Laser signal coupling misalignment detection and alignment adjustment method

Abstract

According to the laser signal coupling misalignment detection and alignment adjustment method, coupling alignment detection is realized through laser alignment, a spinor factor is introduced based on a perturbation method to establish a coupling alignment calculation analysis and adjustment model, and coupling misalignment measurement and alignment are performed; coupling misalignment faults are classified into parallel misalignment, angle misalignment and comprehensive misalignment, and features of the coupling misalignment faults are identified through a frequency spectrum mechanism, motion and dynamics; detection of coupling centering is realized through laser centering, and non-centering measurement and alignment of the coupling are realized by introducing a spinor factor based on a perturbation method, so that axial leads of a unit meet coaxial requirements, undue mechanical stress of the coupling is eliminated, a reasonable centering state of the coupling during operation is guaranteed, and the coupling accuracy is improved. Therefore, normal, stable and long-term continuous operation of the laser machine is guaranteed. And centering dynamic data display is achieved, the operation time is shorter, the precision is higher, and the adaptability is higher.

Description

Technical Field

[0001] The present application relates to a coupling alignment detection method, and in particular to a laser signal coupling misalignment detection and alignment adjustment method, belonging to the technical field of rotating machinery fault diagnosis. Background Art

[0002] High-speed rail production, subway construction, and oil field oil extraction all require the diagnosis and analysis of mechanical misalignment faults. The misalignment faults of shafting machinery account for half of the entire machinery, especially the rotating machinery faults. Shafting machinery is composed of important parts such as bearings, couplings, and rotors. When misalignment occurs, it will cause the increase of external forces such as torsional torque and bending torque. This will further lead to a series of vibrations, which will have very serious consequences for mechanical equipment. When these forces accumulate and accumulate over time, they will cause mechanical equipment to be strained. Due to the influence of some natural disasters and some unavoidable human factors, rotating equipment frequently fails when participating in production practice. Among the various mechanical failures caused by large-scale rotating machinery and equipment, the most likely to fail is shafting misalignment failure. When the rotor system of the rotating bearing coupling fails in the production practice process, its bearings, couplings, and rotors will increase additional loads. When these unnecessary loads act on the shafting equipment for a long time, it will cause equipment fatigue, which will indirectly lead to a series of unfavorable dynamic characteristics. Therefore, as a mechanical designer, the first thing to consider is the type of bearings and connectors selected, the torque parameters that match them, and the deviation compensation ability of the coupling during operation. Only after careful consideration can equipment development be carried out.

[0003] The parallel misalignment of the rotating bearing means that the axis lines of the two half-couplings of the coupling are no longer on the same line. The axis lines of the two half-couplings are parallel to each other, but there is a certain distance between the two axis lines. The coupling will have a certain vibration response during the rotation process. However, there is another common fault that the mechanical equipment will also produce an angle misalignment fault during the rotation process. This fault is that the end faces of the two half-couplings of the coupling will have a certain tilt surface during the rotation process, that is, there is a certain angle. The rotating bearing working at such an angle will produce a certain excitation force. The long-term superposition of this force will produce a vibration response to various parts of the system. The fault is divided into the following points: In the early stage of design, the designer needs to consider the calculation deviation of the bearing alignment; the overload operation of the machine during work is caused by: the cooling equipment of the mechanical equipment is not effective. When running in an overheated environment, the deformation of each rotor in the rotor system will be different, that is, the parts of the mechanical equipment will be different under the same environment. The deformation of the foundation supporting the laser machine, or the laser machine base will sink due to uneven force and other internal and external reasons, which will also cause the rotating machinery to be in an uncentered working state. At this time, if the production and processing procedures are carried out, the blanks of the mass-produced components will cause the center of gravity of the individual components to shift and be slightly tilted during the casting and forging process. However, the most effective remedy for these situations is to inspect the equipment before installation and adjust it to the center.

[0004] The problems that need to be solved in the prior art coupling misalignment detection and alignment adjustment and the key technical difficulties of this application include:

[0005] (1) In the current production and processing process, due to the uneven texture of the parts themselves, the processing accuracy is insufficient and the errors caused by manual measurement, the center of gravity of the coupling itself is offset or misaligned. These potential problems are important hidden dangers that cause mechanical equipment failure. In the assembly process of mechanical equipment, connecting various important parts by the looseness and tightness of bolts will also cause misalignment. Misalignment will cause the increase of external forces such as torsional torque and bending torque, which will further cause a series of vibrations, bringing very serious consequences to the mechanical equipment. When the rotor system of the rotating bearing coupling has a misalignment failure, its bearings, couplings, and rotors will increase additional loads. When these unnecessary loads act on the shaft system equipment for a long time, it will cause equipment fatigue, which will indirectly lead to a series of unfavorable dynamic characteristics. The mechanical design of the prior art does not fully consider the design based on the selected bearings, connector types, matching torque parameters and the deviation compensation ability of the coupling during operation, and lacks accurate and reliable coupling misalignment detection and alignment adjustment methods.

[0006] (2) The prior art lacks a classification definition of coupling misalignment, and does not analyze the mechanism and characteristics of coupling misalignment failure. In the practice of machine installation and maintenance, the single-meter method, double-meter method and triple-meter method of using a dial indicator to align the coupling have various problems in coupling misalignment detection and alignment. The precision and accuracy cannot be guaranteed, the coupling alignment detection and alignment data cannot be dynamically displayed, the operation is cumbersome, the process is delayed, and a lot of time and energy are consumed. In addition, the accuracy is not high, the adaptability is not high, and the alignment accuracy and timeliness are relatively poor.

[0007] (3) In terms of coupling misalignment detection, there is a lack of coupling misalignment laser signal detection, a lack of a method for coupling misalignment detection based on laser alignment, and the inability to transmit, receive, and calculate the displacement deviation of the coupling measurement data based on the laser signal. It is impossible to calculate the angle, parallelism, and other deviations of the coupling misalignment based on the measured signal displacement, and it is impossible to obtain accurate measurement data. In terms of coupling alignment and adjustment, there is a lack of coupling alignment laser-assisted adjustment, and it is impossible to perform alignment adjustment based on the perturbation method. There is a lack of accurate positioning of the relative offset position of the coupling laser machine, and the rotation factor is not introduced to calculate and analyze the adjustment amount and misalignment error. The coupling support and gasket cannot be adjusted according to different offsets, and the coupling alignment adjustment cannot be achieved. The coupling misalignment measurement and alignment effect is not good, and the coupling misalignment fault cannot be diagnosed in a timely and accurate manner. The faulty equipment cannot be located and handled in a timely manner, which is not conducive to ensuring the safety and stability of the rotating mechanical system. Summary of the invention

[0008] This application realizes the detection of coupling alignment through laser alignment, and introduces the spin factor based on the perturbation method to establish the calculation analysis and adjustment model of coupling alignment, and measures and aligns the coupling misalignment; classifies the coupling misalignment fault into parallel misalignment, angular misalignment and comprehensive misalignment, and identifies the characteristics of the coupling misalignment fault through spectrum mechanism, motion and dynamics; realizes the detection of coupling alignment through laser alignment, and introduces the spin factor based on the perturbation method to measure and align the coupling misalignment, so that the axis lines of the unit meet the coaxial requirements, eliminate the unnecessary mechanical stress of the coupling, and ensure the reasonable alignment state that should be maintained during the operation of the coupling, so as to ensure the normal, stable and long-term continuous operation of the laser machine. The dynamic data display of laser alignment shows that the operation is simple, convenient and fast. Compared with the traditional alignment method, it has a shorter operation time, higher accuracy and stronger adaptability.

[0009] In order to achieve the above technical effects, the technical solutions adopted in this application are as follows:

[0010] Laser signal coupling misalignment detection and alignment adjustment method, which realizes coupling alignment detection through laser alignment, and introduces the rotation factor based on the perturbation method to establish the coupling alignment calculation analysis and adjustment model, so as to measure and align the coupling misalignment, so that the axis lines of the unit can meet the coaxial requirements, eliminate the unnecessary mechanical stress of the coupling, and ensure the reasonable alignment state that the coupling should maintain during operation;

[0011] AIn the detection of coupling misalignment, the coupling misalignment laser signal detection is adopted: the three situations of parallel misalignment, angular misalignment and comprehensive misalignment of the coupling shaft system are detected respectively, and a method for detecting coupling misalignment based on laser alignment is established. The transmission, reception and displacement deviation calculation of coupling measurement data are realized based on laser signals, and the angle, parallelism and other deviations of coupling misalignment are calculated according to the measured signal displacement. Based on the good stability and reliability of laser signals, accurate measurement data is obtained, laying a solid foundation for the subsequent coupling alignment;

[0012] The laser signal detection of coupling misalignment is adopted. First, the laser alignment instrument is used for primary alignment. Second, the laser signal coupling alignment structure is established. Third, the approximate measurement of the alignment in the connected state and the allocation modeling of the coupling error are carried out. Fourth, the coaxiality inspection measurement and the assembly of the coupling are carried out.

[0013] B. In terms of coupling alignment and adjustment, coupling alignment laser-assisted adjustment is adopted: first, the coupling alignment error parameters are calculated based on the laser alignment method and the location of the error exceeding the standard is determined. Then, the alignment adjustment is performed based on the perturbation method. The relative offset position of the coupling laser machine is accurately located. At the same time, the rotation factor is introduced to calculate and analyze the adjustment amount and misalignment error. The coupling support feet and gaskets are adjusted according to different offsets. Finally, the coupling alignment is achieved. The experimental results show that the coupling misalignment measurement and alignment effect is good.

[0014] Laser-assisted adjustment of coupling centering is adopted: first, modeling of coupling centering adjustment is carried out, including determining the spatial position of the movable laser machine 2, establishing a centering measurement coordinate system, and calculating the k angle based on the perturbation method; second, calculation of coupling centering adjustment is carried out, including calculating the movement of the anchor points of the movable laser machine, calculating the adjustment amount of the anchor points of the movable laser machine, introducing the rotation S, and calculating the gasket size error of the anchor points; third, online monitoring of coupling centering error is carried out, including equipment status monitoring and fault diagnosis based on vibration analysis, and centering error monitoring and diagnosis methods.

[0015] Preferably, a laser signal coupling alignment structure is established: including a laser transmitter, a laser fixture, a data line, a receiver, and a calculator. The S and M units are two positive and negative dial indicators fixed on both sides of the coupling, respectively. The laser transmitter and the receiver are placed in the S and M units, respectively. Both units can transmit and receive signals from each other.

[0016] When the laser beam falls on the photoelectric dot matrix collection surface CCD of the receiver, a signal is generated and calculated by the computer processor. The S and M units respectively send out laser beams that can be received by the other party. After the energy center point of the irradiated area is determined, the energy center points of each beam also produce displacements A1 and A2 on the CCD collection surface of the other receiver. At the same time, the SM unit rotates with the axis. Assuming that the displacement of the M unit is positive at the top and negative at the bottom, the S unit receives the same signal. Based on the similarity calculation unit, the parallel deviation and angle deviation in the horizontal and vertical directions are calculated, and the corresponding adjustment values ​​of the front and rear feet of the equipment are calculated;

[0017] (1) The parallel deviation and the foot adjustment value decrease as the angle deviation decreases. When the angle deviation is 0, the parallel deviation and the foot adjustment value reach the minimum value △1. The way to reduce the adjustment amount is to reduce the angle deviation and thus reduce the parallel deviation.

[0018] (2) As the SC increases, the parallel deviation increases. When installing the fixture, try to increase the SC spacing to improve the accuracy of the parallel deviation during measurement.

[0019] Preferably, coaxiality inspection and measurement and coupling assembly:

[0020] (1) Flange coupling

[0021] ① The tilt shall not be greater than 0.05 / 1000, the radial displacement of the coaxiality of the two shafts shall not exceed 0.03mm, and the semicircular mating ring shall be in close contact with the end faces of the two half couplings;

[0022] ②The radial joint surface runout is not more than 0.03mm, and the axial joint surface runout is not more than 0.04mm;

[0023] (2) Oldham coupling

[0024] When assembling the Oldham coupling, the end face clearance and the maximum diameter of the coupling are different. When the maximum diameter of the coupling does not exceed 190mm, it should be 0.5 to 0.8mm, and when it exceeds 190mm, it should be 1 to 1.5mm;

[0025] (3) Elastic pin coupling

[0026] The transmission connection form of the two half shafts is completed by using an elastic ring on the outer cover of the rigid screw. The provisions for different axial degrees between the two shafts refer to the provisions of the nylon pin coupling to avoid direct shearing of the connecting screw during startup and rotation.

[0027] (4) Check and measure the coaxiality of the coupling at four positions evenly distributed on the coupling end face and circumference at 0°, 90°, 180°, and 270°:

[0028] Step 1: Temporarily connect the two couplings to each other and draw an alignment line on the circumference with a special tool;

[0029] Step 2: Slowly rotate the two half couplings at the same time, using special tools or alignment lines to rotate to 0°, 90°, 180°, and 270° in sequence, and measure the radial value a and axial value b at the four positions;

[0030] Step 3: Rotate the coupling again and observe whether the measured value obtained in the previous step changes. If a1+a3=a2+a4, b1+b3=b2+b4 are satisfied, then there is no error in the measurement. Otherwise, check and eliminate the error before measuring again.

[0031] Step 4. Calculate the coaxiality: horizontal radial displacement (a1-a3) / 2, vertical radial displacement (a2-a4) / 2, horizontal axial deviation (tilt) (b1'+b3")-(b2"+b4') / 2, vertical axial deviation (b2'+b4")-(b2"+b4') / 2, where b' and b" represent two dial indicators or measuring points for measuring axial clearance.

[0032] Preferably, the coupling alignment adjustment model is established: during the coupling alignment error measurement and adjustment process, after the alignment error parameters (e, α, β, f1, f2) are determined, alignment adjustment is performed once the coupling alignment error exceeds the standard range. The relative installation positions of the two laser machines connected by the coupling need to be changed. The formation process of the coupling alignment error is analyzed, and the adjustment method is obtained. To change the alignment state of the coupling, it is only necessary to adjust the installation position of one of the laser machines. The laser machine 1 that is not adjusted is called a stationary laser machine, and then the active laser machine 2 is selected as the movable laser machine to be adjusted. The alignment error parameters (e, α, β, f1, f2) are obtained during the measurement process. The rotation axes l1 and l2 of the two laser machines are in a spatial intersection relationship, and the relative position relationship of the two half couplings is determined.

[0033] Preferably, the spatial position of the movable laser machine 2 is determined: based on the spatial relationship between the rotation axis l2 and the anchor fulcrum of the movable laser machine 2, the anchor installation plane of the movable laser machine 2 is formed by three anchor fulcrums A, B, and C, the rotation axis l2 is parallel to the anchor installation plane, O2 is the center of the left end face of F2, and F2 is a half coupling, and the size relationship between the rotation axis l2 and the anchor fulcrums A, B, and C is obtained;

[0034] O2, X 22 , Y 22 , Z 22 Form a rectangular coordinate system, the rotation axis l2 and Y 22 Axis coincidence, Z 22 The axis is perpendicular to the ground installation plane of the movable laser machine 2, and the movable laser machine 2 is fixed on O2 and X 22 , Y 22 , Z 22 The axis is parallel to the installation plane of the movable laser machine 2, and the support points A, B, and C of the base are at O2, X 22 , Y 22 , Z 22 The homogeneous coordinate vectors in the coordinate system are as follows:

[0035] O2A 22 =[X 22A , Y 22A , Z 22A , 1] T =[a,c,-h,1] T

[0036] O2B 22 =[X 22B , Y 22B , Z 22B , 1] T =[a,b+c,-h,1] T

[0037] O2C 22 =[X 22C , Y 22C , Z 22C , 1] T =[-a,c,-h,1] T Formula 1

[0038] At the same time, the distances AB, BC, and CA between two points among A, B, and C are:

[0039] AB=b

[0040]

[0041] CA=2a Formula 2

[0042] The spatial position of the movable laser machine 2 is obtained.

[0043] Preferably, a centering measurement coordinate system is established: based on the spatial position relationship of the two half couplings F1 and F2, the X0 axis is perpendicular to the horizontal axes of the Y0 and Y1 axes and passes through the O1 point; the Z0 axis is the vertical axis passing through the O1 point, and the Y0 axis and l1 pass through the O1 point in the same vertical plane; the γ angle is the angle between the Y0 and Y1 axes and is an unknown quantity. O1, X0, Y0, and Z0 are fixed to the ground, describing the spatial position of the rotation axis l1 of the laser machine 1 in the stationary rectangular coordinate system O1, X0, Y0, and Z0. When the Y1 axis rotates counterclockwise relative to the Y0 axis, the γ angle is positive when viewed against the positive X0 axis direction;

[0044] Cartesian coordinate system O2, X 22 , Y 22 , Z 22 , and the rectangular coordinate system O2, X2, Y2, Z2 share the same origin and Y axis, and use k angle to represent X 22 The position of the axis relative to the X2 axis is expressed as angle k, which is the rotation of the movable laser machine around its own rotary axis 12. The angle k takes a positive value according to the right-hand rule. The installation planes of the laser machines 1 and 2 are parallel, and the angle k is an essential parameter for determining the relative position of the laser machines 1 and 2.

[0045] In the case of installation mode 2, that is, the installation plane of laser machine 1 is perpendicular to the installation plane of laser machine 2, if the relative position parameters (e', α', β', f1', f2') of laser machines 1 and 2 are the same as the relative position parameters (e, α, β, f1, f2) of laser machines 1 and 2 in installation mode 1, then the relative positions of the rotation axes l1, l2 and the alignment states of the couplings of the two laser machines are the same in both installation modes;

[0046] The k angle also describes the different relative positions of the two laser machines 1 and 2. In installation mode 1, the k angle is approximately equal to 0; in installation mode 2, the k angle is approximately equal to 90. With the installation plane changing with any degree of freedom, the k angle can also change arbitrarily in the range of 0° to 360°. The relative position relationship of the two laser machines is related to the relative position parameters (e, α, β, f1, f2) and is also affected by the k angle. The centering error parameters (e, α, β, f1, f2) of the coupling and the k angle together fully describe the relative position relationship of the two laser machines. The rectangular coordinate system O2, X 22 , Y 22 , Z 22 Homogeneous transformation matrix for stationary rectangular coordinate system O1, X0, Y0, Z0 22 0 T is:

[0047]

[0048] In the formula, cγ=cosγ, sγ=sinγ, and so on.

[0049] Preferably, the k angle is calculated based on the perturbation method: after the five parameters of the coupling centering error e, α, β, f1, and f2 are measured and determined, a foot support point of the movable laser machine 2 moves according to the conditions, i.e., perturbs, and then the five parameters of the coupling centering e', α', β', f1', and f2' are measured at this time, and the known perturbation movement is combined with the two sets of error parameters to determine the displacement of each foot support point during the perturbation process, and establish an equation to obtain the r angle before the perturbation. The calculation process is:

[0050] 1) Before perturbation: The stationary rectangular coordinate system is O2, X 20 , Y 20 , Z 20 The stationary rectangular coordinate system O2, X2, Y2, and Z2 are overlapped with each other before the perturbation, and the stationary rectangular coordinate system O2, X2, Y2, and Z2 are calculated. 20 , Y 20 , Z 20 Homogeneous transformation matrix for stationary rectangular coordinate system O1, X0, Y0, Z0 22 0 T is:

[0051]

[0052] The anchor point B is the perturbation point, and the homogeneous coordinate vector of point B in the stationary rectangular coordinate system O1, X0, Y0, Z0 is:

[0053]

[0054] 2) Perturbation at the anchor point B: Keep the positions of points A and C fixed, add a gasket with a thickness of δ at the anchor point B. The value of δ is a known quantity. Then the displacement vector of B in this perturbation process is in O2, X 20 , Y 20 , Z 20 In the expression:

[0055]

[0056] 3) After perturbation: The rotation angle of the movable laser machine around its own rotation axis l2 is k'. The five parameters of the coupling alignment at this time, e', a', β', f', and f', are determined by the dial indicator measurement method. At this time, the rectangular coordinate system O2, X 20 , Y 20 , Z 20 The homogeneous transformation matrix of the stationary rectangular coordinate system O1, X0, Y0, Z0 is:

[0057]

[0058] The homogeneous coordinate vector O1B0' of the anchor point B in the stationary rectangular coordinate system O1, X0, Y0, Z0 is:

[0059]

[0060] From equations 5 and 8, the displacement homogeneous vector of the anchor point B during the perturbation process can be described in the stationary rectangular coordinate system O1, X0, Y0, Z0 as follows:

[0061] ΔB0=OB0'-O1B0 Formula 9

[0062] The displacement homogeneous vector of the anchor point B during the perturbation is obtained in the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 The description is:

[0063]

[0064] Establish a system of equations including k and k'. The angle k before perturbation is calculated by this system of equations. The unknown angle γ is eliminated in the calculation. The angle γ does not affect △B. 20 , △B 20 The value of is independent of the γ angle.

[0065] Preferably, the movement of each foot support point of the movable laser machine is calculated: when the centering adjustment is not performed, the specific description of the position of the stationary laser machine 1 in the stationary rectangular coordinate system O1, X0, Y0, Z0, and the specific description of the position of the foot support point and the installation plane of the movable laser machine 2 in the stationary rectangular coordinate system O1, X0, Y0, Z0 are all unknown quantities. The installation plane of the movable laser machine before adjustment is observed and measured at the adjustment site. The determination of the angle k provides convenient conditions for the calculation of the centering adjustment. By determining the relative position relationship of the movable laser machine 2 with respect to the stationary laser machine 1, the centering adjustment of the coupling is finally realized, and the corresponding positions of the foot support points of the movable laser machine 2 and l2 in the stationary rectangular coordinate system O2, X0, Y0, Z0 are obtained. 20 , Y 20 , Z 20 The amount of movement in the figure is calculated, and the direction in which the rotary axis 12 of the movable laser machine 2 should be moved and rotated so that l2 and 11 completely overlap;

[0066] 1) Calculate the movement of the movable laser machine's rotary axis l2

[0067] When the rotating axis l2 of the movable laser machine is adjusted to translate a distance e along the common perpendicular line PC and form an angle α with PC, the state of the rotating axis at this time is completely centered, that is, l2 completely overlaps with l1. Assume that the error parameters of the rotating axis of the movable laser machine in the completely centered state are: e", α", β", f1", f2", and the rotation angle of the movable laser machine around its own rotating axis l2 is k", and we get:

[0068] e"=0, α"=0, β"=β, f1"=f1, f2"=f2,, k"=k Equation 11

[0069] In the process of adjusting the rotary axis, the rotation quantity S is used to represent the movement of the movable laser machine 2 in the stationary coordinate system:

[0070] S=Screw(pc,e,α)=Rot(pc,α)Trans(pc,e) Equation 12

[0071] Assume that before adjusting the rotating axis of the movable laser machine, the origin is at point P, the X axis coincides with CP, and the static rectangular coordinate system when l2 coincides with the Y axis is PX*Y*Z*. Then PX*Y*Z* is proportional to the static rectangular coordinate system O2, X 20 , Y 20 , Z 20 The homogeneous transformation matrix is:

[0072]

[0073] In the rectangular coordinate system PX*Y*Z*, the spinor S is:

[0074]

[0075] That is, the movement amount of the movable laser machine rotary axis l2 makes l2 and l1 completely coincide with each other in the rectangular coordinate system PX*Y*Z*;

[0076] 2) Calculation of the movement of each foot support point of the movable laser machine

[0077] The on-site reference plane for adjustment is the installation plane of the movable laser machine (parallel to the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 O2, X 20 , Y2 plane), the movement amount is expressed in the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 Describe the movement of the three foot supports A, B, and C by the screw action, using the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 Described as:

[0078]

[0079]

[0080] Calculate the movement of each anchor point along three determined directions.

[0081] Preferably, the adjustment amount of each foot support point of the movable laser machine is calculated: the three foot support points A, B, and C are not independent when moving, and there is mutual influence. The 9 calculated movement components are processed and converted into adjustment amounts that are easy to operate and equivalent to the three formulas. These adjustment amounts are processed in three steps, including:

[0082] 1) Move the movable laser machine to point A by three steps △A 20x , A 20y , A 20z To perform translation;

[0083] 2) Keep the laser machine point A unchanged, and adjust point B so that point B is along Z 20 Direction moving distance △B z ,△B z =(△B 20z -△A 20z ), in X 20 Direction movement △B x , △B x =(△B 20x -△A 20x ), while point C moves with it;

[0084] 3) To adjust point C, keep points A and B unchanged and point C at Z 20 Direction movement △C z ,△C z =(△C 20z -△A 20z ), follow the above three steps, use △A 20x , △A 20y , △A 20z , △B 20x , △B 20y , △B 20z Six independent moving components for adjustment, achieving efficient coupling alignment adjustment;

[0085] The introduction of the rotation quantity S simplifies the originally complicated process of coupling alignment adjustment and presents it in quantitative form, converting equation 3 into the following form:

[0086]

[0087] The transformed formula (16) uses only the screw S to express the error and coordinate system conversion formed during the coupling alignment adjustment process. The alignment description error Screw (CP, e, α) in formula (16) is the inverse rotation of the system screw S.

[0088] Preferably, the centering error monitoring and diagnosis method:

[0089] (1) Vibration data transmission process and gear frequency calculation

[0090] The vibration signal is collected by the sensor, uploaded to the signal conditioner, and then converted by the acquisition card, that is, the analog signal is converted into a digital signal that can be recognized and processed by the computer. The conditioner is equipped with special analysis software to extract and store various parameters in the vibration signal, including: signal vibration frequency, amplitude, and the number of characteristic frequency changes in one cycle;

[0091] The calculation formula for gear mesh frequency includes:

[0092] First-order gear meshing frequency: fC0 = N 60 Z;

[0093] Higher harmonics of meshing frequency: fC i =i×fC i =fC 0i ,i=2,3,4,…,n;

[0094] Where: N is the speed of the gear shaft, unit: r / min; Z is the number of teeth on the gear;

[0095] (2) Detection and diagnosis process

[0096] The method of judging whether the coupling is faulty by whether the characteristic frequency of gear meshing in the spectrum is equal to the equally spaced frequency is as follows: when there are other faulty parts on the shaft component, the gear is impacted, the gear meshing is abnormal, and the characteristic frequency detected on the spectrum graph changes. When the coupling is worn to a certain extent, the rotation position of the two shaft components connected to it will deviate from the axis of rotation, thereby causing the gear meshing to change. The gear meshing change generates harmonics, which have a higher amplitude in the spectrum graph. In the characteristic frequency spectrum graph generated by actual operation, the output signal in each same interval is exactly the same. The reciprocal of the interval is the measured equally spaced characteristic frequency, and the calculation formula is as follows:

[0097] fC=f1-f2

[0098] fC=f3-f2 Formula 17

[0099] Where: f1, f2, f3 are the harmonics with higher vibration amplitude in the frequency diagram, and fC is the difference in frequency between the higher harmonics;

[0100] The online system calculates and generates the meshing frequency based on the gear speed. If the absolute error rate between the calculated equally spaced characteristic frequency and the automatically generated gear meshing frequency is very small, that is, fC≈fC0, and it occurs more than once within a month, it is determined that the coupling of the monitored equipment has been worn.

[0101] Compared with the prior art, the innovations and advantages of this application are:

[0102] (1) This application uses laser alignment to detect the coupling alignment, and introduces a screw factor based on the perturbation method to establish a calculation analysis and adjustment model for coupling alignment, and measures and aligns the coupling misalignment; classifies coupling misalignment faults into parallel misalignment, angular misalignment, and comprehensive misalignment, and identifies the characteristics of coupling misalignment faults through spectrum mechanism, motion, and dynamics; detects the coupling alignment through laser alignment, and introduces a screw factor based on the perturbation method to measure and align the coupling misalignment, so that the axis lines of the unit meet the coaxial requirements, eliminate the unnecessary mechanical stress of the coupling, and ensure the reasonable alignment state that should be maintained during the operation of the coupling, thereby ensuring the normal, stable, and long-term continuous operation of the laser machine. The dynamic data display of laser alignment shows that the operation is simple, convenient, and fast. Compared with traditional alignment methods, it has a shorter operation time, higher accuracy, and stronger adaptability.

[0103] (2) In terms of coupling misalignment detection, the present application adopts coupling misalignment laser signal detection, and detects three situations of coupling shaft system parallel misalignment, angular misalignment, and comprehensive misalignment respectively. A method for coupling misalignment detection based on laser alignment is established. The transmission, reception, and displacement deviation calculation of coupling measurement data are realized based on laser signals, and the angle, parallelism and other deviations of coupling misalignment are calculated according to the measured signal displacement. Based on the good stability and reliability of laser signals, accurate measurement data is obtained, laying a solid foundation for subsequent coupling alignment, and the precision and accuracy are significantly improved. The coupling alignment detection and alignment data are dynamically displayed, which is easy to operate, with less process delay, reduced time and energy consumption, high precision, good adaptability, and greatly improved alignment accuracy and timeliness.

[0104] (3) In terms of coupling alignment and adjustment, the present application adopts coupling centering laser-assisted adjustment. First, the coupling centering error parameters are calculated based on the laser centering method and the location of the error exceeding the standard is determined. Then, the centering adjustment is performed based on the perturbation method. The relative offset position of the coupling laser machine is accurately located. At the same time, the rotation factor is introduced to calculate and analyze the adjustment amount and the misalignment error. The coupling support and gasket are adjusted according to different offsets, and finally the coupling centering adjustment is achieved. The introduction of the perturbation method and the rotation factor not only makes the coupling centering adjustment process simple and practical, but also provides analytical solutions to difficult calculation problems, and opens up a new angle to deal with the coupling centering adjustment process. Finally, the experimental results show that the coupling misalignment measurement and alignment effect is good; it can timely and accurately diagnose coupling faults, eliminate potential faults in advance, and timely locate and handle faulty equipment to ensure the safety and stability of the rotating machinery system, which is of great value. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] Figure 1 This is the structure diagram of the laser signal coupling alignment.

[0106] Figure 2 It is a schematic diagram of coupling alignment error measurement and adjustment parameters.

[0107] Figure 3 It is a schematic diagram of the relationship between the foot support point of the movable laser machine 2 and the return axis L2.

[0108] Figure 4 It is a schematic diagram of the relationship of the centering measurement coordinate system.

[0109] Figure 5 1 is a schematic diagram of characteristic frequency comparison in Example 1. DETAILED DESCRIPTION

[0110] The following, in conjunction with the accompanying drawings, further describes the technical solution of the laser signal coupling misalignment detection and alignment adjustment method provided by the present application, so that those skilled in the art can better understand the present application and implement it.

[0111] Mechanical equipment is developing towards high density and refinement, and the reliability of equipment operation is very important. As an important component of rotating mechanical equipment, about 60% to 70% of rotating mechanical failures are caused by shaft misalignment, so the study of coupling misalignment failure is of great significance.

[0112] In terms of coupling misalignment detection, three situations of parallel misalignment, angular misalignment and comprehensive misalignment of the coupling shaft system are detected respectively, and a method for detecting coupling misalignment based on laser alignment is established. The transmission, reception and displacement deviation calculation of the coupling measurement data are realized based on the laser signal, and the angular and parallel deviations of the coupling misalignment are calculated according to the measured signal displacement. Based on the good stability and reliability of the laser signal, accurate measurement data is obtained, laying a solid foundation for the subsequent coupling alignment.

[0113] In terms of coupling alignment and adjustment, the coupling alignment error parameters are first calculated based on the laser alignment method and the error exceeds the standard. Then, the alignment adjustment is performed based on the perturbation method. The relative offset position of the coupling laser machine is accurately located. At the same time, the rotation factor is introduced to calculate the adjustment amount and the misalignment error and perform deviation analysis. The coupling legs and gaskets are adjusted according to different offset amounts, and finally the coupling alignment is achieved. The experimental results show that the coupling misalignment measurement and alignment effects are good.

[0114] The coupling alignment is detected through laser alignment, and the screw factor is introduced based on the perturbation method to realize the measurement and alignment of the coupling misalignment, so that the axis lines of the unit meet the coaxial requirements, eliminate the unnecessary mechanical stress of the coupling, and ensure the reasonable alignment state that should be maintained during the operation of the coupling, thereby ensuring the normal, stable and long-term continuous operation of the laser machine.

[0115] 1. Laser signal detection of coupling misalignment

[0116] (I) Primary alignment of laser plummet

[0117] Compared with traditional alignment methods, laser alignment is simple to operate, convenient and fast, and has dynamic data display. It has shorter operation time, stronger adaptability and higher precision. However, in actual application, it can only be adjusted according to the instrument display, which makes it difficult to adjust quickly. Combining the laser principle with the information digital system, the laser alignment instrument was developed. The alignment method using the dial indicator is both fast and accurate, and the results with better results and higher precision are obtained. The digital system is used to process the calculation of the adjustment amount and adjustment direction of each leg, which is more accurate, faster and more convenient to use.

[0118] (II) Establishing the centering structure of the laser signal coupling

[0119] The laser signal coupling alignment includes a laser transmitter, a laser fixture, a data cable, a receiver, a calculator, etc. The S and M units are two dial indicators fixed on both sides of the coupling. The laser transmitter and receiver are placed in the S and M units respectively. Both units can transmit and receive each other's signals.

[0120] Figure 1The figure shows the structure diagram of the laser signal coupling alignment. When the laser beam falls on the photoelectric dot matrix collection surface CCD of the receiver, a signal is generated and calculated by the calculator processor. The S and M units respectively send out laser beams that can be received by the other party. After the energy center point of the irradiation area is determined, the energy center points of each beam also produce displacements A1 and A2 on the CCD collection surface of the other receiver. At the same time, the SM unit rotates with the axis. Assuming that the displacement of the M unit is positive at the top and negative at the bottom, the S unit receives the same signal. Based on the similarity calculation unit, the parallel deviation and angle deviation in the horizontal and vertical directions are calculated, and the corresponding adjustment values ​​of the front and rear feet of the equipment are calculated.

[0121] (1) The parallel deviation and the foot adjustment value decrease as the angle deviation decreases. When the angle deviation is 0, the parallel deviation and the foot adjustment value reach the minimum value △1. The way to reduce the adjustment amount is to reduce the angle deviation and thus reduce the parallel deviation.

[0122] (2) As the SC increases, the parallel deviation increases. When installing the fixture, try to increase the SC spacing to improve the accuracy of the parallel deviation during measurement.

[0123] (III) Approximate measurement of alignment and modeling of coupling error distribution in the connected state

[0124] (1) Allocation of centering error: When the two halves of the coupling are connected according to the structural requirements of the coupling, and the coupling is in a misaligned state, the associated parts, the two rotating shafts and the two halves of the coupling will all produce elastic deformation. The two halves of the flange-type rigid coupling that are fastened together by bolts, if the two rotating shafts, the two halves of the coupling and the related components are regarded as rigid bodies, the flange-type rigid coupling also transmits motion and torque when it is in a misaligned state. The torque transmission system (from a stationary laser machine to a movable laser machine) is analyzed as an elastic system, and the bolt connection is used to achieve the ideal tightening effect of the bolts. Each link in the torque transmission system of the flange-type rigid coupling has a certain elastic deformation. The error distribution process approximately measures the size of the elastic deformation of each link and the elastic deformation distribution of the centering error is determined by the stiffness of each link and the geometric continuity conditions of the system. The elastic deformation in each link is calculated. The total elastic deformation of all links in the system is the centering error of the coupling before tightening the bolts. The process of distributing the centering error of the coupling to each link of the system is the process of tightening the bolts.

[0125] (2) Approximate measurement of centering error: After the bolts are tightened, the common perpendicular line of the axes of the two rotating shafts has been deformed into a spatial curve at the axes of the two rotating shafts. The relative positions of the two halves of the flange-type rigid coupling are very different before and after the bolts are tightened. The judgment, measurement and adjustment process of the coupling centering error is different from the previous corresponding process when it is in the connected state. Between the two tangents parallel to the lines connecting the support points of each rotating shaft, the centering error of the two rotating shaft axes before bolt connection is closest to the centering error of the two rotating shaft axes. A tangent point is selected between the coupling and the support point close to the coupling. The closer the selected tangent point is to the support point, the closer the measurement result will be to the centering error before tightening. The difference in the measurement results of the centering error before and after bolt tightening is the smallest when the left and right parts of the laser signal centering structure are installed at the positions of the two tangent points.

[0126] (IV) Coaxiality inspection and measurement and coupling assembly

[0127] (1) Flange coupling

[0128] ① The tilt shall not be greater than 0.05 / 1000, the radial displacement of the coaxiality of the two shafts shall not exceed 0.03mm, and the semicircular mating ring shall be in close contact with the end faces of the two half couplings;

[0129] ②The radial joint surface runout shall not exceed 0.03mm, and the axial joint surface (coupling end face) runout shall not exceed 0.04mm.

[0130] (2) Oldham coupling

[0131] When assembling the Oldham coupling, the end face clearance and the maximum diameter of the coupling are different. When the maximum diameter of the coupling does not exceed 190mm, it should be 0.5 to 0.8mm, and when it exceeds 190mm, it should be 1 to 1.5mm.

[0132] (3) Elastic pin coupling

[0133] The transmission connection form of the two half shafts completed by using an elastic ring on the outer sleeve of a rigid screw is called an elastic pin coupling. The regulations for different axial lengths between the two shafts refer to the regulations for nylon pin couplings to avoid direct shearing of the connecting screw during startup and rotation.

[0134] (4) Check and measure the coaxiality of the coupling at four positions evenly distributed on the coupling end face and circumference at 0°, 90°, 180°, and 270°:

[0135] Step 1: Temporarily connect the two couplings to each other and draw an alignment line on the circumference with a special tool;

[0136] Step 2: Slowly rotate the two half couplings at the same time, using special tools or alignment lines to rotate to 0°, 90°, 180°, and 270° in sequence, and measure the radial value a and axial value b at the four positions;

[0137] Step 3: Rotate the coupling again and observe whether the measured value obtained in the previous step changes. If a1+a3=a2+a4, b1+b3=b2+b4 are satisfied, then there is no error in the measurement. Otherwise, check and eliminate the error before measuring again.

[0138] Step 4. Calculate the coaxiality: horizontal radial displacement (a1-a3) / 2, vertical radial displacement (a2-a4) / 2, horizontal axial deviation (tilt) (b1'+b3")-(b2"+b4') / 2, vertical axial deviation (b2'+b4")-(b2"+b4') / 2, where b' and b" represent two dial indicators or measuring points for measuring axial clearance.

[0139] 2. Laser-assisted adjustment of coupling alignment

[0140] (I) Coupling alignment modeling

[0141] During the coupling alignment error measurement and adjustment process, after determining the alignment error parameters (e, α, β, f1, f2), Figure 2 As shown, once the coupling centering error exceeds the standard range, the centering adjustment is performed. The relative installation positions of the two laser machines connected by the coupling need to be changed. The formation process of the coupling centering error is analyzed, and the adjustment method is obtained. To change the centering state of the coupling, it is only necessary to adjust the installation position of one of the laser machines. The laser machine 1 that is not adjusted is called a static laser machine, and then the active laser machine 2 is selected as the movable laser machine to be adjusted. The centering error parameters (e, α, β, f1, f2) are obtained during the measurement process. The rotation axes l1 and l2 of the two laser machines are in a spatial intersection relationship, and the relative position relationship of the two half couplings is determined. For the other rotation axis l2, it is in a spatial relationship with the ground support point of the movable laser machine 2. The specific spatial position of the ground support point of the movable laser machine 2 cannot be measured in the adjustment benchmark. In the process of adjusting the benchmark, the appropriate adjustment direction and distance for adjusting the ground support point of the movable laser machine 2 cannot be determined.

[0142] 1. Determine the spatial position of the movable laser machine 2

[0143] like Figure 3 , based on the spatial relationship between the rotation axis l2 and the anchor fulcrum of the movable laser machine 2, the anchor installation plane of the movable laser machine 2 is formed by three anchor fulcrums A, B, and C, the rotation axis l2 is parallel to the anchor installation plane, O2 is the center of the left end face of F2, and F2 is a half coupling, and the size relationship between the rotation axis l2 and the anchor fulcrums A, B, and C is obtained;

[0144] Figure 3 O2, X 22 , Y 22 , Z 22 Form a rectangular coordinate system, the rotation axis l2 and Y 22 Axis coincidence, Z 22 The axis is perpendicular to the ground installation plane of the movable laser machine 2, and the movable laser machine 2 is fixed on O2 and X 22 , Y 22 , Z 22 The axis is parallel to the installation plane of the movable laser machine 2, and the support points A, B, and C of the base are at O2, X 22 , Y 22 , Z 22 The homogeneous coordinate vectors in the coordinate system are as follows:

[0145] O2A 22 =[X 22A , Y 22A , Z 22A , 1] T =[a,c,-h,1] T

[0146] O2B 22 =[X 22B , Y 22B , Z 22B , 1] T =[a,b+c,-h,1] T

[0147] O2C 22 =[X 22C , Y 22C , Z 22C , 1] T =[-a,c,-h,1] T Formula 1

[0148] At the same time, the distances AB, BC, and CA between two points among A, B, and C are:

[0149] AB=b

[0150]

[0151] CA=2a Formula 2

[0152] The spatial position of the movable laser machine 2 is obtained.

[0153] 2. Establish the centering measurement coordinate system

[0154] like Figure 3As shown, based on the spatial position relationship of the two half couplings F1 and F2, the X0 axis is perpendicular to the horizontal axes of the Y0 and Y1 axes and passes through the O1 point; the Z0 axis is the vertical axis passing through the O1 point, and the Y0 axis and l1 pass through the O1 point in the same vertical plane; the γ angle is the angle between the Y0 and Y1 axes and is an unknown quantity. O1, X0, Y0, and Z0 are fixed to the ground, describing the spatial position of the rotation axis l1 of the laser machine 1 in the stationary rectangular coordinate system O1, X0, Y0, and Z0. When the Y1 axis rotates counterclockwise relative to the Y0 axis, the γ angle is positive when viewed against the positive X0 axis direction.

[0155] Figure 4 The rectangular coordinate system O2, X 22 , Y 22 , Z 22 , and the rectangular coordinate system O2, X2, Y2, Z2 share the same origin and Y axis, and use k angle to represent X 22 The position of the axis relative to the X2 axis is expressed as angle k, which is the rotation of the movable laser machine around its own rotating axis 12. The angle k takes a positive value according to the right-hand rule. The installation planes of the laser machines 1 and 2 are parallel (both are close to the horizontal plane, which is called installation method 1), and the angle k is an essential parameter for determining the relative positions of the laser machines 1 and 2.

[0156] In the case of installation method 2, that is, the installation plane of laser machine 1 is perpendicular to the installation plane of laser machine 2, if the relative position parameters (e', α', β', f1', f2') of laser machines 1 and 2 are the same as the relative position parameters (e, α, β, f1, f2) of laser machines 1 and 2 in installation method 1, then the relative positions of the rotation axes l1, l2 and the alignment states of the couplings of the two laser machines are the same in both installation methods.

[0157] The k angle also describes the different relative positions of the two laser machines 1 and 2. In installation mode 1, the k angle is approximately equal to 0; in installation mode 2, the k angle is approximately equal to 90. With the installation plane changing with any degree of freedom, the k angle can also change arbitrarily in the range of 0° to 360°. The relative position relationship of the two laser machines is related to the relative position parameters (e, α, β, f1, f2) and is also affected by the k angle. The centering error parameters (e, α, β, f1, f2) of the coupling and the k angle together fully describe the relative position relationship of the two laser machines. The rectangular coordinate system O2, X 22 , Y 22 , Z 22 Homogeneous transformation matrix for stationary rectangular coordinate system O1, X0, Y0, Z0 22 0 T is:

[0158]

[0159] In the formula, cγ=cosγ, sγ=sinγ, and so on.

[0160] 3. Calculate the k angle based on the perturbation method

[0161] After the five parameters of the coupling centering error e, α, β, f1, and f2 are measured and determined, a foot support point of the movable laser machine 2 moves according to the conditions, that is, perturbs, and then the five parameters of the coupling centering e', α', β', f1', and f2' are measured at this time. The known perturbation movement is combined with the two sets of error parameters to determine the displacement of each foot support point during the perturbation process, and an equation is established to obtain the r angle before the perturbation. The calculation process is:

[0162] 1) Before perturbation: The stationary rectangular coordinate system is O2, X 20 , Y 20 , Z 20 The stationary rectangular coordinate system O2, X2, Y2, and Z2 are overlapped with each other before the perturbation, and the stationary rectangular coordinate system O2, X2, Y2, and Z2 are calculated. 20 , Y 20 , Z 20 Homogeneous transformation matrix for stationary rectangular coordinate system O1, X0, Y0, Z0 22 0 T is:

[0163]

[0164] The anchor point B is the perturbation point, and the homogeneous coordinate vector of point B in the stationary rectangular coordinate system O1, X0, Y0, Z0 is:

[0165]

[0166] 2) Perturbation at the anchor point B: Keep the positions of points A and C fixed, add a gasket with a thickness of δ at the anchor point B. The value of δ is a known quantity. Then the displacement vector of B in this perturbation process is in O2, X 20 , Y 20 , Z 20 In the expression:

[0167]

[0168] 3) After perturbation: The rotation angle of the movable laser machine around its own rotation axis l2 is k'. The five parameters of the coupling alignment at this time, e', a', β', f', and f', are determined by the dial indicator measurement method. At this time, the rectangular coordinate system O2, X 20 , Y 20 , Z 20 The homogeneous transformation matrix of the stationary rectangular coordinate system O1, X0, Y0, Z0 is:

[0169]

[0170] The homogeneous coordinate vector O1B0' of the anchor point B in the stationary rectangular coordinate system O1, X0, Y0, Z0 is:

[0171]

[0172] From equations 5 and 8, the displacement homogeneous vector of the anchor point B during the perturbation process can be described in the stationary rectangular coordinate system O1, X0, Y0, Z0 as follows:

[0173] ΔB0=OB0'-O1B0 Formula 9

[0174] The displacement homogeneous vector of the anchor point B during the perturbation is obtained in the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 The description is:

[0175]

[0176] Establish a system of equations including k and k'. The angle k before perturbation is calculated by this system of equations. The unknown angle γ is eliminated in the calculation. The angle γ does not affect △B. 20 , △B 20 The value of is independent of the γ angle.

[0177] (II) Calculation of coupling alignment

[0178] 1. Calculate the movement of each foot support point of the movable laser machine

[0179] Before the centering adjustment is performed, the specific description of the position of the stationary laser machine 1 in the stationary rectangular coordinate system O1, X0, Y0, Z0, and the specific description of the position of the foot support and the installation plane of the movable laser machine 2 in the stationary rectangular coordinate system O1, X0, Y0, Z0 are all unknown quantities. The installation plane of the movable laser machine before adjustment is observed and measured on the adjustment site (parallel to the stationary rectangular coordinate system O2, X0, Y0, Z0). 20 , Y 20 , Z 20 O2, X 20 , Y 20 , Z 20 The determination of angle k provides convenient conditions for the calculation of centering adjustment. By determining the relative position relationship of the movable laser machine 2 to the stationary laser machine 1 (e, α, β, f1, f2, k are all known quantities), the coupling centering adjustment is finally achieved, and the corresponding foot support points of the movable laser machine 2 and l2 corresponding to the movement and rotation of l2 are obtained in the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20The movement amount (adjustment amount) in is calculated, and the direction to which the rotating shaft 12 of the movable laser machine 2 should be moved and rotated is calculated so that l2 and 11 can completely overlap.

[0180] 1) Calculate the movement of the movable laser machine's rotary axis l2

[0181] When the rotating axis l2 of the movable laser machine is adjusted to translate a distance e along the common perpendicular line PC and form an angle α with PC, the state of the rotating axis at this time is completely centered, that is, l2 completely overlaps with l1. Assume that the error parameters of the rotating axis of the movable laser machine in the completely centered state are: e", α", β", f1", f2", and the rotation angle of the movable laser machine around its own rotating axis l2 is k", and we get:

[0182] e"=0, α"=0, β"=β, f1"=f1, f2"=f2,, k"=k Equation 11

[0183] In the process of adjusting the rotary axis, the rotation quantity S is used to represent the movement of the movable laser machine 2 in the stationary coordinate system:

[0184] S=Screw(pe,e,α)=Rot(pc,α)Trans(pc,e) Equation 12

[0185] Assume that before adjusting the rotating axis of the movable laser machine, the origin is at point P, the X axis coincides with CP, and the static rectangular coordinate system when l2 coincides with the Y axis is PX*Y*Z*. Then PX*Y*Z* is proportional to the static rectangular coordinate system O2, X 20 , Y 20 , Z 20 The homogeneous transformation matrix is:

[0186]

[0187] In the rectangular coordinate system PX*Y*Z*, the spinor S is:

[0188]

[0189] That is, the movement of the movable laser machine rotation axis l2 makes l2 and l1 completely coincide in the rectangular coordinate system PX * Y * Z * Description in .

[0190] 2) Calculation of the movement of each foot support point of the movable laser machine

[0191] The on-site reference plane for adjustment is the installation plane of the movable laser machine (parallel to the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 O2, X 20, Y2 plane), the movement amount is expressed in the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 Describe the movement of the three foot supports A, B, and C by the screw action, using the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 Described as:

[0192]

[0193]

[0194] Calculate the movement of each anchor point along three determined directions.

[0195] 2. Calculate the adjustment amount of each foot support point of the movable laser machine

[0196] The three anchor points A, B, and C are not independent when moving, but have mutual influence. The nine calculated movement components are processed and converted into adjustment quantities that are easy to operate and equivalent to the three equations. These adjustment quantities are processed in three steps, including:

[0197] 1) Move the movable laser machine to point A by three steps △A 20x , A 20y , A 20z To perform translation;

[0198] 2) Keep the laser machine point A unchanged, and adjust point B so that point B is along Z 20 Direction moving distance △B z ,△B z =(△B 20z -△A 20z ), in X 20 Direction movement △B x , △B x =(△B 20x -△A 20x ), and point C moves with it.

[0199] 3) To adjust point C, keep points A and B unchanged and point C at Z 20 Direction movement △C z ,△C z =(△C 20z -△A 20z ), follow the above three steps, use △A 20x , △A 20y , △A 20z , △B 20x , △B 20y , △B 20zSix independent moving components are used for adjustment, enabling efficient coupling alignment.

[0200] 3. Introducing the spinor S

[0201] The introduction of the rotation quantity S simplifies the originally complicated process of coupling alignment adjustment and presents it in quantitative form, converting equation 3 into the following form:

[0202]

[0203] The transformed formula (16) uses only the screw S to express the error and coordinate system conversion formed during the coupling alignment adjustment process. The alignment description error Screw (CP, e, α) in formula (16) is the inverse rotation of the system screw S.

[0204] 4. Calculation of the size error of the gasket at the anchor point

[0205] When calculating the coupling alignment adjustment model, the size and dimensions of the anchor point are ignored and reduced to a point, but in actual operation, the size of its contact surface still exists. When the coupling installation plane is not completely parallel to the reference plane, it is difficult to measure the height of other points on the contact surface to determine the exact thickness of the gasket. In other words, the height of each anchor point from the reference plane cannot be completely equal to the gasket thickness. The error generated here will make the result of the simulation calculation not optimal in actual application and fail to meet the requirements of coupling alignment.

[0206] In order to effectively realize the actual operation of coupling centering adjustment, this application is based on the perturbation method. It does not use the thickness of the gasket as a reference, but uses the relative position relationship of the two laser machines at both ends of the coupling as the basis for centering adjustment, so that the calculation is accurate and reliable. The introduction of the screw S simplifies the calculation of the centering adjustment process and opens up a new perspective to view the coupling centering adjustment. The introduction of the perturbation method and the screw not only makes the coupling centering adjustment process simple and effective, but also provides an analytical solution to a difficult problem in the calculation, that is, the measurement and adjustment of the relative position of two laser machines with unfixed positions in space. When the above method is analyzed into a mathematical model, the calculation formula is listed, and a computer program is written to simulate the coupling centering adjustment process, it can not only simplify the process, but also improve the accuracy of the centering adjustment, and lay a solid foundation for the automatic centering adjustment of the coupling.

[0207] (III) Online monitoring of coupling alignment error

[0208] The connection status of the coupling to the laser machine includes cold and hot states. The state when the coupling is offline is the cold connection state, and the coupling is stationary. The state when the coupling is online is the hot connection state, and the coupling is working. When the coupling is in working state, it is impossible to accurately measure the centering error. In addition, during the hot connection process, what is to be obtained is not the specific data after online monitoring of the centering error change, but the change of the error caused by other influences. The error change during the centering adjustment process of the coupling is obtained by real-time monitoring of the strain of the rotating shaft.

[0209] 1. Equipment condition monitoring and fault diagnosis based on vibration analysis

[0210] In actual production, a variety of difference factors are inevitable, such as impure workpiece material, unstable operation on the production line, uneven cold and hot parts, etc. These will cause certain friction impacts on the processing devices on the production line. When the load reaches a certain level or the impact is too large, it will cause overload. If the coupling is severely worn, its characteristic frequency is difficult to detect and display in the spectrum diagram, which makes diagnosis difficult. In severe cases, huge economic losses will occur due to deviation in the centering process. Although coupling fault diagnosis is currently valued at home and abroad, and various methods have been proposed one after another, these methods have a common defect that they cannot monitor the hidden dangers of coupling failures in advance and give managers effective time to deal with the failures.

[0211] To this end, the present application repeatedly studies the frequency spectrum of the actual alignment process, establishes a method that combines the gear meshing characteristic frequency with the equally spaced frequency to diagnose the coupling fault. When the fault cannot be monitored for a low-speed, heavy-loaded rotating device with a characteristic frequency, the fault problem is determined based on whether the gear meshing characteristic frequency in the frequency spectrum is equal to the equally spaced frequency. The above two frequencies (gear meshing characteristic frequency and equally spaced frequency) in the frequency spectrum generated by the drum gear speed increaser fault diagnosis are compared, and it is summarized that the characteristic frequency of the speed increaser is large when a fault occurs. This method is used to judge other equipment on the production line, and the potential fault of another rolling mill coupling is discovered.

[0212] 2. Alignment error monitoring and diagnosis method

[0213] (1) Vibration data transmission process and gear frequency calculation

[0214] The vibration signal is collected by the sensor, uploaded to the signal conditioner, and then converted by the acquisition card, that is, the analog signal is converted into a digital signal that can be recognized and processed by the computer. The conditioner is equipped with special analysis software to extract and store various parameters in the vibration signal, including: signal vibration frequency, amplitude, and the number of characteristic frequency changes in one cycle;

[0215] The calculation formula for gear mesh frequency includes:

[0216] First-order gear meshing frequency: fC0=N 60 Z;

[0217] Higher harmonics of meshing frequency: fC i =i×fC i =fC 0i ,i=2,3,4,…,n;

[0218] Where: N is the speed of the gear shaft, unit: r / min; Z is the number of teeth on the gear.

[0219] (2) Detection and diagnosis process

[0220] The method of judging whether the coupling is faulty by whether the characteristic frequency of gear meshing in the spectrum is equal to the equally spaced frequency is as follows: when there are other faulty parts on the shaft component, the gear is impacted, the gear meshing is abnormal, and the characteristic frequency detected on the spectrum graph changes. When the coupling is worn to a certain extent (which is not enough to cause a fault), the rotation position of the two connected shaft components will deviate from the axis of rotation, causing the gear meshing to change. The gear meshing change generates harmonics, which have a higher amplitude in the spectrum graph. In the characteristic frequency spectrum graph generated by actual operation, the output signal in each same interval is exactly the same. The reciprocal of the interval is the measured equally spaced characteristic frequency, and the calculation formula is as follows:

[0221] fC=f1-f2

[0222] fC=f3-f2 Formula 17

[0223] Where: f1, f2, f3 are the harmonics with higher vibration amplitude in the frequency diagram, and fC is the difference in frequency between the higher harmonics;

[0224] The online system calculates and generates the meshing frequency based on the gear speed. If the absolute error rate between the calculated equally spaced characteristic frequency and the automatically generated gear meshing frequency is very small, that is, fC≈fC0, and it occurs more than once within a month, it is determined that the coupling of the monitored equipment has been worn and needs to be repaired as soon as possible.

[0225] (3) Embodiment 1

[0226] A survey was conducted on the rod wire of a steel plant where the coupling was damaged. The characteristic frequency of the 18# drum gear speed increaser was detected. When rolling steel, the acceleration sensor placed in the vertical position of the bearing seat collected the acceleration data of the speed increaser, uploaded it to the signal conditioner, and then converted the signal through the acquisition card and sent it to the computer. The first equal interval appeared on the spectrum graph collected on the 15th day. The frequencies were: 495Hz, 990Hz and 1485Hz. The calculated amplitude of the equal interval was 495Hz, 990Hz and 1485Hz. The calculated amplitude of the equal interval was 900-495=1485-990=495Hz. The gear characteristic frequency automatically calculated by the system was 494.82Hz, which was approximately equal to the equal interval characteristic frequency. The error rate was only 0.17%. At this time, the maximum vibration amplitude was 1.25m / s2. The second equal interval on the spectrum graph has frequencies of 432.5Hz, 865Hz, and 1297.5Hz. The calculated amplitude of the equal interval is 1297.5-865=865-432.5=432.5Hz, and the gear characteristic frequency automatically calculated by the system is also 432.5Hz, which is equal to the amplitude of the equal interval. At this time, the maximum vibration amplitude is 0.78m / s 2 The coupling of the speed increaser has worn out, and the cause of the failure may be looseness and cracks.

[0227] like Figure 5 , within 15 days, the 18# drum gear speed increaser had multiple cases where the equally spaced characteristic frequencies were approximately equal to the automatically generated gear meshing frequency, and 3 days later, the coupling of the equipment broke, so the diagnostic method of this application has a high credibility and can be used as a reference for actual production. That is, if within a certain period of time, the measured equally spaced characteristic frequencies are very close to the gear meshing frequency many times, it means that the monitored equipment has a hidden danger of coupling damage.

[0228] From the above examples, it can be seen that the method of judging whether the coupling is faulty by comparing whether the characteristic frequency of gear meshing in the laser machine spectrum is very close to the equally spaced frequency is highly reliable. In actual production, when multiple difference factors are inevitable, the hidden dangers of coupling wear can be predicted in advance. This solves the problem of monitoring coupling failure when it is difficult to detect the characteristic frequency in the laser machine spectrum.

Claims

1. Laser signal coupling misalignment detection and alignment adjustment method, characterized in that: The coupling alignment is detected through laser alignment, and the calculation analysis and adjustment model of coupling alignment is established by introducing the screw factor based on the perturbation method. The coupling misalignment is measured and aligned to ensure that the axis lines of the unit meet the coaxial requirements, eliminate the unnecessary mechanical stress of the coupling, and ensure the reasonable alignment state that the coupling should maintain during operation. AIn the detection of coupling misalignment, the coupling misalignment laser signal detection is adopted: the three situations of parallel misalignment, angular misalignment and comprehensive misalignment of the coupling shaft system are detected respectively, and a method for detecting coupling misalignment based on laser alignment is established. The transmission, reception and displacement deviation calculation of coupling measurement data are realized based on laser signals, and the angle, parallelism and other deviations of coupling misalignment are calculated according to the measured signal displacement. Based on the good stability and reliability of laser signals, accurate measurement data is obtained, laying a solid foundation for the subsequent coupling alignment; The laser signal detection of coupling misalignment is adopted. First, the laser alignment instrument is used for primary alignment. Second, the laser signal coupling alignment structure is established. Third, the approximate measurement of the alignment in the connected state and the allocation modeling of the coupling error are carried out. Fourth, the coaxiality inspection measurement and the assembly of the coupling are carried out. B. In terms of coupling alignment and adjustment, coupling alignment laser-assisted adjustment is adopted: first, the coupling alignment error parameters are calculated based on the laser alignment method and the location of the error exceeding the standard is determined. Then, the alignment adjustment is performed based on the perturbation method. The relative offset position of the coupling laser machine is accurately located. At the same time, the rotation factor is introduced to calculate and analyze the adjustment amount and misalignment error. The coupling support feet and gaskets are adjusted according to different offsets. Finally, the coupling alignment is achieved. The experimental results show that the coupling misalignment measurement and alignment effect is good. Laser-assisted adjustment of coupling centering is adopted: first, modeling of coupling centering adjustment is carried out, including determining the spatial position of the movable laser machine 2, establishing a centering measurement coordinate system, and calculating the k angle based on the perturbation method; second, calculation of coupling centering adjustment is carried out, including calculating the movement of the anchor points of the movable laser machine, calculating the adjustment amount of the anchor points of the movable laser machine, introducing the rotation S, and calculating the gasket size error of the anchor points; third, online monitoring of coupling centering error is carried out, including equipment status monitoring and fault diagnosis based on vibration analysis, and centering error monitoring and diagnosis methods.

2. According to claim 1, the method for detecting and aligning the laser signal coupling is characterized in that: Establish the laser signal coupling alignment structure: including laser transmitter, laser fixture, data line, receiver, calculator, S and M units are two dial indicators fixed on both sides of the coupling, laser transmitter and receiver are placed in S and M units respectively, and both units can transmit and receive each other's signals; When the laser beam falls on the photoelectric dot matrix collection surface CCD of the receiver, a signal is generated and calculated by the computer processor. The S and M units respectively send out laser beams that can be received by the other party. After the energy center point of the irradiated area is determined, the energy center points of each beam also produce displacements A1 and A2 on the CCD collection surface of the other receiver. At the same time, the SM unit rotates with the axis. Assuming that the displacement of the M unit is positive at the top and negative at the bottom, the S unit receives the same signal. Based on the similarity calculation unit, the parallel deviation and angle deviation in the horizontal and vertical directions are calculated, and the corresponding adjustment values ​​of the front and rear feet of the equipment are calculated; (1) The parallel deviation and the foot adjustment value decrease as the angle deviation decreases. When the angle deviation is 0, the parallel deviation and the foot adjustment value reach the minimum value △1. The way to reduce the adjustment amount is to reduce the angle deviation and thus reduce the parallel deviation. (2) As the SC increases, the parallel deviation increases. When installing the fixture, try to increase the SC spacing to improve the accuracy of the parallel deviation during measurement.

3. The method for detecting and aligning the laser signal coupling according to claim 1 is characterized in that: Coaxiality inspection and measurement and coupling assembly: (1) Flange coupling ① The tilt shall not be greater than 0.05 / 1000, the radial displacement of the coaxiality of the two shafts shall not exceed 0.03mm, and the semicircular mating ring shall be in close contact with the end faces of the two half couplings; ②The radial joint surface runout is not more than 0.03mm, and the axial joint surface runout is not more than 0.04mm; (2) Oldham coupling When assembling the Oldham coupling, the end face clearance and the maximum diameter of the coupling are different. When the maximum diameter of the coupling does not exceed 190mm, it should be 0.5 to 0.8mm, and when it exceeds 190mm, it should be 1 to 1.5mm; (3) Elastic pin coupling The transmission connection form of the two half shafts is completed by using an elastic ring on the outer cover of the rigid screw. The provisions for different axial degrees between the two shafts refer to the provisions of the nylon pin coupling to avoid direct shearing of the connecting screw during startup and rotation. (4) Check and measure the coaxiality of the coupling at four positions evenly distributed on the coupling end face and circumference at 0°, 90°, 180°, and 270°: Step 1: Temporarily connect the two couplings to each other and draw an alignment line on the circumference with a special tool; Step 2: Slowly rotate the two half couplings at the same time, using special tools or alignment lines to rotate to 0°, 90°, 180°, and 270° in sequence, and measure the radial value a and axial value b at the four positions; Step 3: Rotate the coupling again and observe whether the measured value obtained in the previous step changes. If a1+a3=a2+a4, b1+b3=b2+b4 are satisfied, then there is no error in the measurement. Otherwise, check and eliminate the error before measuring again. Step 4. Calculate the coaxiality: horizontal radial displacement (a1-a3) / 2, vertical radial displacement (a2-a4) / 2, horizontal axial deviation (tilt) (b1'+b3")-(b2"+b4') / 2, vertical axial deviation (b2'+b4")-(b2"+b4') / 2, where b' and b" represent two dial indicators or measuring points for measuring axial clearance.

4. The method for detecting and aligning the laser signal coupling according to claim 1 is characterized in that: Coupling alignment adjustment modeling: During the coupling alignment error measurement and adjustment process, when determining the alignment error parameters (e, α, β, f1, f2), once the coupling centering error exceeds the standard range, the centering adjustment is carried out. The relative positions of the two laser machines connected by the coupling need to be changed. The formation process of the coupling centering error is analyzed, and the adjustment method is obtained. To change the centering state of the coupling, it is only necessary to adjust the installation position of one of the laser machines. The laser machine 1 that is not adjusted is called a static laser machine, and then the active laser machine 2 is selected as the movable laser machine to be adjusted. The centering error parameters (e, α, β, f1, f2) are obtained during the measurement process. The rotation axes l1 and l2 of the two laser machines are in a spatial intersection relationship, and the relative position relationship of the two half couplings is determined.

5. The method for detecting and aligning the laser signal coupling according to claim 1 is characterized in that: Determine the spatial position of the movable laser machine 2: Based on the spatial relationship between the rotation axis l2 and the anchor fulcrum of the movable laser machine 2, the anchor installation plane of the movable laser machine 2 is formed by three anchor fulcrums A, B, and C. The rotation axis l2 is parallel to the anchor installation plane, O2 is the center of the left end face of F2, and F2 is a half coupling. The size relationship between the rotation axis l2 and the anchor fulcrums A, B, and C is obtained; O2, X 22 , Y 22 , Z 22 Form a rectangular coordinate system, the rotation axis l2 and Y 22 Axis coincidence, Z 22 The axis is perpendicular to the ground installation plane of the movable laser machine 2, and the movable laser machine 2 is fixed on O2 and X 22 , Y 22 , Z 22 The axis is parallel to the installation plane of the movable laser machine 2, and the support points A, B, and C of the base are at O2, X 22 , Y 22 , Z 22 The homogeneous coordinate vectors in the coordinate system are as follows: O2A 22 =[X 22A ,Y 22A ,Z 22A ,1] T =[a,c,-h,1] T O2B 22 =[X 22B ,Y 22B ,From 22B ,1] T =[a,b+c,-h,1] T O2C 22 = [X 22C , Y 22C , Z 22C , 1] T = [-a, c, -h, 1] T Equation 1 At the same time, the distances AB, BC, and CA between two points among A, B, and C are: AB=b CA=2a Formula 2 The spatial position of the movable laser machine 2 is obtained.

6. The method for detecting and aligning the laser signal coupling according to claim 1 is characterized in that: Establish the centering measurement coordinate system: Based on the spatial position relationship of the two half couplings F1 and F2, the X0 axis is perpendicular to the horizontal axis of the Y0 and Y1 axes and passes through the O1 point; the Z0 axis is the vertical axis passing through the O1 point, and the Y0 axis and l1 pass through the O1 point in the same vertical plane; the γ angle is the angle between the Y0 and Y1 axes and is an unknown quantity. O1, X0, Y0, and Z0 are fixed to the ground, describing the spatial position of the rotation axis l1 of the laser machine 1 in the stationary rectangular coordinate system O1, X0, Y0, and Z0. When the Y1 axis rotates counterclockwise relative to the Y0 axis, the γ angle is positive when viewed against the positive X0 axis direction; Cartesian coordinate system O2, X 22 , Y 22 , Z 22 , and the rectangular coordinate system O2, X2, Y2, Z2 share the same origin and Y axis, and use k angle to represent X 22 The position of the axis relative to the X2 axis is expressed as angle k, which is the rotation of the movable laser machine around its own rotary axis 12. The angle k takes a positive value according to the right-hand rule. The installation planes of the laser machines 1 and 2 are parallel, and the angle k is an essential parameter for determining the relative position of the laser machines 1 and 2. In the case of installation mode 2, that is, the installation plane of laser machine 1 is perpendicular to the installation plane of laser machine 2, if the relative position parameters (e', α', β', f1', f2') of laser machines 1 and 2 are the same as the relative position parameters (e, α, β, f1, f2) of laser machines 1 and 2 in installation mode 1, then the relative positions of the rotation axes l1, l2 and the alignment states of the couplings of the two laser machines are the same in both installation modes; The k angle also describes the different relative positions of the two laser machines 1 and 2. In installation mode 1, the k angle is approximately equal to 0; in installation mode 2, the k angle is approximately equal to 90. With the installation plane changing with any degree of freedom, the k angle can also change arbitrarily in the range of 0° to 360°. The relative position relationship of the two laser machines is related to the relative position parameters (e, α, β, f1, f2) and is also affected by the k angle. The centering error parameters (e, α, β, f1, f2) of the coupling and the k angle together fully describe the relative position relationship of the two laser machines. The rectangular coordinate system O2, X 22 , Y 22 , Z 22 Homogeneous transformation matrix for stationary rectangular coordinate system O1, X0, Y0, Z0 22 0 T is: In the formula, cγ=cosγ, sγ=sinγ, and so on.

7. The method for detecting and aligning the laser signal coupling according to claim 1 is characterized in that: Calculate the k angle based on the perturbation method: After the five parameters of the coupling centering error e, α, β, f1, and f2 are measured and determined, a foot support point of the movable laser machine 2 moves according to the conditions, that is, perturbs, and then measures the five parameters of the coupling centering e', α', β', f1', and f2' at this time. The known perturbation movement is combined with the two sets of error parameters to determine the displacement of each foot support point during the perturbation process, and establish an equation to obtain the r angle before the perturbation. The calculation process is: 1) Before perturbation: The stationary rectangular coordinate system is O2, X 20 , Y 20 , Z 20 The stationary rectangular coordinate system O2, X2, Y2, and Z2 are overlapped with each other before the perturbation, and the stationary rectangular coordinate system O2, X2, Y2, and Z2 are calculated. 20 , Y 20 , Z 20 Homogeneous transformation matrix for stationary rectangular coordinate system O1, X0, Y0, Z0 22 0 T is: The anchor point B is the perturbation point, and the homogeneous coordinate vector of point B in the stationary rectangular coordinate system O1, X0, Y0, Z0 is: 2) Perturbation at the anchor point B: Keep the positions of points A and C fixed, add a gasket with a thickness of δ at the anchor point B. The value of δ is a known quantity. Then the displacement vector of B in this perturbation process is in O2, X 20 , Y 20 , Z 20 In the expression: 3) After perturbation: The rotation angle of the movable laser machine around its own rotation axis l2 is k'. The five parameters of the coupling alignment at this time, e', a', β', f', and f', are determined by the dial indicator measurement method. At this time, the rectangular coordinate system O2, X 20 , Y 20 , Z 20 The homogeneous transformation matrix of the stationary rectangular coordinate system O1, X0, Y0, Z0 is: The homogeneous coordinate vector O1B0' of the anchor point B in the stationary rectangular coordinate system O1, X0, Y0, Z0 is: From equations 5 and 8, the displacement homogeneous vector of the anchor point B during the perturbation process can be described in the stationary rectangular coordinate system O1, X0, Y0, Z0 as follows: ΔB0=O1B0′-O1B0 Formula 9 The displacement homogeneous vector of the anchor point B during the perturbation is obtained in the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 The description is: Establish a system of equations including k and k'. The angle k before perturbation is calculated by this system of equations. The unknown angle γ is eliminated in the calculation. The angle γ does not affect △B. 20 , △B 20 The value of is independent of the γ angle.

8. The method for detecting and aligning the laser signal coupling according to claim 1 is characterized in that: Calculate the movement of the anchor points of the movable laser machine: When the centering adjustment is not performed, the specific description of the position of the stationary laser machine 1 in the stationary rectangular coordinate system O1, X0, Y0, Z0, and the specific description of the position of the anchor points and installation plane of the movable laser machine 2 in the stationary rectangular coordinate system O1, X0, Y0, Z0 are all unknown quantities. The installation plane of the movable laser machine before adjustment is observed and measured at the adjustment site. The determination of the k angle provides convenient conditions for the calculation of the centering adjustment. By determining the relative position relationship of the movable laser machine 2 with respect to the stationary laser machine 1, the coupling centering adjustment is finally realized, and the anchor points of the movable laser machine 2 corresponding to the movement and rotation of l2 in the stationary rectangular coordinate system O2, X0, Y0, Z0 are obtained. 20 , Y 20 , Z 20 The amount of movement in the figure is calculated, and the direction in which the rotary axis 12 of the movable laser machine 2 should be moved and rotated so that l2 and 11 completely overlap; 1) Calculate the movement of the movable laser machine's rotary axis l2 When the rotating axis l2 of the movable laser machine is adjusted to translate a distance e along the common perpendicular line PC and form an angle α with PC, the state of the rotating axis at this time is completely centered, that is, l2 completely overlaps with l1. Assume that the error parameters of the rotating axis of the movable laser machine in the completely centered state are: e", α", β", f1", f2", and the rotation angle of the movable laser machine around its own rotating axis l2 is k", and we get: e"=0, α"=0, β"=β, f1"=f1, f2"=f2,, k"=k Equation 11 In the process of adjusting the rotary axis, the rotation quantity S is used to represent the movement of the movable laser machine 2 in the stationary coordinate system: S=Screw(pc,e,α)=Rot(pc,α)Trans(pc,e) Equation 12 Assume that before adjusting the rotating axis of the movable laser machine, the origin is at point P, the X axis coincides with CP, and the static rectangular coordinate system when l2 coincides with the Y axis is PX * Y * Z * , then PX * Y * Z * For the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 The homogeneous transformation matrix is: In the rectangular coordinate system PX * Y * Z * In this case, the spinor S is: That is, the movement of the movable laser machine rotation axis l2 makes l2 and l1 completely coincide in the rectangular coordinate system PX * Y * Z * Description in; 2) Calculation of the movement of each foot support point of the movable laser machine The on-site reference plane for adjustment is the installation plane of the movable laser machine (parallel to the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 O2, X 20 , Y2 plane), the movement amount is expressed in the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 Describe the movement of the three foot supports A, B, and C by the screw action, using the stationary rectangular coordinate system O2, X 20 , Y 20 , Z 20 Described as: Calculate the movement of each anchor point along three determined directions.

9. The method for detecting and aligning the laser signal coupling according to claim 1 is characterized in that: Calculate the adjustment amount of each foot support point of the movable laser machine: The three foot support points A, B, and C are not independent when moving, and there is mutual influence. The 9 calculated movement components are processed and converted into easy-to-operate adjustment amounts equivalent to the three formulas. These adjustment amounts are processed in three steps, including: 1) Move the movable laser machine to point A by three steps △A 20x , A 20y , A 20z To perform translation; 2) Keep the laser machine point A unchanged, and adjust point B so that point B is along Z 20 Direction moving distance △B z ,△B z =(△B 20z -△A 20z ), in X 20 Direction movement △B x , △B x =(△B 20x -△A 20x ), while point C moves with it; 3) To adjust point C, keep points A and B unchanged and point C at Z 20 Direction movement △C z ,△C z =(△C 20z -△A 20z ), follow the above three steps, use △A 20x , △A 20y , △A 20z , △B 20x , △B 20y , △B 20z Six independent moving components for adjustment, achieving efficient coupling alignment adjustment; The introduction of the rotation quantity S simplifies the originally complicated process of coupling alignment adjustment and presents it in quantitative form, converting equation 3 into the following form: The transformed formula (16) uses only the screw S to express the error and coordinate system conversion formed during the coupling alignment adjustment process. The alignment description error Screw (CP, e, α) in formula (16) is the inverse rotation of the system screw S.

10. The method for detecting and aligning a laser signal coupling according to claim 1, characterized in that: Alignment error monitoring and diagnosis method: (1) Vibration data transmission process and gear frequency calculation The vibration signal is collected by the sensor, uploaded to the signal conditioner, and then converted by the acquisition card, that is, the analog signal is converted into a digital signal that can be recognized and processed by the computer. The conditioner is equipped with special analysis software to extract and store various parameters in the vibration signal, including: signal vibration frequency, amplitude, and the number of characteristic frequency changes in one cycle; The formula for calculating the gear mesh frequency includes: First-order gear meshing frequency: fC0=N 60 Z; Higher harmonics of meshing frequency: fC i =i×fC i =fC 0i ,i=2,3,4,…,n; Where: N is the speed of the gear shaft, unit: r / min; Z is the number of teeth on the gear; (2) Detection and diagnosis process The method of judging whether the coupling is faulty by whether the characteristic frequency of gear meshing in the spectrum is equal to the equally spaced frequency is as follows: when there are other faulty parts on the shaft component, the gear is impacted, the gear meshing is abnormal, and the characteristic frequency detected on the spectrum graph changes. When the coupling is worn to a certain extent, the rotation position of the two shaft components connected to it will deviate from the axis of rotation, thereby causing the gear meshing to change. The gear meshing change generates harmonics, which have a higher amplitude in the spectrum graph. In the characteristic frequency spectrum graph generated by actual operation, the output signal in each same interval is exactly the same. The reciprocal of the interval is the measured equally spaced characteristic frequency, and the calculation formula is as follows: fC=f1-f2 fC=f3-f2 Formula 17 Where: f1, f2, f3 are the harmonics with higher vibration amplitude in the frequency diagram, and fC is the difference in frequency between the higher harmonics; The online system calculates and generates the meshing frequency based on the gear speed. If the absolute error rate between the calculated equally spaced characteristic frequency and the automatically generated gear meshing frequency is very small, that is, fC≈fC0, and it occurs more than once within a month, it is determined that the coupling of the monitored equipment has been worn.

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