Belt conveyor with deviation rectifying function and conveying belt deviation rectifying method

Abstract

A belt conveyor with a deviation rectifying function and a conveying belt deviation rectifying method, the belt conveyor comprising a deviation-rectifying support (10), a deviation-rectifying mechanism (20), a carrier roller (30), a conveying belt (40), a plurality of sets of deviation measurement mechanisms (50) and an electric control mechanism (60), wherein the deviation-rectifying mechanism (20) is mounted on the deviation-rectifying support (10) and comprises a center-adjusting swing frame (21), a rotary power assembly (22) and a cross shaft assembly (23); the center of a swing frame of the center-adjusting swing frame (21) is connected to the deviation-rectifying support (10) by means of the cross shaft assembly (23), and the carrier roller (30) is mounted at the top of the center-adjusting swing frame (21); the rotary power assembly (22) is arranged below the center-adjusting swing frame (21) and is connected to the center-adjusting swing frame (21); and the deviation measurement mechanism (50) is arranged aside the deviation-rectifying support (10) or directly above the deviation-rectifying support (10); the electric control mechanism (60) is connected to the rotary power assembly (22), controls the rotary power assembly to rotate and drives the center-adjusting swing frame (21) to swing around the center of the swing frame; and the conveying belt (40) is corrected in position on the basis of deflection generated by the carrier roller (30).

Description

Belt conveyor with deviation correction function and conveyor belt deviation correction method Technical Field

[0001] The embodiments of the present application relate to the field of belt conveyors, and in particular to a belt conveyor with a deviation correction function and a conveyor belt deviation correction method. Background Art

[0002] A belt conveyor is a friction-driven machine that continuously transports materials. It primarily consists of a frame, conveyor belt, rollers, drums, tensioning devices, and transmission mechanisms. It forms a continuous material flow along a conveyor line, from the initial feed point to the final discharge point. It can transport both bulk and finished goods. Beyond pure material transport, it can also be integrated with the process requirements of various industrial enterprises' production processes to create a rhythmic, streamlined transport system. Technical issues

[0003] Belt conveyors can cause the belt to deviate from the rollers during multi-stage long-distance transportation. In related technologies, most of the belts are corrected manually, which has a poor correction effect and affects operations. Some conveyors with belt correction systems use gravity or other electronically controlled correction mechanisms, but their correction accuracy is not high, the correction and posture adjustment process is long, and the reliability is poor. Technical Solutions

[0004] The embodiments of the present application provide a belt conveyor with a deviation correction function and a conveyor belt deviation correction method to solve the problem of inaccurate deviation correction of traditional conveyors.

[0005] On the one hand, the present application provides a belt conveyor with a deviation correction function, comprising a deviation correction bracket, a deviation correction mechanism, segmented rollers, a conveyor belt, several groups of deviation measuring mechanisms and an electric control mechanism;

[0006] The correction mechanism is mounted on the correction bracket and includes a centering pendulum frame, a rotary power assembly, and a cross-axis assembly; the center of the centering pendulum frame is connected to the correction bracket via the cross-axis assembly, and the roller is mounted on the top of the centering pendulum frame to support and transmit the conveyor belt; the rotary power assembly is arranged below the centering pendulum frame and connected to the centering pendulum frame;

[0007] The deflection measuring mechanism is used to detect the distance between the conveyor belt and the edge of the roller;

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

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

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

[0011] Determining the roller posture adjustment data based on the deviation size, the positional relationship between the conveyor belt and the roller, the radius size of the swing arm turntable, and the swing arm length of the self-aligning swing frame; the posture adjustment data includes at least one of the roller deflection angle and the roller tilt angle;

[0012] The motor is controlled based on the posture adjustment data to drive the swing arm turntable to rotate to the target angle. The centering bracket drives the roller to generate deflection displacement based on the swing arm turntable.

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

[0014] The technical solutions provided by the embodiments of this application offer at least the following beneficial effects: Using a self-aligning swing frame and a rotary powertrain enables the rollers to swing sideways, achieving corrective movement through friction. The cross-axis assembly and wheel-rail coordination assembly articulate the self-aligning swing frame while precisely controlling its deflection angle and height, achieving gravity-induced corrective movement. The cross-axis assembly enables multi-degree-of-freedom adjustment, reducing machine vibration and wear, and improving corrective movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] FIG1 is a schematic structural diagram of a belt conveyor with a deviation correction function provided in an embodiment of the present application;

[0016] FIG2 is a schematic structural diagram of a correction mechanism provided in an embodiment of the present application;

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

[0018] FIG4 is a cross-sectional view of the AA portion of FIG3 ;

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

[0020] FIG6 is a schematic structural diagram of the cross-axis assembly and the swing arm turntable;

[0021] FIG7 is a top view of the belt conveyor;

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

[0023] FIG9 is a schematic structural diagram of a wheel-rail cooperative assembly;

[0024] FIG10 is a schematic diagram of the structure of the wheel-rail cooperative assembly at different inclination angles;

[0025] FIG11 is a schematic diagram showing the principle of the deviation measurement mechanism for collecting deviation data;

[0026] FIG12 is a schematic diagram showing the principle of calculating the roller deflection angle based on conveyor parameters;

[0027] Figure 13 is a flow chart of the conveyor deviation correction algorithm.

[0028] Figure numerals: correction bracket -10, correction mechanism -20, roller -30, conveyor belt -40, deflection measuring mechanism -50, electronic control mechanism -60, self-aligning swing frame -21, rotating power assembly -22, cross-axis assembly -23, wheel-rail coordination assembly -24, distance sensor -51, industrial camera -52, angle sensor -53, swing arm shaft ear -211, swing arm turntable -221, reducer -222, motor -223, raised frustum -224, fixed frame -23, swing arm rotating shaft -232, spherical sliding bearing -233, roller skate track -241, roller skate assembly -242, track plate -2411, baffle -2412, upper pulley -2421, lower pulley -2422. Modes for Carrying Out the Invention

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

[0030] In this document, "plurality" refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0031] As shown in Figure 1, it is a structural schematic diagram of a belt conveyor with a correction function provided in an embodiment of the present application, including a correction bracket 10, a correction mechanism 20, segmented rollers 30, a conveyor belt 40, several groups of deviation measuring mechanisms 50 and an electronic control mechanism 60.

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

[0033] As shown in Figure 2, the correction mechanism 20 specifically includes a self-aligning pendulum frame 21, a rotating power assembly 22 and a cross-axis assembly 23. The center of the self-aligning pendulum frame 21 is connected to the correction bracket 10 through the cross-axis assembly 23, and the roller 30 is installed on the top of the self-aligning pendulum frame 21 to lift and transmit the conveyor belt 40. The conveyor in this solution is a groove-type transport, that is, it is composed of multiple sections of rollers, such as a three-section roller shown in Figure 2. The ends of the two swing arms of the self-aligning pendulum frame 21 are provided with support columns with a certain slope, and the rollers are set on the support columns. The pendulum frame as a whole is in a straight line shape.

[0034] The cross-axis assembly 23 can be sleeved on the two trusses of the deviation-correcting bracket 10 and connected to the centering swing frame 21 through a connecting piece, and the connection point is the center of the swing arm.

[0035] The rotating power assembly 22 is a device that provides power for the self-aligning pendulum frame 21. It is arranged below the self-aligning pendulum frame 21 and is hinged to the self-aligning pendulum frame 21. It drives the self-aligning pendulum frame's swing arm to rotate and swing by rotating.

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

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

[0038] In order to realize the swing arm function, the present application sets a raised circular platform 224 on the swing arm turntable 221, and correspondingly opens an adjustment hole 211 at the bottom of the swing arm of the centering swing frame 21. The adjustment hole 211 can be a waist-shaped hole or a rectangular long hole, and the raised circular platform 224 is placed in the adjustment hole 211. Because the swing arm turntable 221 will undergo arc deflection during rotation, the raised circular platform 224 can produce relative linear reciprocating motion within the waist-shaped hole. The raised circular platform 224 is the point of action for controlling the swing arm. Figures 5 and 6 show schematic diagrams of the connection between the centering swing frame and the swing arm turntable.

[0039] As shown in Figures 6 to 8, a swing arm lug 211 is provided at the center of the self-aligning swing frame 21, articulated to the cross-axis assembly 23. The cross-axis assembly 23 comprises a fixed frame 231, a swing arm shaft 232, a spherical sliding bearing 233, a spacer 234, a retaining spring 235, and a fixed plate 236. The fixed frame 231 is fixed to the correction bracket 10, the swing arm shaft 233 is sleeved on the fixed frame 231, and the spherical sliding bearing 233 is mounted in the inner hole of the swing arm shaft 233, with its centerline arranged horizontally. The swing arm shaft 232 passes through the inner hole of the spherical sliding bearing 233 and is axially symmetrically distributed about the center of the inner hole.

[0040] On the swing arm shaft 233, the left and right sides of the spherical sliding bearing 233 are the swing arm lugs 211 of the self-aligning swing frame 21, which engage with the swing arm shaft 232 through an axial hole. A spacer 234 is designed on the outside of the swing arm lug 211. The inner circumference of the spacer 234 contacts the swing arm shaft 233, and the outer circumference contacts the fixed plate 236 on the correction bracket 10. The inner end face of the spacer 234 contacts the swing arm lug 211, and the outer side is restrained at the end of the swing arm shaft 232 by a retaining spring 235. The fixed plate 236 is welded to the correction bracket 10 and has a hole in it. It is located between the fixed bracket 231. The swing arm shaft 232 is sleeved in the fixed bracket 231, limiting and protecting the swing arm lug 211.

[0041] The cross-shaft assembly has two functions. First, it transfers the load from the self-aligning swing frame to the swing arm shaft, and then, through the spherical plain bearing and fixed plate, to the corrective bracket. Second, the spherical plain bearing has multiple degrees of freedom. By cooperating with the swing arm shaft, the self-aligning swing frame has multiple degrees of freedom relative to the corrective bracket.

[0042] In some other embodiments, fisheye bearings can also be used to achieve multi-degree-of-freedom adjustment. Multi-degree-of-freedom adjustment is not limited to horizontal swing, but also includes height adjustment. Because simple horizontal swing can cause the roller to deflect by a certain angle, the conveyor belt can then be corrected by the friction on both sides. Simultaneously with horizontal swing, height adjustment can be achieved by changing the height of both sides of the roller, superimposing the effect of gravity for correction, further shortening correction time and achieving faster response.

[0043] As shown in Figures 6, 9, and 10, to improve the accuracy of height adjustment, in some other embodiments, a wheel-rail cooperative assembly is added to the conveyor. Specifically, it includes a roller track 241 and a roller assembly 242. The roller track 241 is set on a correction bracket, for example, on the correction bracket 10 near the end of the centering swing frame 21, or on a correction bracket within the length of the swing arm, while the roller assembly 242 is installed at the end of the centering swing frame 21, or at any position between the end of the swing frame and the center axis, so that the roller assembly 242 can roll along the roller track 241.

[0044] In one possible embodiment, roller skate track 241 is configured in an inverted L-shape, comprising a track plate 2411 for roller skates to roll on and stoppers 2412 at each end of the track. Roller skate assembly 242 includes vertically spaced upper and lower pulleys 2421 and 2422, mounted via a fixed axle. Normally, track plate 2411 of roller skate track 241 is positioned between upper and lower pulleys 2421 and 2422, contacting either the upper or lower track surface.

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

[0046] In another possible embodiment, the track plate 2411 is tilted, and the roller assembly 242 at the end of the self-aligning swing frame 21 tilts and swings along the track plate 2411. The tilt angle can be set to higher on the left and lower on the right, or lower on the left and higher on the right, depending on the direction of travel of the conveyor belt (travel direction is right). Because it is a swing type, the tilt angles of the two swing arms are exactly opposite.

[0047] For inclined track plates, in addition to horizontal swing, height changes are superimposed, acting on the rollers to deflect and tilt them, allowing the conveyor belt to be corrected to the center position more quickly. The symmetrical distribution of the wheel-rail assembly ensures that the load on the self-aligning swing frame is evenly and effectively transferred to the correction bracket.

[0048] If the wheel-rail coordination assembly is not installed, the load on the self-aligning swing frame can only be transferred to the correction bracket through the intermediate shaft and other components. The single-point support makes it impossible to eliminate the vibration caused by the belt operation, and the intermediate shaft assembly is easily damaged, resulting in a shortened life of the entire device or even unusable.

[0049] In some other embodiments, a plurality of mounting holes may be provided on the roller track 241, and the inclination angle of the track plate 2411 may be changed by adjusting the mounting holes, or may be controlled by an electric control mechanism.

[0050] The deflection measurement mechanism 50 includes distance sensors 51 and / or industrial cameras 52. The distance sensors 51 are located on both sides of the conveyor belt 40, with their detection angles aligned with the belt's side slope, respectively detecting the distance between the idlers and the conveyor belt. The industrial camera 52 is located directly above the belt conveyor, directly above the cross-axle assembly, and provides real-time images of the conveyor belt and idlers.

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

[0052] Compared with ordinary correction devices, this solution uses a self-aligning swing frame and a rotating power assembly to achieve left and right swing of the roller and realize correction through friction. The cross-axis assembly and the wheel-rail coordinated component can articulate the self-aligning swing frame while precisely controlling its deflection angle and deflection height. The machine vibration and wear are reduced, and the correction effect is better.

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

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

[0055] S2, determining the posture adjustment data of the roller based on the deviation size, the positional relationship between the conveyor belt and the roller, the radius of the swing arm turntable, and the swing arm length of the centering swing frame; the posture adjustment data includes at least one of the deflection angle and the tilt angle of the roller;

[0056] S3, based on the posture adjustment data, controls the motor to operate, drives the swing arm turntable to rotate to the target angle, and the centering bracket drives the roller to generate deflection displacement based on the swing arm turntable;

[0057] S4, detects the deflection angle of the self-aligning swing frame through the angle sensor and sends the deflection angle to the electronic control system.

[0058] The deviation measurement mechanism includes at least one of a distance sensor and an industrial camera. The deviation dimensions include the left and right belt distances, the left sensor reference, and the right sensor reference. As shown in Figure 11, the left and right belt distances represent the distances from the conveyor belt to the roller edges (distances A and B), while the left and right sensor references represent the distances from the sensor to the conveyor belt edges (distances C and D).

[0059] Determining the conveyor belt runout dimensions includes:

[0060] Determine the conveyor belt weight coefficient based on the deviation data detected by the distance sensor and industrial camera;

[0061] Based on the corresponding weight coefficient and deviation data, data fusion is performed, and the deviation size of the conveyor belt fused by the deviation measuring mechanism is obtained through the following fusion calculation formula;

[0062]

[0063] Where d represents the deviation size of the conveyor belt after fusion, d1 and d2 represent the deviation data detected by the distance sensor and industrial camera, respectively, and a represents the weight coefficient.

[0064] As shown in Figure 12, A represents the circle of the swing arm turntable, O represents the center of the swing arm, r is the radius of the swing arm turntable, L is the distance between the two circles, β and η represent the positive and negative deflection angles of the swing arm turntable, respectively, and δ and α represent the positive and negative deflection angles of the roller (swing frame), respectively. B, C, and D represent the points corresponding to the turntable deflection angles.

[0065] Based on the calculation principle of Figure 12, we can know that:

[0066]

[0067] The forward and reverse calculation formulas are the same, based on which the value of δ can be calculated.

[0068] Because the cross-axis assembly can achieve deflection in the height direction, when the roller track is placed horizontally, the deflection angle δ of the roller is determined directly based on the deviation size, the positional relationship between the conveyor belt and the roller, the radius size of the swing arm turntable and the swing arm length of the self-aligning swing frame, as shown above.

[0069] When the roller track is tilted, the roller deflection angle δ is first calculated as described above, and then the roller inclination angle can be calculated based on the relationship between the roller track inclination angle, the roller deflection angle and the trigonometric function.

[0070] The roller inclination angle plus the deflection angle together correct the conveyor belt and can quickly return it to its original position.

[0071] During the correction process, the angle sensor collects data in real time and feeds it back to the electronic control system for posture correction, realizing closed-loop negative feedback control. The control principle is shown in Figure 13. The angle sensor collects and feeds back data to the control unit of the electronic control system in real time. When the angle or height does not meet the requirements, negative feedback adjustment is performed until the belt runs straight.

[0072] This intelligent deviation correction uses a deviation measurement algorithm to perform contactless deviation measurement of the conveyor belt, and there is no risk of conveyor belt wear. The cross axis is used as a self-aligning swing frame and the wheel-rail coordination method realizes the function of high and low tilt. Under the action of gravity, the deviation correction efficiency is higher and the operation is smoother. The use of deviation correction algorithm + closed-loop control makes the deflection angle control more precise, the structure more compact, and the control more intelligent.

[0073] The above describes the preferred embodiments of the present invention; it should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can make many possible changes and modifications without departing from the technical solution of the present invention, or modify them into equivalent embodiments with equivalent changes, which does not affect the essential content of the present invention; therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention that do not depart from the content of the technical solution of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A belt conveyor with a deviation correction function, characterized in that: It comprises a deviation-correcting bracket (10), a deviation-correcting mechanism (20), a segmented roller (30), a conveyor belt (40), a plurality of groups of deviation-measuring mechanisms (50) and an electric control mechanism (60); The deflection correction mechanism (20) is installed on the deflection correction bracket (10), and comprises a centering swing frame (21), a rotating power assembly (22) and a cross-axis assembly (23); the center of the centering swing frame (21) is connected to the deflection correction bracket (10) through the cross-axis assembly (23); the roller (30) is installed on the top of the centering swing frame (21) to lift and transmit the conveyor belt (40); the rotating power assembly (22) is arranged below the centering swing frame (21) and is connected to the centering swing frame (21); The deflection measuring mechanism (50) is used to detect the distance from the conveyor belt (40) to the edge of the roller (40); The electric control mechanism (60) is connected to the rotating power assembly (22), controls its rotation and drives the self-aligning swing frame (21) to swing around the center of the swing frame, and the conveyor belt (40) is corrected and returned to its original position based on the deflection generated by the roller (30).

2. The belt conveyor with deviation correction function according to claim 1, characterized in that: The rotary power assembly (22) is arranged below the swing arm of the self-aligning swing frame (21), and comprises a swing arm turntable (221), a reducer (222) and a motor (223); the reducer (222) is connected to the output shaft of the motor (223), and the swing arm turntable (221) is mounted on the output shaft of the reducer (222); A raised truncated platform (224) is provided on the swing arm rotating disk (221), an adjustment hole (211) is provided at the bottom of the swing arm of the self-aligning swing frame (21), and the raised truncated platform (224) is inserted into the adjustment hole (211).

3. The belt conveyor with deviation correction function according to claim 2, characterized in that: The center of the self-aligning swing frame (21) is provided with a swing arm shaft ear (211) connected to the cross shaft assembly (23); The cross-axis assembly (23) comprises a fixing frame (231), a swing arm rotating shaft (232) and a spherical sliding bearing (233); the fixing frame (231) is fixed on the deviation-correcting bracket (10), the swing arm rotating shaft (233) is sleeved on the fixing frame (231), and the spherical sliding bearing (233) is installed on the swing arm rotating shaft (233) and matched with the swing arm shaft ear (211) on the self-aligning swing frame (21).

4. The belt conveyor with deviation correction function according to claim 1, characterized in that: The deviation correction mechanism (20) further comprises a wheel-rail coordination component (24), wherein the wheel-rail coordination component (24) comprises a roller-skating track (241) and a roller-skating assembly (242); the roller-skating track (241) is arranged on the deviation correction bracket (10), the roller-skating assembly (242) is installed on the self-aligning swing frame (21), and the roller-skating assembly (242) rolls along the roller-skating track (241).

5. The belt conveyor with deviation correction function according to claim 4, characterized in that: The roller skating track (241) is in an inverted L shape, and comprises a track plate (2411) for roller skating and limit baffles (2412) arranged at both ends of the track; The roller skating assembly (242) comprises an upper pulley (2421) and a lower pulley (2422) which are vertically distributed, and a track plate (2411) of the roller skating track (241) is arranged between the upper pulley (2421) and the lower pulley (2422).

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

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

8. The belt conveyor with deviation correction function according to any one of claims 1 to 7, characterized in that: The deflection measuring mechanism (50) includes a distance sensor (51) and / or an industrial camera (52). The distance sensor (51) is distributed on both sides of the conveyor belt (40). The detection angle is consistent with the side slope of the conveyor belt, and the roller distance and the conveyor belt distance are detected respectively. The industrial camera (52) is located directly above the belt conveyor to detect the positions of the conveyor belt and the rollers. An angle sensor (53) is also provided below the centering swing frame (21) for detecting the angle of the swing arm.

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

10. The method according to claim 9, characterized in that The deviation measuring mechanism includes at least one of a distance sensor and an industrial camera; the deviation data includes a left distance of the belt, a right distance of the belt, a left reference of the sensor, and a right reference of the sensor; the left distance of the belt and the right distance of the belt represent the distances between the two sides of the conveyor belt and the edges of the rollers, and the left reference of the sensor and the right reference of the sensor represent the distances between the sensor and the edge of the conveyor belt; Determining the conveyor belt runout dimensions includes: Determine the conveyor belt weight coefficient based on the deviation data detected by the distance sensor and industrial camera; Based on the corresponding weight coefficient and deviation data, data fusion is performed, and the deviation size of the conveyor belt fused by the deviation measuring mechanism is obtained through the following fusion calculation formula; Among them, d represents the deviation size of the conveyor belt after fusion, d1 and d2 represent the deviation data detected by the distance sensor and industrial camera respectively, and a represents the weight coefficient.

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