device 2 are networked in the same way to form a backbone network for continuous transmission of pressure fluctuations, providing a physical channel for the synchronous propagation of pressure signals and coordinated action.

[0029] By adopting the above technical solution, the hydraulic interconnected pipeline network 3 adopts a cross-interconnected topology. Taking the five sets of hydraulic collaborative correction devices 2 as an example, the specific connection method is as follows.

[0030] Each hydraulically coordinated correction device 2 is numbered sequentially from 1 to 5 along the conveying direction of the conveyor belt 1. The first hydraulic cylinder 231 of each hydraulically coordinated correction device 2 has a rod chamber and a rodless chamber, and the second hydraulic cylinder 232 also has a rod chamber and a rodless chamber.

[0031] The interconnection method of the first hydraulic cylinders 231 is as follows: the rod chamber of the first hydraulic cylinder 231 of the first hydraulic collaborative correction device 2 is connected to the first main pipeline of the hydraulic interconnection pipeline network 3 through the first branch pipe; the rod chamber of the first hydraulic cylinder 231 of the second hydraulic collaborative correction device 2 is connected to the same first main pipeline through the second branch pipe; and so on, the rod chamber of the first hydraulic cylinder 231 of the i-th hydraulic collaborative correction device 2 and the rod chamber of the first hydraulic cylinder 231 of the (i+1)-th hydraulic collaborative correction device 2 are connected in parallel through the first main pipeline. At the same time, the rodless chambers of each first hydraulic cylinder 231 are connected in parallel in the same way through the second main pipeline.

[0032] The interconnection method of the second hydraulic cylinder 232 is exactly the same as that of the first hydraulic cylinder 231. Its rod chamber is connected in parallel through the third main pipeline, and its rodless chamber is connected in parallel through the fourth main pipeline.

[0033] The above four sets of main pipelines together constitute the main network of the hydraulic interconnected pipeline network 3. When a pressure change occurs in the first hydraulic cylinder 231 of a certain hydraulic collaborative correction device 2, the pressure fluctuation can simultaneously propagate along the first main pipeline and the second main pipeline to the first hydraulic cylinder 231 of the adjacent and distant hydraulic collaborative correction devices 2, forming a synchronous pressure transmission channel.

[0034] In Example 4, the inner diameter and length of the hydraulic interconnected pipeline network 3 are designed according to the principle of matching the pressure wave velocity and wave resistance of the entire transmission line, so as to ensure that the collaborative response delay of the remote hydraulic collaborative correction device 2 to local disturbances is lower than the maximum allowable time for the conveyor belt 1 to deviate.

[0035] By adopting the above technical solution, in the application scenario of long-distance conveyor belt 1, the passive hydraulic signal emitted from the hydraulic collaborative correction device 2 at the farthest end needs to undergo a certain propagation time to reach the other end. If this propagation time is too long, the conveyor belt 1 will have already developed significant deviation at the far end position before the far-end device receives the collaborative signal, and the collaborative effect will be greatly weakened.

[0036] Therefore, this embodiment specifically designs the inner diameter and length of the hydraulic interconnection pipeline network 3. The propagation speed of pressure waves in hydraulic oil is approximately 1200 m / s to 1400 m / s, with the specific value affected by the bulk modulus of elasticity of the oil and the stiffness of the pipe wall. During the design, the maximum allowable time Tmax for the development of belt deviation of the conveyor belt 1 is first determined. This value is determined by actual measurement of the time required for the conveyor belt 1 to deviate from the center position to touch the limit switch at the edge under rated belt speed and maximum off-center load conditions. In this embodiment, Tmax is measured to be 0.8 seconds.

[0037] For a conveyor line with a total length of 150 meters, the total length of the pipeline between the remote hydraulic collaborative correction device 2 and the pipeline is 145 meters. The one-way propagation time of the pressure wave in this pipeline is 145 / 1250≈0.116 seconds, which accounts for about 14.5% of Tmax, much less than the maximum allowable time, thus meeting the design requirements.

[0038] Meanwhile, the inner diameter of the pipeline is selected based on the wave resistance matching principle. The inner diameter of the main pipeline is selected as 10mm. This inner diameter ensures the propagation speed of the pressure wave while matching the friction resistance of the oil flow in the pipeline with the characteristic impedance of each dual-piston hydraulic actuator unit 23, thus avoiding significant reflection of the pressure wave at the pipeline connection and weakening the integrity of the signal transmission.

[0039] Example 5: An adjustable fluid damping valve 4 is installed in series on the main line of the hydraulic interconnection pipeline network 3. By adjusting the fluid resistance parameter of the adjustable fluid damping valve 4, the dynamic response characteristics of the entire hydraulic interconnection network to deviation disturbance are set to a strongly damped convergence state with no overshoot and no oscillation.

[0040] By adopting the above technical solution, the adjustable fluid damping valve 4 is a needle valve type adjustable flow valve with a maximum flow coefficient Kv=0.8L / min. The adjustment knob has a scale indication and locking function. This adjustable fluid damping valve 4 is installed in series on the main line of the hydraulic interconnected pipeline network 3, specifically on the connecting bridge section of the first main pipeline and the second main pipeline, with one valve installed on each line.

[0041] Without damping, the hydraulic interconnected pipeline network 3 will generate continuous pressure oscillations after receiving deviation disturbances, which will manifest as the reciprocating swing of the rotary platform 22 of each hydraulic collaborative correction device 2, which may exacerbate the deviation of the conveyor belt 1.

[0042] By adjusting the fluid resistance parameters of the adjustable fluid damping valve 4, the damping characteristics of the hydraulic interconnected pipeline network 3 can be changed. When the damping parameters are set appropriately, after the system is subjected to a unit deviation disturbance, the angular displacement response curves of all rotating platforms 22 exhibit a monotonically decaying form, without obvious overshoot peaks or zero-crossing oscillations, thus achieving a strong damping convergence state with no overshoot and no oscillations. In this state, the correction actions of each hydraulically coordinated deviation correction device 2 smoothly and unidirectionally tend towards a steady state, without introducing additional secondary deviation excitation.

[0043] Example 6: The control method for the adjustable fluid damping valve 4 includes the following steps: Step A: Establish a coupled model that includes the dynamic characteristics of all hydraulically coordinated correction devices 2, hydraulic interconnected pipeline network 3, and conveyor belt 1. The state vector of the coupled model includes the angular displacement and angular velocity of the rotating platform 22 in each hydraulically coordinated correction device 2, as well as the pressure of each key node in the hydraulic interconnected pipeline network 3. Step B: The fluid resistance parameter of the adjustable fluid damping valve 4 is taken as the variable to be optimized. With all eigenvalues ​​of the system state matrix being negative real numbers and far from the imaginary axis as constraints, the range of fluid resistance parameters corresponding to the critical damping or strong damping that makes the system converge to steady state in a way without overshoot and without oscillation after being subjected to a unit deviation disturbance is solved. Step C, during the physical debugging phase, by adjusting the opening of the adjustable fluid damping valve 4, the fluid resistance is set to the range of the fluid resistance parameter obtained by the solution, so that the dynamic response characteristics of the entire hydraulic interconnected pipeline network 3 are physically limited to a strongly damped convergence state, thereby avoiding secondary deviation caused by overshoot during the coordinated deviation correction process.

[0044] By adopting the above technical solution, in step A, a coupled model is established that includes the dynamic characteristics of all five sets of hydraulically coordinated correction devices 2, the hydraulic interconnected pipeline network 3, and the conveyor belt 1. The model is established based on the bond graph method or the multibody dynamics and hydraulic system co-simulation method. The state vector x is selected as: ,in Let be the angular displacement of the i-th hydraulically coordinated correction device 2 rotating platform 22. Let be the angular velocity of the i-th hydraulically coordinated correction device 2 rotating platform 22. Let be the node pressure of the j-th working chamber within the i-th hydraulic collaborative correction device 2; In step B, the fluid resistance parameters of the adjustable fluid damping valve 4 are... (dimensions are) ) is used as the variable to be optimized. In the coupled model state matrix In, its characteristic roots All are complex numbers. The constraint requires that the real part of all eigenvalues ​​be equal to the real part of the eigenvalues. And the virtual part This means that all system poles lie on the negative real axis of the complex plane. Under this constraint, the solution is the critical damping or strongly damping condition that allows the system to converge to steady state without overshoot after being subjected to a unit deviation disturbance (initial condition: angular displacement of a certain rotating platform 22 is 1°). Value range. In this embodiment, the calculated range is... The range is .

[0045] In step C, during the physical commissioning phase of the hydraulic interconnected pipeline network 3, the adjusting knob of the adjustable fluid damping valve 4 is gradually closed from the fully open position while monitoring the pressure sensor readings on the hydraulic interconnected pipeline network 3. When the pressure sensor's response to the impact excitation shows monotonically decreasing without reverse fluctuation, the current opening of the adjustable fluid damping valve 4 is locked. At this point, the system's damping characteristics have been physically limited to a strongly damped convergent state, and no further adjustment is required during subsequent operation.

[0046] In Example 7, the hydraulic interconnected pipeline network 3 is also connected in parallel with an air-filled accumulator 5. The air-filled accumulator 5 is configured to pre-charge pressure according to the rated operating tension of the conveyor belt 1 to provide passive elastic compensation for the entire hydraulic interconnected pipeline network 3, compensating for stiffness changes caused by temperature difference and minor leakage.

[0047] By adopting the above technical solution, the pneumatic accumulator 5 is a diaphragm accumulator with a nominal volume of 1.0L and a maximum allowable working pressure of 20MPa. The pneumatic accumulator 5 is connected in parallel to the connecting section between the first main pipeline and the second main pipeline of the hydraulic interconnection pipeline network 3 via a tee connector, so that it is simultaneously connected to the working oil circuit of the first hydraulic cylinder 231 and the second hydraulic cylinder 232.

[0048] Dry nitrogen is pre-filled into the inflation port of the pneumatic accumulator 5. The pre-charge pressure is set to 80% of the average working pressure of the hydraulic interconnection pipeline network 3 corresponding to the rated operating tension of the conveyor belt 1. Once the rated operating tension of the conveyor belt 1 is determined, the corresponding pre-charge pressure value can be calculated and filling can be performed.

[0049] During long-term system operation, changes in ambient temperature will cause the hydraulic oil volume to contract or expand, and minor leaks may occur in various seals. Without compensation mechanisms, these factors will cause the overall stiffness of the hydraulic interconnected pipeline network 3 to deviate from the design value, affecting the transmission accuracy of the coordinated correction torque. The gas-filled accumulator 5 provides a buffer volume for the hydraulic interconnected pipeline network 3 through the passive compression and expansion of its internal gas, automatically compensating for stiffness drift caused by the aforementioned temperature and minor leakage factors, and maintaining the system stiffness stable within the design range.

[0050] In Example 8, the gas-filled accumulator 5 provides passive elastic compensation in the following manner: When the local tension fluctuation of the conveyor belt 1 causes a transient change in the pressure in the hydraulic interconnected pipeline network 3, the pre-charge chamber in the inflatable accumulator 5 acts as a gas spring, passively compressing or expanding according to the pressure change. When the network pressure increases, the gas is compressed, absorbing some of the hydraulic medium, smoothing out the pressure peak and storing energy; when the network pressure decreases, the pre-charged gas expands, feeding the stored hydraulic medium back to the hydraulic interconnection pipeline network 3 to compensate for the pressure trough. Through this passive charging and discharging process, the gas-filled accumulator 5 provides dynamically variable additional volumetric stiffness to the hydraulic interconnected pipeline network 3. The additional stiffness automatically compensates for the hydraulic oil volume shrinkage and minor leakage caused by temperature differences, maintaining the overall system stiffness within the design range and ensuring the transmission accuracy of the global physical coordination correction torque.

[0051] By adopting the above technical solution, when the local tension fluctuation of the conveyor belt 1 causes a transient change in the pressure inside the hydraulic interconnected pipeline network 3, a pressure difference is generated between the gas chamber and the liquid chamber separated by the diaphragm inside the gas accumulator 5.

[0052] Specifically, when the tension of the conveyor belt 1 increases at a certain position, the internal pressure of the first hydraulic cylinder 231 of the corresponding hydraulic collaborative correction device 2 rises. This pressure fluctuation propagates along the hydraulic interconnection pipeline network 3 to the liquid chamber interface of the gas-filled accumulator 5, causing the liquid chamber pressure to rise. At this time, the pre-charge chamber pressure in the gas-filled accumulator 5 is lower than the liquid chamber pressure. The diaphragm moves towards the gas chamber, the gas is compressed, the liquid chamber volume increases, and some hydraulic medium is absorbed into the accumulator liquid chamber. This process smooths out the pressure peak in the hydraulic interconnection pipeline network 3, and the compressed gas temporarily stores energy in the form of potential energy.

[0053] Conversely, when the tension of the conveyor belt 1 decreases, causing the pressure in the hydraulic interconnected pipeline network 3 to drop, the pressure in the liquid chamber is lower than the pressure in the gas chamber. The pre-charged gas expands and pushes the diaphragm towards the liquid chamber, feeding back the temporarily stored hydraulic medium into the hydraulic interconnected pipeline network 3 to replenish the pressure trough.

[0054] This passive charging and discharging process is completed automatically without external control. Through continuous changes in gas volume, the gas-filled accumulator 5 provides the hydraulic interconnected pipeline network 3 with an additional volumetric stiffness that dynamically varies with pressure. When the ambient temperature rises and causes the hydraulic oil volume to expand, excess oil is drawn into the accumulator, preventing abnormal increases in pipeline pressure. When a minor leak occurs and causes the hydraulic oil volume to decrease, the accumulator discharges oil to replenish it, preventing a continuous drop in pipeline pressure. Thus, the stiffness of the entire hydraulic interconnected pipeline network 3 is maintained within the allowable range, ensuring the transmission accuracy of the coordinated correction torque between the various hydraulic coordinated correction devices 2.

[0055] In Example 9, the optimal pre-charge pressure and volume of the pneumatic accumulator 5 are determined through optimization, so that the optimal pre-charge pressure is within the rated tension range of the conveyor belt 1, providing additional stiffness of the hydraulic system that dynamically matches the stiffness of the conveyor belt 1.

[0056] By adopting the above technical solution, the additional volumetric stiffness provided by the pneumatic accumulator 5 to the hydraulic interconnected pipeline network 3 is not a constant value, but varies with the system working pressure and gas volume. In actual operation, the tension T of the conveyor belt 1 fluctuates between no-load and full-load conditions. To ensure that the pneumatic accumulator 5 can effectively exert its passive elastic compensation function throughout the entire operating range, its pre-charge pressure and volume should be selected so that the additional stiffness of the hydraulic system and the equivalent lateral stiffness of the conveyor belt 1 are dynamically matched as much as possible within the full rated tension range.

[0057] Therefore, the optimal pre-charge pressure and volume of the pneumatic accumulator 5 are not selected empirically, but determined through optimization methods. The optimization objective is to minimize the deviation between the additional stiffness curve of the hydraulic system provided by the pneumatic accumulator 5 and the equivalent lateral stiffness curve of the conveyor belt 1 within the rated tension range of the conveyor belt 1. The optimal pre-charge pressure obtained by the solution ensures that the working point of the air chamber of the pneumatic accumulator 5 is in a region where the gas polytropic index changes gradually within the most commonly used working range of the conveyor belt 1, thereby providing relatively stable additional stiffness within this range, complementing the stiffness characteristics of the conveyor belt 1.

[0058] Example 10, the method for determining the optimal pre-charge pressure and volume of the gas-filled accumulator 5 includes the following steps: Step 1: Measure the equivalent lateral stiffness of the conveyor belt 1 within its rated operating tension range. The curve, where T is the real-time tension of conveyor belt 1; Step 2, based on the coupling model, the pre-charge pressure of the gas-filled accumulator 5 will be used. and volume Add a stiffness expression to the hydraulic system with variables Introduce the total system stiffness term; Step 3, construct the objective function The objective function characterizes the dynamic matching error between the additional stiffness of the hydraulic system and the stiffness of the conveyor belt 1 within the full rated tension range. Step 4: Under the constraints of the maximum allowable working pressure and standard volume of the gas-filled accumulator 5, solve for the pre-charge pressure that minimizes the objective function J. and volume As the optimal precharge pressure and volume; Step 5: Based on the solution results, pre-charge the gas-filled accumulator 5 and select and install it so that within the normal operating tension fluctuation range of the conveyor belt 1, the hydraulic interconnected pipeline network 3 obtains passive elastic compensation that dynamically matches it.

[0059] By adopting the above technical solution, in step 1, the equivalent lateral stiffness of the conveyor belt 1 within its rated operating tension range is obtained through actual measurement. Curve. During the test, different levels of longitudinal tension T are applied while the conveyor belt 1 is stationary. Then, a transverse displacement disturbance is applied to the bearing surface of the conveyor belt 1, the restoring force is measured, and the equivalent transverse stiffness is calculated. T is then adjusted from the unloaded tension... To full load tension The interval was divided into ten equal parts, and measurements were taken point by point to obtain... The discrete data points are fitted to a continuous curve.

[0060] In step 2, based on the coupling model established in step A of embodiment 6, the pre-charge pressure of the gas-filled accumulator 5 will be used. and volume Add a stiffness expression to the hydraulic system with variables Introducing the total system stiffness term . The expression is based on the ideal gas polymorphic process equation. It is derived that n is the gas polyvariance index, and for diaphragm accumulators, n = 1.25.

[0061] In step 3, an objective function is constructed to characterize the degree of matching between the two. Preferably, an objective function is used... In discrete numerical solutions, this integral is replaced by the sum of the root mean square errors at ten tension sampling points. This objective function quantifies the dynamic matching error between the additional stiffness of the hydraulic system and the stiffness of the conveyor belt 1 across the full rated tension range.

[0062] In step 4, the maximum allowable working pressure of the gas-filled accumulator 5 is 20 MPa, and the standard specification volume series {0.5L, 0.75L, 1.0L, 1.5L} are used as constraints. MPa, Within the parameter space, find the solution that minimizes the objective function J. and In this embodiment, the optimal pre-charge pressure obtained through optimization is... Optimal volume .

[0063] In step 5, a diaphragm accumulator with a nominal volume of 1.0L was selected based on the solution results. Nitrogen was used to fill the accumulator 5 with nitrogen to 7.2MPa using a nitrogen cylinder and filling tool. After filling, the accumulator was left to stand for 24 hours to confirm that there was no pressure drop. After installation in the hydraulic interconnection pipeline network 3, system commissioning was performed to verify that the pressure fluctuation range of the hydraulic interconnection pipeline network 3 was within the design allowable value under different tension conditions of the conveyor belt 1. This proves that the passive elastic compensation effect of the accumulator 5 is well matched with the stiffness characteristics of the conveyor belt 1.

[0064] The following describes the implementation principle of the present invention using specific embodiments: To address the issue of belt misalignment in a 150-meter long-distance conveyor belt 1, an automatic belt alignment system based on multiple sets of hydraulic collaborative belt alignment devices 2 was constructed. The aforementioned technical solutions were fully applied to achieve passive, real-time, and global collaborative belt alignment, making it suitable for mining bulk material conveying scenarios. The specific implementation details are as follows.

[0065] The overall system configuration consists of five sets of hydraulic collaborative correction devices 2, a set of hydraulic interconnected pipeline network 3, two adjustable fluid damping valves 4, and a pneumatic accumulator 5. All components are installed and debugged according to specifications to ensure that the operating requirements of the conveyor belt 1 are met and to achieve a stable correction effect without overshoot or secondary deviation.

[0066] Five sets of hydraulic coordinated correction devices 2 are evenly distributed on the crossbeam of the intermediate frame of the conveyor along the extension path of the conveyor belt 1. The distance between two adjacent sets of hydraulic coordinated correction devices 2 is 30 meters, covering the entire 150-meter conveyor line, ensuring that any deviation disturbance at any position can be detected in time and trigger the coordinated correction action.

[0067] Each hydraulically coordinated deviation correction device 2 includes a deviation correction roller assembly 21, a rotary platform 22, and a dual-piston hydraulic actuator unit 23. The deviation correction roller assembly 21 is mounted on the rotary platform 22 via bearing seats. The rotary platform 22 can rotate within a range of ±10° around a preset axis that passes vertically through its geometric center, meeting the deviation correction stroke requirements of the conveyor belt 1 in both directions. The dual-piston hydraulic actuator unit 23 is arranged below the rotary platform 22. Its output end is mechanically connected to the drive lug of the rotary platform 22 via a pin. The interior is divided into two independent working chambers by a piston. When there is a hydraulic pressure difference between the two working chambers, the piston rod generates linear displacement, which is converted into rotational torque through a crank mechanism, driving the deviation correction roller assembly 21 to rotate around the preset axis, thereby realizing the deviation correction action.

[0068] The dual-piston hydraulic actuator unit 23 adopts a dual-rod symmetrical hydraulic cylinder structure, specifically including a first hydraulic cylinder 231 and a second hydraulic cylinder 232. Both are single-piston rod hydraulic cylinders with an inner diameter of 50mm, a piston rod diameter of 28mm, and a stroke of ±40mm. Taking the conveying direction of the conveyor belt 1 as a reference, the first hydraulic cylinder 231 is installed on the upstream side of the rotating shaft of the rotary platform 22, and the second hydraulic cylinder 232 is installed on the downstream side of the rotating shaft. The piston rod end of the first hydraulic cylinder 231 is hinged to the first drive point of the rotary platform 22 through a spherical bearing, and the piston rod end of the second hydraulic cylinder 232 is hinged to the second drive point of the rotary platform 22 through a spherical bearing. The first and second drive points are symmetrically arranged about the rotating shaft, and the lever arm of each is 180mm. When the working chamber pressure of the first hydraulic cylinder 231 is higher than the corresponding working chamber pressure of the second hydraulic cylinder 232, the piston rod of the first hydraulic cylinder 231 extends and the piston rod of the second hydraulic cylinder 232 retracts, jointly driving the rotary platform 22 to rotate in the first direction, thereby driving the correction roller group 21 to perform the correction action in the first direction; conversely, the rotary platform 22 rotates in the second direction, and the correction roller group 21 performs the correction action in the second direction, realizing bidirectional correction and adapting to the tendency of the conveyor belt 1 to run to the left or right.

[0069] The hydraulic interconnected pipeline network 3 uses a combination of seamless steel pipes and high-pressure hoses to fluidly connect the dual-piston hydraulic actuator units 23 of all hydraulic collaborative correction devices 2. After the pipeline connection is completed, an airtightness test and flushing are performed to ensure that the inner wall cleanliness reaches NAS9 level or above, avoiding impurities from affecting hydraulic signal transmission and component operation. The hydraulic interconnected pipeline network 3 adopts a cross-interconnected topology structure, numbering each hydraulic collaborative correction device 2 sequentially from number 1 to number 5 along the conveying direction of the conveyor belt 1. The first hydraulic cylinder 231 and the second hydraulic cylinder 232 of each hydraulic collaborative correction device 2 have both a rod chamber and a rodless chamber. The rod chamber of the first hydraulic cylinder 231 is connected in parallel through the first main pipeline, and the rodless chamber of the first hydraulic cylinder 231 is connected in parallel through the second main pipeline; the rod chamber of the second hydraulic cylinder 232 is connected in parallel through the third main pipeline, and the rodless chamber of the second hydraulic cylinder 232 is connected in parallel through the fourth main pipeline. The four sets of main pipelines together form a main network for continuous transmission of pressure fluctuations, providing a physical channel for the synchronous propagation of pressure signals and coordinated action.

[0070] The inner diameter and length of the hydraulic interconnected pipeline network 3 are designed based on the principle of matching the pressure wave velocity and wave resistance throughout the entire transmission line. This ensures that the coordinated response delay of the remote hydraulic collaborative correction device 2 to local disturbances is lower than the maximum allowable time for the conveyor belt 1 to deviate. The propagation speed of the pressure wave in the hydraulic oil is taken as 1250 m / s. The maximum allowable time Tmax for the conveyor belt 1 to deviate is determined to be 0.8 seconds through actual measurement. The total length of the pipeline between the remote hydraulic collaborative correction devices 2 is 145 meters. The one-way propagation time of the pressure wave in this pipeline is 145 / 1250≈0.116 seconds, accounting for approximately 14.5% of Tmax, which is much less than the maximum allowable time and meets the design requirements. The inner diameter of the main pipeline is selected as 10 mm to match the friction resistance of the oil flow in the pipeline with the characteristic impedance of each dual-piston hydraulic actuator unit 23, avoiding significant reflection of the pressure wave at the pipeline connection points, which would weaken the integrity of the signal transmission.

[0071] Two adjustable fluid damping valves 4 are installed in series on the main line of the hydraulic interconnected pipeline network 3. These are needle valve type adjustable flow valves with a maximum flow coefficient Kv = 0.8 L / min. The adjustment knobs have scale indication and locking functions. They are installed on the connecting bridge sections of the first and second main pipelines, respectively. The control method for the adjustable fluid damping valves 4 is as follows: Step A, establish a coupled model including the dynamic characteristics of all five sets of hydraulic collaborative correction devices 2, the hydraulic interconnected pipeline network 3, and the conveyor belt 1. The model is constructed based on the bond graph method, and the state vector x is selected as... ,in Let be the angular displacement of the i-th hydraulically coordinated correction device 2 rotating platform 22. The corresponding angular velocity, The node pressure of the j-th working chamber within the i-th hydraulic collaborative correction device 2; Step B, the fluid resistance parameter of the adjustable fluid damping valve 4. As a variable to be optimized, its dimensions are: , with the coupling model state matrix All characteristic roots Given that all values ​​are negative real numbers and far from the imaginary axis, the solution yields a solution that allows the system to converge to a steady state without overshoot or oscillation. The range is Step C: During the physical debugging phase, gradually reduce the adjustment knob of the adjustable fluid damping valve 4 from the fully open position while monitoring the pressure sensor readings on the hydraulic interconnected pipeline network 3. When the pressure sensor's response to the impact excitation shows a monotonically decreasing effect without any reverse fluctuation, lock the current opening of the adjustable fluid damping valve 4. This limits the dynamic response characteristics of the entire hydraulic interconnected pipeline network 3 to a strongly damped convergence state, preventing secondary deviation.

[0072] A pneumatic accumulator 5 is connected in parallel in the hydraulic interconnected pipeline network 3. A diaphragm accumulator with a nominal volume of 1.0L and a maximum allowable working pressure of 20MPa is selected. It is connected to the connecting section between the first and second main pipelines via a tee connector, and simultaneously connected to the working oil circuits of the first hydraulic cylinder 231 and the second hydraulic cylinder 232. The pneumatic accumulator 5 is pre-charged with dry nitrogen. The pre-charge pressure is set to 80% of the average working pressure of the hydraulic interconnected pipeline network 3 corresponding to the rated operating tension of the conveyor belt 1. The optimal pre-charge pressure and volume are determined through optimization. The specific steps are as follows: Step 1, measure the unloaded tension of the conveyor belt 1... To full load tension Equivalent lateral stiffness within the interval The curve divides the tension range into ten equal points, measures each point, and fits it into a continuous curve. Step 2: Based on the coupling model, the pre-charge pressure of the gas-filled accumulator 5 will be used. and volume Add a stiffness expression to the hydraulic system with variables Introducing the total system stiffness term , Based on the ideal gas polymorphic process equation It is deduced that n should be 1.25; Step 3, construct the objective function When solving discretely, it is replaced by the sum of the root mean square errors of ten tension sampling points; Step 4, constrained by the maximum allowable working pressure of the gas-filled accumulator 5 (20 MPa) and the standard specification volume series {0.5L, 0.75L, 1.0L, 1.5L}, in... MPa Within the parameter space, the optimal pre-charge pressure is obtained by solving. Optimal volume ; Step 5: According to the solution results, fill the gas-filled accumulator 5 with nitrogen to 7.2MPa, let it stand for 24 hours and confirm that the pressure has not dropped before completing the installation.

[0073] The gas-filled accumulator 5 provides passive elastic compensation for the hydraulic interconnected pipeline network 3 in the following way: When local tension fluctuations in the conveyor belt 1 cause transient changes in pressure within the hydraulic interconnected pipeline network 3, the pre-charge chamber within the gas-filled accumulator 5 acts as a gas spring, passively compressing or expanding according to the pressure changes; when the network pressure increases, the gas is compressed, absorbing some hydraulic medium, smoothing out pressure peaks and storing energy; when the network pressure decreases, the pre-charged gas expands, returning the stored hydraulic medium to the hydraulic interconnected pipeline network 3 to compensate for pressure troughs. This passive charging and discharging process requires no external control and can automatically compensate for hydraulic oil volume shrinkage and minor leakage caused by temperature differences, maintaining the overall system stiffness within the design range and ensuring the transmission accuracy of the global physical coordination correction torque.

[0074] When the system is running, if the conveyor belt 1 experiences a local tension imbalance due to the material drop point being skewed, the conveyor belt 1 at that location generates a lateral force on the corrective roller assembly 21. This force is transmitted through the rotary platform 22 to the dual-piston hydraulic actuator unit 23, causing the hydraulic medium in one of the working chambers to be compressed and discharged, forming a passive hydraulic signal. This passive hydraulic signal is transmitted synchronously along the hydraulic interconnection pipeline network 3 in the form of a pressure wave to adjacent and further-end hydraulic collaborative correction devices 2, driving their dual-piston hydraulic actuator units 23 to perform corresponding actions. This drives their respective corrective roller assemblies 21 to rotate in a direction that matches the initial tension imbalance, generating coordinated lateral corrective forces distributed along the extension path of the conveyor belt 1. This forms a global physical collaborative correction torque that resists the local tension imbalance, completing the entire line correction without relying on any electronic control components or external energy. This effectively avoids problems such as wear and edge tearing of the conveyor belt 1, improving the operational stability and service life of the conveying system.

[0075] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A conveying belt automatic deviation rectification system based on multiple sets of deviation rectification devices, characterized in that: It includes at least two hydraulically coordinated correction devices (2) and a hydraulic interconnection pipeline network (3); at least two hydraulically coordinated correction devices (2) are arranged at intervals along the extension path of the conveyor belt (1), each hydraulically coordinated correction device (2) includes a correction roller group (21) that can rotate around a preset rotating shaft and a double piston hydraulic actuator unit (23) mechanically connected to the correction roller group (21), the double piston hydraulic actuator unit (23) is configured to drive the correction roller group (21) to rotate around the preset rotating shaft according to the hydraulic pressure difference inside itself to achieve the correction action; The hydraulic interconnected pipeline network (3) is used to fluidly connect the dual-piston hydraulic actuator units (23) of all hydraulic collaborative correction devices (2); When any hydraulic collaborative correction device (2) is subjected to a lateral force due to the local tension imbalance of the conveyor belt (1), the corresponding hydraulic collaborative correction device (2) generates a passive hydraulic signal. The passive hydraulic signal is synchronously transmitted to at least one adjacent hydraulic collaborative correction device (2) through the hydraulic interconnection pipeline network (3), and forces the corresponding hydraulic collaborative correction device (2) to generate a rotation direction that matches the local tension imbalance, forming a global physical collaborative correction torque that resists the local tension imbalance.

2. The automatic conveyor belt correction system based on multiple sets of correction devices according to claim 1, characterized in that: The dual-piston hydraulic actuator unit (23) includes a first hydraulic cylinder (231) and a second hydraulic cylinder (232). The first hydraulic cylinder (231) and the second hydraulic cylinder (232) are respectively installed on both sides of the rotating shaft of the rotating platform (22) of the correction roller group (21) to provide bidirectional correction torque for the rotating platform (22), thereby driving the correction roller group (21) to achieve bidirectional rotation correction and adapt to the different deviation trends of the conveyor belt (1).

3. The automatic conveyor belt correction system based on multiple sets of correction devices according to claim 2, characterized in that: The hydraulic interconnected pipeline network (3) adopts a cross-interconnected topology. The specific connection method is as follows: the rod chamber of the first hydraulic cylinder (231) of the i-th hydraulic collaborative correction device (2) is connected to the rod chamber of the first hydraulic cylinder (231) of the (i+1)-th hydraulic collaborative correction device (2) through a pipeline; at the same time, the corresponding chambers of the second hydraulic cylinders (232) of each hydraulic collaborative correction device (2) are networked in the same way to form a backbone network for continuous transmission of pressure fluctuations, providing a physical channel for the synchronous propagation of pressure signals and coordinated action.

4. The automatic conveyor belt correction system based on multiple sets of correction devices according to claim 3, characterized in that: The inner diameter and length of the hydraulic interconnected pipeline network (3) are designed according to the principle of matching the pressure wave velocity and wave resistance of the entire transmission line, so as to ensure that the delay of the coordinated response of the hydraulic coordinated correction device (2) at the far end to local disturbances is lower than the maximum allowable time for the conveyor belt (1) to deviate.

5. The automatic conveyor belt correction system based on multiple sets of correction devices according to claim 4, characterized in that: An adjustable fluid damping valve (4) is installed in series on the main line of the hydraulic interconnected pipeline network (3). By adjusting the fluid resistance parameter of the adjustable fluid damping valve (4), the dynamic response characteristics of the entire hydraulic interconnected network to deviation disturbance are set to a strong damping convergence state with no overshoot and no oscillation.

6. The automatic conveyor belt correction system based on multiple sets of correction devices according to claim 5, characterized in that: The control method for the adjustable fluid damping valve (4) includes the following steps: Step A: Establish a coupled model that includes the dynamic characteristics of all hydraulic collaborative correction devices (2), hydraulic interconnected pipeline network (3) and conveyor belt (1). The state vector of the coupled model includes the angular displacement and angular velocity of the rotary platform (22) in each hydraulic collaborative correction device (2), as well as the pressure of each key node in the hydraulic interconnected pipeline network (3). Step B: The fluid resistance parameter of the adjustable fluid damping valve (4) is taken as the variable to be optimized. The constraint condition is that all the eigenvalues ​​of the system state matrix are negative real numbers and far from the imaginary axis. The solution is to find the range of fluid resistance parameters corresponding to the critical damping or strong damping that makes the system converge to the steady state in a way without overshoot and without oscillation after being subjected to a unit deviation disturbance. Step C, in the physical debugging stage, by adjusting the opening of the adjustable fluid damping valve (4), the fluid resistance is set to the range of the fluid resistance parameter obtained by the solution, so that the dynamic response characteristics of the entire hydraulic interconnected pipeline network (3) are physically limited to a strongly damped convergence state, thereby avoiding secondary deviation caused by overshoot during the collaborative correction process.

7. The automatic conveyor belt correction system based on multiple sets of correction devices according to claim 6, characterized in that: The hydraulic interconnected pipeline network (3) is also connected in parallel with an air-filled accumulator (5), which is configured to pre-charge pressure according to the rated operating tension of the conveyor belt (1) to provide passive elastic compensation for the entire hydraulic interconnected pipeline network (3) and to compensate for stiffness changes caused by temperature difference and minor leakage.

8. The automatic conveyor belt correction system based on multiple sets of correction devices according to claim 7, characterized in that: The gas-filled accumulator (5) provides passive elastic compensation in the following manner: When the local tension fluctuation of the conveyor belt (1) causes a transient change in the pressure in the hydraulic interconnected pipeline network (3), the pre-charge chamber in the pneumatic accumulator (5) acts as a gas spring and is passively compressed or expanded according to the pressure change. When the network pressure increases, the gas is compressed, absorbs part of the hydraulic medium, smooths out the pressure peak and stores energy; when the network pressure decreases, the pre-charged gas expands and feeds back the stored hydraulic medium to the hydraulic interconnection pipeline network (3) to compensate for the pressure valley. Through this passive charging and discharging process, the gas-filled accumulator (5) provides dynamic and variable additional volumetric stiffness to the hydraulic interconnected pipeline network (3). The additional stiffness automatically compensates for the hydraulic oil volume shrinkage and minor leakage caused by temperature difference changes, maintains the overall system stiffness within the design range, and ensures the transmission accuracy of the global physical coordination correction torque.

9. The automatic conveyor belt correction system based on multiple sets of correction devices according to claim 8, characterized in that: The optimal pre-charge pressure and volume of the pneumatic accumulator (5) are determined by optimization, so that the optimal pre-charge pressure is within the rated tension range of the conveyor belt (1), providing additional stiffness of the hydraulic system that dynamically matches the stiffness of the conveyor belt (1).

10. The automatic conveyor belt correction system based on multiple sets of correction devices according to claim 9, characterized in that: The method for determining the optimal pre-charge pressure and volume of the gas-filled accumulator (5) includes the following steps: Step 1, measure the equivalent lateral stiffness of the conveyor belt (1) within its rated operating tension range. The curve, where T is the real-time tension of the conveyor belt (1); Step 2, based on the coupling model, the pre-charge pressure of the gas-filled accumulator (5) is used. and volume Add a stiffness expression to the hydraulic system with variables Introduce the total system stiffness term; Step 3, construct the objective function The objective function characterizes the dynamic matching error between the additional stiffness of the hydraulic system and the stiffness of the conveyor belt (1) within the full rated tension range; Step 4: Under the constraints of the maximum allowable working pressure and standard volume of the gas-filled accumulator (5), solve for the pre-charge pressure that minimizes the objective function J. and volume As the optimal precharge pressure and volume; Step 5: Based on the solution results, pre-fill the gas-filled accumulator (5) with gas and select and install it so that within the normal operating tension fluctuation range of the conveyor belt (1), the hydraulic interconnected pipeline network (3) obtains passive elastic compensation that dynamically matches it.

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