Coupler coaxiality automatic centering device and method

Abstract

The invention belongs to the technical field of electrical automatic control and mechanical equipment, and particularly relates to an automatic centering device and method for the coaxiality of a coupler. The automatic centering device comprises a detection mechanism and a coupler position adjusting mechanism, the detection mechanism comprises a main cross arm, a left support arm, a right support arm, a movable support arm I, a movable support arm II, a lower support arm and a control system, and the left support arm, the right support arm and the lower support arm are vertically welded on the main cross arm; the movable support arm I and the movable support arm II are connected below the main cross arm through a sliding mechanism I; a multi-point laser sensor I is arranged on the left supporting arm, a multi-point laser sensor II is arranged on the right supporting arm, an electromagnet I is arranged at the lower end of the movable supporting arm I, an electromagnet II is arranged at the lower end of the movable supporting arm II, and an electromagnet III is connected to the lower supporting arm through a sliding mechanism II. The control system is in signal connection with the detection mechanism and the coupler position adjusting mechanism. The automatic centering device is wide in application range, high in precision and high in automation degree.

Description

Technical Field

[0001] The invention belongs to the technical field of electrical automatic control and mechanical equipment, and in particular relates to a coupling coaxiality automatic centering device and method. Background Art

[0002] A coupling is a mechanical device used to connect two or more shafts and is widely used in various industrial machinery and equipment. However, during long-term use, the coupling may be damaged due to various reasons, affecting work efficiency. Therefore, the concentricity, parallelism and other parameter adjustments of the coupling are very demanding during installation. The standard requirements for the centering error of the coupling are generally that the coaxiality deviation is not greater than 0.10mm and the flatness deviation is not greater than 0.05mm. These standard requirements are intended to ensure the correct centering of the coupling during installation to reduce vibration and noise during operation and improve the operating efficiency and service life of the equipment.

[0003] If the coupling is not properly aligned during installation, the concentricity, parallelism and other parameter adjustment deviations of the coupling are too large, the distance between the coupling axis lines is difficult to maintain equal during operation, causing the transmission system to lose balance, the machine to vibrate and generate noise, leading to premature failure of mechanical parts such as couplings, bearings, gears, and seals, shortening the life of the equipment, and significantly increasing the equipment maintenance cost.

[0004] The invention patent with publication number CN117840743A discloses a coupling centering device and method, which can accurately locate the rotation angle, realize the synchronous rotation of the two half couplings, improve the centering accuracy, and is also applicable to old couplings with damaged contours. However, during use, the centering device of the invention requires manual adjustment of the end face dial indicator position, manual rotation of the half coupling, manual recording of the end face dial indicator data, and manual calculation of the parallelism error value and centering error value of the two half couplings. The whole process is cumbersome, time-consuming, labor-intensive, and inefficient.

[0005] Therefore, there is an urgent need for an efficient automatic centering device and adjustment method for coupling coaxiality that can liberate manpower to meet production needs. Summary of the invention

[0006] In order to solve the above-mentioned drawbacks of the prior art, the present invention discloses a coupling coaxiality automatic centering device, which adopts the following technical means:

[0007] A coupling coaxiality automatic centering device comprises a detection mechanism and a coupling position adjustment mechanism, wherein the detection mechanism comprises a main cross arm, a left support arm, a right support arm, a movable support arm I, a movable support arm II, a lower support arm and a control system.

[0008] The left arm, the right arm and the lower arm are vertically welded on the main cross arm, the left arm extends from the middle of the main cross arm to the left, the right arm extends from the middle of the main cross arm to the right, and the lower arm extends from the middle of the main cross arm downward;

[0009] The movable support arm I and the movable support arm II are connected below the main cross arm through a sliding mechanism I, and the lower support arm is located between the movable support arm I and the movable support arm II;

[0010] The left arm is provided with a multi-point laser sensor I, the right arm is provided with a multi-point laser sensor II, the lower end of the movable arm I is provided with an electromagnetic magnet I, the lower end of the movable arm II is provided with an electromagnetic magnet II, and the lower arm is connected with an electromagnetic magnet III via a sliding mechanism II;

[0011] The control system is connected with the sliding mechanism I, the sliding mechanism II, the multi-point laser sensor I, the multi-point laser sensor II and the coupling position adjustment mechanism by signal.

[0012] Furthermore, the sliding mechanism I comprises two slide rails I, two sliders I and a micro servo synchronous electric cylinder.

[0013] The two slide rails I are symmetrically arranged on the main cross arm, the two sliders I are respectively arranged on the two slide rails I, and the two sliders I are respectively connected to the movable support arm I and the movable support arm II;

[0014] The micro servo synchronous electric cylinder is arranged inside the main cross arm, the pistons at both ends of the micro servo synchronous electric cylinder are respectively connected to two sliders I, and the micro servo synchronous electric cylinder is connected to the control system signal.

[0015] Furthermore, the sliding mechanism II includes a slide rail II, a slider II and a micro electric cylinder.

[0016] The slide rail II is arranged on the lower support arm, the slider II is arranged on the slide rail II, and the slider II is connected to the electromagnetic magnet III;

[0017] The micro electric cylinder is fixed in the slide rail II, the piston of the micro electric cylinder is connected to the slide block II, and the micro electric cylinder is connected to the control system signal.

[0018] Further, the coupling is connected to the reducer, and the coupling position adjustment mechanism includes a U-shaped rod, a servo electric cylinder I, a servo electric cylinder II, a servo electric cylinder III and a servo electric cylinder IV.

[0019] The U-shaped rod is transversely arranged on the side of the reducer, and the U-shaped rod is detachably connected to the reducer.

[0020] The servo electric cylinder I and the servo electric cylinder II are arranged below the U-shaped rod, the piston of the servo electric cylinder I is connected to the front end of the U-shaped rod, and the piston of the servo electric cylinder II is connected to the rear end of the U-shaped rod;

[0021] The piston of the servo electric cylinder III is detachably connected to the front end of the side of the reducer base, and the piston of the servo electric cylinder IV is detachably connected to the rear end of the side of the reducer base.

[0022] Furthermore, the U-shaped rod is sleeved on the upper and lower cover bosses of the reducer and fixed by fastening bolts. Spherical countersunk holes are provided at both ends of the U-shaped rod, and the piston tops of the servo electric cylinders I and II are provided in the spherical countersunk holes.

[0023] Furthermore, the ends of the two slide rails I are provided with stoppers, and the stoppers are bolted to the main cross arm;

[0024] The electromagnetic magnet I is arranged on the inner side of the movable support arm I, and the electromagnetic magnet II is arranged on the inner side of the movable support arm II.

[0025] Furthermore, a through hole is respectively provided on the left arm and the right arm, and the sensing heads of the multi-point laser sensor I and the multi-point laser sensor II are fixed on the inner sides of the left arm and the right arm after passing through the through hole.

[0026] The present invention also discloses a method for automatically centering the coaxiality of a coupling using any of the above-mentioned automatic centering devices, wherein the coupling comprises a half coupling I and a half coupling II, wherein the half coupling II is located on a reducer, and the automatic centering method comprises the following steps:

[0027] S1. Calibration and testing organization;

[0028] S2. Place the detection mechanism on the half-coupling I, input the outer diameter size of the coupling into the control system. Based on the outer diameter size of the coupling, the control system adjusts the positions of the movable support arm I and the movable support arm II through the sliding mechanism I, and adjusts the position of the electromagnetic magnet III through the sliding mechanism II. After the adjustment, the electromagnetic magnet I, the electromagnetic magnet II and the electromagnetic magnet III are adsorbed on the half-coupling I. At this time, the adsorption surfaces of the electromagnetic magnet I, the electromagnetic magnet II and the electromagnetic magnet III are in the same cylindrical surface, and the center line of the cylindrical surface coincides with the center line of the half-coupling I. The multi-point laser sensor I is located above the half-coupling I, and the multi-point laser sensor II is located above the half-coupling II.

[0029] S3. Select 6 reference points a, b, c, d, e, and f on the surface of half coupling I, and set 6 detection points a1, b1, c1, d1, e1, and f1 on the side of half coupling II, where a, b, a1, and b1 are on a straight line, c, d, c1, and d1 are on a straight line, and e, f, e1, and f1 are on a straight line.

[0030] The vertical distances from the reference points a, b, c, d, e, and f on the half-coupling I to the center line of the half-coupling I are detected by the multi-point laser sensor I, and the vertical distances from the detection points a1, b1, c1, d1, e1, and f1 on the side of the half-coupling II to the center line of the half-coupling II are detected by the multi-point laser sensor II;

[0031] S4. Determine whether the vertical distances from the detection points a1 and b1 to the center line of the half-coupling II are consistent with the vertical distances from the reference points a and b to the center line of the half-coupling I, whether the vertical distances from the detection points c1 and d1 to the center line of the half-coupling II are consistent with the vertical distances from the reference points c and d to the center line of the half-coupling I, whether the vertical distances from the detection points e1 and f1 to the center line of the half-coupling II are consistent with the vertical distances from the reference points e and f to the center line of the half-coupling I. If they are inconsistent, adjust the position of the half-coupling II through the coupling position adjustment mechanism.

[0032] Furthermore, reference points a and b are located at the top of half coupling I, reference points c and d are located on the surface of half coupling I between electromagnetic magnet I and electromagnetic magnet III, and reference points e and f are located on the surface of half coupling I between electromagnetic magnet II and electromagnetic magnet III.

[0033] Further, S1. The specific method of calibrating the testing organization is:

[0034] Place the calibration rod between the moving arm Ⅰ and the moving arm Ⅱ of the detection mechanism. After inputting the outer diameter of the calibration rod on the control system, adjust the positions of the moving arm Ⅰ and the moving arm Ⅱ through the sliding mechanism Ⅰ, and adjust the position of the electromagnetic magnet Ⅲ through the sliding mechanism Ⅱ. After adjustment, the electromagnetic magnet Ⅰ, the electromagnetic magnet Ⅱ and the electromagnetic magnet Ⅲ are adsorbed on the calibration rod.

[0035] Six reference points are set on the calibration rod, and multi-point laser sensor I and multi-point laser sensor II are used to detect whether the vertical distances of the six reference points on the calibration rod from the center line of the calibration rod are consistent with the standard size of the calibration rod. If not, the detection results of multi-point laser sensor I and multi-point laser sensor II are calibrated through the control system.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The detection mechanism of the automatic centering device for coupling coaxiality of the present invention can meet the use requirements of couplings of different diameters within the design range by automatically adjusting the diameter of the cylindrical surface surrounded by electromagnetic magnets I, II and III by using sliding mechanisms I and II, and has high precision and convenient adjustment.

[0038] The setting of the coupling diameter of the present invention is controlled by a control system and can be automatically realized by inputting data, with high precision and convenient operation.

[0039] The detection mechanism of the automatic centering device of the present invention is fixed on the coupling by an electromagnetic magnet, and has the advantages of simple installation and fixation, high stability and convenient use.

[0040] The automatic centering method of the present invention adopts a multi-point laser sensor to detect coaxiality and synchronizes the detection results to the control system. The control system uses the coupling position adjustment mechanism to fine-tune the position of the reducer based on the detection results, thereby achieving the coaxiality centering of the coupling. The entire centering method is regulated by the control system, has a high degree of automation, high detection and adjustment accuracy, liberates manpower, and greatly improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a front view of the automatic centering device for the coaxiality of a coupling of the present invention;

[0042] Figure 2 for Figure 1 AA cross-sectional structure diagram;

[0043] Figure 3 for Figure 2 Enlarged view of point B in the middle;

[0044] Figure 4 for Figure 1 Main view of the central testing mechanism;

[0045] Figure 5 for Figure 4 AA cross-sectional structure diagram;

[0046] Figure 6 for Figure 4 Top view of the detection mechanism.

[0047] Among them, 1-main cross arm, 2-left support arm, 3-right support arm, 4-movable support arm I, 5-movable support arm II, 6-lower support arm, 7-control system, 8-multi-point laser sensor I, 9-multi-point laser sensor II, 10-electromagnetic magnet I, 11-electromagnetic magnet II, 12-electromagnetic magnet III, 13-slide rail I, 14-slider I, 15-micro servo synchronous electric cylinder, 16-slide rail II, 17-slider II, 18-micro electric cylinder, 19-coupling, 1901-half coupling I, 1902-half coupling II, 20-reducer, 21-U-shaped rod, 22-servo electric cylinder I, 23-servo electric cylinder II, 24-servo electric cylinder III, 25-servo electric cylinder IV, 26-reducer base, 27-fastening bolts, 28-block, 29-screws, 30-roller. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings.

[0049] For the description of the required spatial relationship, three orthogonal directions of "front and back", "left and right", and "up and down (or vertical)" can be defined, and the spatial rectangular coordinate system can be defined through the relative position relationship.

[0050] Example 1

[0051] like Figures 1 to 6 As shown, this embodiment discloses an automatic centering device for coupling coaxiality, including a detection mechanism and a coupling position adjustment mechanism, wherein the detection mechanism includes a main cross arm 1, a left support arm 2, a right support arm 3, a movable support arm I4, a movable support arm II5, a lower support arm 6 and a control system 7.

[0052] The left arm 2 and the right arm 3 are vertically welded on the main cross arm 1. The left arm 2 extends from the middle of the main cross arm 1 to the left side, and the right arm 3 extends from the middle of the main cross arm 1 to the right side. The left arm 2 is provided with a multi-point laser sensor I8, and the right arm 3 is provided with a multi-point laser sensor II9. The multi-point laser sensor I8 and the multi-point laser sensor II9 are fixed to the left arm 2 and the right arm 3 by screws 29. A through hole is respectively provided on the left arm 2 and the right arm 3. The sensing heads of the multi-point laser sensor I8 and the multi-point laser sensor II9 are fixed to the inner sides of the left arm 2 and the right arm 3 after passing through the through hole. The multi-point laser sensor I8 and the multi-point laser sensor II9 are connected to the control system 7 by signal.

[0053] The movable support arm Ⅰ4 and the movable support arm Ⅱ5 are connected to the lower part of the main cross arm 1 through the sliding mechanism Ⅰ. The inner side of the lower end of the movable support arm Ⅰ4 is provided with an electromagnetic magnet Ⅰ10, and the inner side of the lower end of the movable support arm Ⅱ5 is provided with an electromagnetic magnet Ⅱ11. The sliding mechanism Ⅰ includes two slide rails Ⅰ13, two sliders Ⅰ14 and a micro-servo synchronous electric cylinder 15. The two slide rails Ⅰ13 are symmetrically arranged on the main cross arm 1. The ends of the two slide rails Ⅰ are provided with blocks 28, and the block 28 is bolted to the main cross arm 1. The two sliders Ⅰ14 are respectively arranged on the two slide rails Ⅰ13, and the two sliders Ⅰ14 are respectively connected to the movable support arm Ⅰ4 and the movable support arm Ⅱ5. The micro-servo synchronous electric cylinder 15 is arranged inside the main cross arm 1, and the pistons at both ends of the micro-servo synchronous electric cylinder 15 are respectively connected to the two sliders Ⅰ14, and the micro-servo synchronous electric cylinder 15 is connected to the control system 7 signal.

[0054] The lower arm 6 is vertically welded on the main cross arm 1, located between the movable arm Ⅰ4 and the movable arm Ⅱ5, and extends downward from the middle of the main cross arm 1. The lower arm 6 is connected with an electromagnetic magnet Ⅲ12 through a sliding mechanism Ⅱ. The sliding mechanism Ⅱ includes a slide rail Ⅱ16, a slider Ⅱ17 and a micro electric cylinder 18. The slide rail Ⅱ16 is arranged on the lower arm 6, and the slider Ⅱ17 is arranged on the slide rail Ⅱ16. The slider Ⅱ17 is connected to the electromagnetic magnet Ⅲ12; the micro electric cylinder 18 is fixed in the slide rail Ⅱ16, and the piston of the micro electric cylinder 18 is connected to the slider Ⅱ17. The micro electric cylinder 18 is connected to the control system 7 signal.

[0055] The micro-servo synchronous electric cylinder 15 can simultaneously push the movable support arm Ⅰ4 and the movable support arm Ⅱ5 to move outward or inward synchronously along the slide rail Ⅰ13, and the micro-electric cylinder 18 can push the electromagnetic magnet Ⅲ12 to move up and down. The movement size of the micro-servo synchronous electric cylinder 15 and the micro-electric cylinder 18 is controlled by the control system 7. According to the outer diameter size value of the coupling 19 to be aligned, the corresponding value is input into the control system 7, and the micro-servo synchronous electric cylinder 15 and the micro-electric cylinder 18 automatically push the three electromagnetic magnets to the corresponding positions. After power is turned on, the adsorption surfaces of the three electromagnetic magnets are just in the same cylindrical surface, and the center line of the cylindrical surface is parallel to the left support arm 2 and the right support arm 3. By changing the positions of the three electromagnetic magnets by the micro-servo synchronous electric cylinder 15 and the micro-electric cylinder 18, the automatic centering device of the present invention can be applied to couplings with a diameter in the range of D1 to D2 (such as Figure 5 As shown in the figure), different specifications of detection mechanisms can be designed according to the requirements of use.

[0056] The coupling 19 to be aligned includes a half coupling I 1901 and a half coupling II 1902 , wherein the half coupling II 1902 is arranged on the reducer 20 .

[0057] The coupling position adjustment mechanism comprises a U-shaped rod 21 , a servo electric cylinder I 22 , a servo electric cylinder II 23 , a servo electric cylinder III 24 and a servo electric cylinder IV 25 .

[0058] The U-shaped rod 21 is transversely arranged on the side of the reducer 20, and the U-shaped rod 21 is detachably connected to the reducer 20. The servo electric cylinder I 22 and the servo electric cylinder II 23 are arranged below the U-shaped rod 21. The piston of the servo electric cylinder I 22 is connected to the front end of the U-shaped rod 21, and the piston of the servo electric cylinder II 23 is connected to the rear end of the U-shaped rod 21. Specifically, the U-shaped rod 21 is sleeved on the upper and lower cover bosses of the reducer 20, and the U-shaped rod 21 is fixed to the reducer 20 by fastening bolts 27. Spherical countersunk holes are arranged at both ends of the U-shaped rod 21, and the tops of the pistons of the servo electric cylinder I 22 and the servo electric cylinder II 23 are arranged in the spherical countersunk holes. The servo electric cylinder I 22 and the servo electric cylinder II 23 are used to fine-tune the upper and lower positions of the reducer 20.

[0059] The piston of the servo electric cylinder III 24 is detachably connected to the front end of the side of the reducer base 26, and the piston of the servo electric cylinder IV 25 is detachably connected to the rear end of the side of the reducer base 26. Specifically, the pistons of the servo electric cylinders III 24 and IV 25 are connected to the reducer base 26 by a hinge shaft, and the servo electric cylinders III 24 and IV 25 are connected to the fixed seat by a ball joint. The servo electric cylinders III 24 and IV 25 are used to fine-tune the left and right positions of the reducer 20.

[0060] Preferably, the front and rear ends of the reducer base 26 of this embodiment are detachably provided with servo electric cylinders V and VI (not shown in the figure). The servo electric cylinders V and VI are used to fine-tune the front and rear positions of the reducer 20 .

[0061] Example 2

[0062] This embodiment discloses a method for automatic centering of the coaxiality of a coupling, which uses the automatic centering device of Embodiment 1 for centering, and includes the following steps:

[0063] S1. Calibration and testing organization;

[0064] The calibration rod is a high-precision cylinder. The calibration rod is placed between the moving arm Ⅰ4 and the moving arm Ⅱ5 of the detection mechanism. After the outer diameter of the calibration rod is input on the control system 7, the positions of the moving arm Ⅰ4 and the moving arm Ⅱ5 are adjusted by the sliding mechanism Ⅰ, and the position of the electromagnetic magnet Ⅲ12 is adjusted by the sliding mechanism Ⅱ. After the adjustment, the electromagnetic magnet Ⅰ10, the electromagnetic magnet Ⅱ11 and the electromagnetic magnet Ⅲ12 are adsorbed on the calibration rod.

[0065] Six reference points are set on the calibration rod, and multi-point laser sensor Ⅰ8 and multi-point laser sensor Ⅱ9 are used to detect whether the vertical distances of the six reference points on the calibration rod from the center line of the calibration rod are consistent with the standard size of the calibration rod. If not, the detection results of multi-point laser sensor Ⅰ8 and multi-point laser sensor Ⅱ9 are calibrated through control system 7.

[0066] S2, placing the calibrated detection mechanism on the half coupling Ⅰ1901 connected to the roller 30, inputting the outer diameter size of the coupling 19 into the control system, and adjusting the position of the movable arm Ⅰ4 and the movable arm Ⅱ5 through the sliding mechanism Ⅰ based on the outer diameter size of the coupling 19, and adjusting the position of the electromagnetic magnet Ⅲ12 through the sliding mechanism Ⅱ, and after adjustment, the electromagnetic magnet Ⅰ10, the electromagnetic magnet Ⅱ11 and the electromagnetic magnet Ⅲ12 are adsorbed on the half coupling Ⅰ1901, at this time, the adsorption surfaces of the electromagnetic magnet Ⅰ10, the electromagnetic magnet Ⅱ11 and the electromagnetic magnet Ⅲ12 are in the same cylindrical surface, and the center line of the cylindrical surface coincides with the center line of the half coupling Ⅰ, the multi-point laser sensor Ⅰ is located above the half coupling Ⅰ, and the multi-point laser sensor Ⅱ is located above the half coupling Ⅱ;

[0067] S3. Select 6 reference points a, b, c, d, e, and f on the surface of half coupling Ⅰ1901, and set 6 detection points a1, b1, c1, d1, e1, and f1 on the side of half coupling Ⅱ1902, among which, reference points a and b are located at the top of half coupling Ⅰ1901, and a, b, a1, and b1 are in a straight line. Reference points c and d are located on the surface of half coupling Ⅰ1901 between electromagnetic magnet Ⅰ10 and electromagnetic magnet Ⅲ12, and c, d, c1, and d1 are in a straight line. Reference points e and f are located on the surface of half coupling Ⅰ1901 between electromagnetic magnet Ⅱ11 and electromagnetic magnet Ⅲ12, and e, f, e1, and f1 are in a straight line.

[0068] The vertical distances from the reference points a, b, c, d, e, and f on the half-coupling Ⅰ1901 to the center line of the half-coupling Ⅰ1901 are detected by a multi-point laser sensor Ⅰ8, and the vertical distances from the detection points a1, b1, c1, d1, e1, and f1 on the side of the half-coupling Ⅱ1902 to the center line of the half-coupling Ⅱ1902 are detected by a multi-point laser sensor Ⅱ9;

[0069] S4. Determine whether the vertical distances from the detection points a1 and b1 to the center line of the half coupling II 1902 are consistent with the vertical distances from the reference points a and b to the center line of the half coupling I 1901, whether the vertical distances from the detection points c1 and d1 to the center line of the half coupling II 1902 are consistent with the vertical distances from the reference points c and d to the center line of the half coupling I 1901, and whether the vertical distances from the detection points e1 and f1 to the center line of the half coupling II 1902 are consistent with the vertical distances from the reference points e and f to the center line of the half coupling I 1901;

[0070] If they are not consistent, the position of the half coupling II 1902 is adjusted through the coupling position adjustment mechanism. Specifically, the up and down position of the reducer 20 is fine-tuned through the servo electric cylinder I 22 and the servo electric cylinder II 23, the left and right position of the reducer 20 is fine-tuned through the servo electric cylinder III 24 and the servo electric cylinder IV 25, and the front and rear position of the reducer 20 is fine-tuned through the servo electric cylinder V and the servo electric cylinder VI until the above distances are consistent after detection.

Claims

1. A coupling coaxiality automatic centering device, characterized in that: The invention comprises a detection mechanism and a coupling position adjustment mechanism, wherein the detection mechanism comprises a main cross arm (1), a left support arm (2), a right support arm (3), a movable support arm I (4), a movable support arm II (5), a lower support arm (6) and a control system (7). The left arm (2), the right arm (3) and the lower arm (6) are vertically welded to the main cross arm (1); the left arm (2) extends from the middle of the main cross arm (1) to the left, the right arm (3) extends from the middle of the main cross arm (1) to the right, and the lower arm (6) extends from the middle of the main cross arm (1) downward; The movable support arm I (4) and the movable support arm II (5) are connected below the main cross arm (1) via a sliding mechanism I, and the lower support arm (6) is located between the movable support arm I (4) and the movable support arm II (5); The left arm (2) is provided with a multi-point laser sensor I (8), the right arm (3) is provided with a multi-point laser sensor II (9), the lower end of the movable arm I (4) is provided with an electromagnetic magnet I (10), the lower end of the movable arm II (5) is provided with an electromagnetic magnet II (11), and the lower arm (6) is connected to an electromagnetic magnet III (12) via a sliding mechanism II; The control system (7) is signal-connected with the sliding mechanism I, the sliding mechanism II, the multi-point laser sensor I (8), the multi-point laser sensor II (9) and the coupling position adjustment mechanism.

2. The automatic centering device for coupling coaxiality according to claim 1, characterized in that: The sliding mechanism I comprises two slide rails I (13), two slide blocks I (14) and a micro servo synchronous electric cylinder (15). The two slide rails I (13) are symmetrically arranged on the main cross arm (1), the two sliders I (14) are respectively arranged on the two slide rails I (13), and the two sliders I (14) are respectively connected to the movable support arm I (4) and the movable support arm II (5); The micro servo synchronous electric cylinder (15) is arranged inside the main cross arm (1), the pistons at both ends of the micro servo synchronous electric cylinder (15) are respectively connected to two sliders I (14), and the micro servo synchronous electric cylinder (15) is connected to the control system (7) signal.

3. The automatic centering device for coupling coaxiality according to claim 1, characterized in that: The sliding mechanism II comprises a slide rail II (16), a slider II (17) and a micro electric cylinder (18). The slide rail II (16) is arranged on the lower support arm (6), the slider II (17) is arranged on the slide rail II (16), and the slider II (17) is connected to the electromagnetic magnet III (12); The micro electric cylinder (18) is fixed in the slide rail II (16), the piston of the micro electric cylinder (18) is connected to the slide block II (17), and the micro electric cylinder (18) is connected to the control system (7) via signals.

4. The automatic centering device for coupling coaxiality according to claim 1, characterized in that: The coupling (19) is connected to the reducer (20), and the coupling position adjustment mechanism includes a U-shaped rod (21), a servo electric cylinder I (22), a servo electric cylinder II (23), a servo electric cylinder III (24) and a servo electric cylinder IV (25). The U-shaped rod (21) is transversely arranged on the side of the reducer (20), and the U-shaped rod (21) is detachably connected to the reducer (20). The servo electric cylinder I (22) and the servo electric cylinder II (23) are arranged below the U-shaped rod (21), the piston of the servo electric cylinder I (22) is connected to the front end of the U-shaped rod (21), and the piston of the servo electric cylinder II (23) is connected to the rear end of the U-shaped rod (21); The piston of the servo electric cylinder III (24) is detachably connected to the front end of the side of the reducer base (26), and the piston of the servo electric cylinder IV (25) is detachably connected to the rear end of the side of the reducer base (26).

5. The automatic centering device for coupling coaxiality according to claim 4, characterized in that: The U-shaped rod (21) is sleeved on the upper and lower cover bosses of the reducer (20) and fixed by fastening bolts (27). Both ends of the U-shaped rod (21) are provided with spherical countersunk holes, and the piston tops of the servo electric cylinder I (22) and the servo electric cylinder II (23) are arranged in the spherical countersunk holes.

6. The automatic centering device for coupling coaxiality according to claim 2, characterized in that: The ends of the two slide rails I (13) are provided with stoppers (28), and the stoppers (28) are bolted to the main cross arm (1); The electromagnetic magnet I (10) is arranged on the inner side of the movable support arm I (4), and the electromagnetic magnet II (11) is arranged on the inner side of the movable support arm II (5).

7. The automatic centering device for coupling coaxiality according to claim 1, characterized in that: The left support arm (2) and the right support arm (3) are each provided with a through hole, and the sensing heads of the multi-point laser sensor I (8) and the multi-point laser sensor II (9) pass through the through holes and are fixed on the inner sides of the left support arm (2) and the right support arm (3).

8. A method for automatically centering a coupling using the automatic centering device for coupling coaxiality according to any one of claims 1 to 7, wherein the coupling (19) comprises a half coupling I (1901) and a half coupling II (1902), wherein the half coupling II (1902) is located on a reducer (20), and wherein: The automatic centering method comprises the following steps: S1. Calibration and testing organization; S2. Place the detection mechanism on the half coupling I (1901), input the outer diameter size of the coupling (19) into the control system (7), and the control system (7) adjusts the positions of the movable support arm I (4) and the movable support arm II (5) through the sliding mechanism I based on the outer diameter size of the coupling (19), and adjusts the position of the electromagnetic magnet III (12) through the sliding mechanism II. After the adjustment, the electromagnetic magnet I (10), the electromagnetic magnet II (11) and the electromagnetic magnet III (12) are adsorbed on the half coupling I (1901). At this time, the adsorption surfaces of the electromagnetic magnet I (10), the electromagnetic magnet II (11) and the electromagnetic magnet III (12) are in the same cylindrical surface, and the center line of the cylindrical surface coincides with the center line of the half coupling I (1901), the multi-point laser sensor I (8) is located above the half coupling I (1901), and the multi-point laser sensor II (9) is located above the half coupling II (1902); S3. Select 6 reference points a, b, c, d, e, and f on the surface of half coupling I (1901), and set 6 detection points a1, b1, c1, d1, e1, and f1 on the side of half coupling II (1902), where a, b, a1, and b1 are on a straight line, c, d, c1, and d1 are on a straight line, and e, f, e1, and f1 are on a straight line. The vertical distances from the reference points a, b, c, d, e, f on the half coupling I (1901) to the center line of the half coupling I (1901) are detected by a multi-point laser sensor I (8); the vertical distances from the detection points a1, b1, c1, d1, e1, f1 on the side of the half coupling II (1902) to the center line of the half coupling II (1902) are detected by a multi-point laser sensor II (9); S4. Determine whether the vertical distances from the detection points a1 and b1 to the center line of the half coupling II (1902) are consistent with the vertical distances from the reference points a and b to the center line of the half coupling I (1901); whether the vertical distances from the detection points c1 and d1 to the center line of the half coupling II (1902) are consistent with the vertical distances from the reference points c and d to the center line of the half coupling I (1901); whether the vertical distances from the detection points e1 and f1 to the center line of the half coupling II (1902) are consistent with the vertical distances from the reference points e and f to the center line of the half coupling I (1901); if they are inconsistent, adjust the position of the half coupling II (1902) by means of the coupling position adjustment mechanism.

9. The method for automatic centering of coupling coaxiality according to claim 8, characterized in that: Reference points a and b are located at the top of half coupling I (1901), reference points c and d are located on the surface of half coupling I (1901) between electromagnetic magnet I (10) and electromagnetic magnet III (12), and reference points e and f are located on the surface of half coupling I (1901) between electromagnetic magnet II (11) and electromagnetic magnet III (12).

10. The method for automatically aligning the coaxiality of a coupling according to claim 8, characterized in that: S1. The specific method of calibration and testing organization is: The calibration rod is placed between the movable support arm Ⅰ (4) and the movable support arm Ⅱ (5) of the detection mechanism. After the outer diameter of the calibration rod is inputted into the control system (7), the positions of the movable support arm Ⅰ (4) and the movable support arm Ⅱ (5) are adjusted by the sliding mechanism Ⅰ, and the position of the electromagnetic magnet Ⅲ (12) is adjusted by the sliding mechanism Ⅱ. After the adjustment, the electromagnetic magnet Ⅰ (10), the electromagnetic magnet Ⅱ (11) and the electromagnetic magnet Ⅲ (12) are adsorbed on the calibration rod. Six reference points are set on the calibration rod, and a multi-point laser sensor I (8) and a multi-point laser sensor II (9) are used to detect whether the vertical distances between the six reference points on the calibration rod and the center line of the calibration rod are consistent with the standard size of the calibration rod. If they are inconsistent, the detection results of the multi-point laser sensor I (8) and the multi-point laser sensor II (9) are calibrated through a control system (7).

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