Centering device

Abstract

A cylinder base of a pressure cylinder is installed on a welding machine, a telescopic rod capable of axially stretching out and drawing back relative to the cylinder base in the pressure cylinder comprises a polished rod section and a rack section which are coaxial, the polished rod section is located between the rack section and the cylinder base, a first blocking piece is connected to the end, away from the cylinder base, of the rack section, and a gear is rotationally arranged on the welding machine. One side of the gear is meshed with the rack section, the other side of the gear is further meshed with a first rack parallel to the rack section, the first rack is fixedly connected with a second blocking piece, and the second blocking piece is arranged on the polished rod section in a sliding and sleeving mode in the axial direction of the polished rod section and is opposite to the first blocking piece. The rack section enables the first blocking piece to move along with the rack section, meanwhile, the first rack can drive the second blocking piece to be close to the first blocking piece under driving of the gear, the gear and rack transmission efficiency is high, centering is rapidly completed through displacement superposition of the rack section and the first rack, and the centering efficiency of strip steel is effectively improved; the technical problem that the centering efficiency of the strip steel is not ideal enough is solved to a certain extent.

Description

Technical Field

[0001] This application belongs to the field of metallurgical auxiliary equipment technology, and particularly relates to a centering device. Background Technology

[0002] Welding machines are essential equipment in cold rolling production lines, used for welding the strip tail and head to achieve continuous production. To ensure welding quality and prevent strip deviation after welding, the strip tail and head need to be aligned using an alignment device before welding.

[0003] Currently, the centering device includes a lead screw drive mechanism and two blocking components, which are located on both sides of the strip. The lead screw drive mechanism drives the two blocking components to move closer together to center the head and tail of the strip. However, the driving efficiency of this centering device is not high enough, resulting in an unsatisfactory centering efficiency for the strip. Utility Model Content

[0004] This application aims to at least partially solve the technical problem of insufficient centering efficiency in strip steel. To this end, this application provides a centering device.

[0005] This application provides a centering device for centering strip steel entering a welding machine, including:

[0006] A pressure cylinder, comprising a cylinder seat and a telescopic rod that extends and retracts relative to the cylinder seat under pressure, the telescopic rod comprising a coaxial smooth rod section and a rack section, the smooth rod section being located between the rack section and the cylinder seat;

[0007] The first blocking element is connected to the end of the rack segment away from the cylinder seat;

[0008] The second blocking member is slidably sleeved on the optical rod segment along the axial direction of the optical rod segment and is opposite to the first blocking member;

[0009] The first rack is connected and fixed to the second blocking member, and is parallel to the rack segment;

[0010] The gear is rotatably mounted on the welding machine and meshes with the rack segment and the first rack on both sides respectively.

[0011] In some or more embodiments, the rack segment includes:

[0012] A rod-shaped body with a plurality of meshing teeth disposed on the peripheral wall of the body along the axial direction of the body.

[0013] In some or more embodiments, the centering device further includes:

[0014] A coupling that detachably connects the polished rod section and the rack section.

[0015] In some or more embodiments, the centering device further includes:

[0016] The mounting bracket is connected to the welding machine and has mounting through holes;

[0017] A rotating shaft is rotatably mounted on the mounting bracket and rotates coaxially with the gear. The gear is located inside the mounting through hole, and both the rack segment and the first rack pass through the mounting through hole.

[0018] In some or more embodiments, the centering device further includes:

[0019] A guide rod is disposed on the welding machine and parallel to the telescopic rod, and the guide rod slidably passes through the first blocking member and the second blocking member.

[0020] In some or more embodiments, the second blocking member includes:

[0021] The sliding part is sleeved on the optical rod section;

[0022] A guide portion is fixed to the sliding portion and sleeved on the guide rod;

[0023] The main body is connected to the guide portion and is used to contact one side of the strip steel;

[0024] A reinforcing section connects the main body section and the guide section.

[0025] In some or more embodiments, the centering device further includes:

[0026] A displacement sensor is provided on the welding machine and is used to detect the position of the first blocking member or the second blocking member.

[0027] In some or more embodiments, the centering device further includes:

[0028] A pressure sensor is disposed in the pressure cylinder and is used to detect the pressure in the rodless chamber of the pressure cylinder;

[0029] The controller is electrically connected to the pressure sensor.

[0030] In some or more embodiments, the centering device further includes:

[0031] The media carrier is equipped with a media output terminal;

[0032] The control pump has its inlet connected to the output end of the medium;

[0033] The pressure proportional valve has its inlet connected to the outlet of the control pump and its outlet connected to the inlet of the pressure cylinder.

[0034] In some or more embodiments, the centering device further includes:

[0035] A flow proportional valve, wherein the output port of the pressure proportional valve is connected to the input port of the pressure cylinder through the flow proportional valve.

[0036] The beneficial effects provided by one or more embodiments of this application are as follows:

[0037] To center the strip steel entering the welding machine, the cylinder seat of the pressure cylinder can be installed on the welding machine. A telescopic rod within the pressure cylinder, which is axially extendable relative to the cylinder seat, can then span the strip steel. The telescopic rod includes a coaxial smooth rod section and a rack section. The smooth rod section is located between the rack section and the cylinder seat. A first blocking member is connected to the end of the rack section away from the cylinder seat. When the telescopic rod of the pressure cylinder extends and retracts, the first blocking member extends and retracts along with the rack section. A gear is rotatably mounted on the welding machine, with one side meshing with the rack section. When the rack section extends and retracts, the gear is driven to rotate by the rack section. The other side of the gear also meshes with a first rack parallel to the rack section. The first rack is connected and fixed to a second blocking member. The second blocking member is slidably fitted onto the smooth rod section along its axial direction and is opposite to the first blocking member. The rotation of the gear pushes the second blocking member to extend and retract along the axial direction of the telescopic rod, allowing the opposing first and second blocking members to approach each other to center the strip steel's head and tail. As the rack segment moves the first blocking member, the first rack, driven by the gear, also moves the second blocking member closer to the first blocking member. The combined displacement of the rack segment and the first rack enables the first and second blocking members to move quickly to the position where they are aligned. Furthermore, the transmission efficiency of the gear, rack segment, and first rack is also high, which helps to shorten the time required to complete the alignment and effectively improves the alignment efficiency of the strip steel. To a certain extent, this solves the technical problem of the less-than-ideal alignment efficiency of the strip steel. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A top view of a centering device in some or all embodiments of this application is shown.

[0040] Figure 2 A front view of a centering device is shown in some or some embodiments of this application.

[0041] Figure 3 A partial structural schematic diagram of a centering device in some or certain embodiments of this application is shown.

[0042] Explanation of reference numerals in the attached drawings: 1. Pressure cylinder; 11. Cylinder seat; 12. Telescopic rod; 121. Polished rod section; 122. Rack section; 1221. Body; 1222. Meshing teeth; 2. First blocking component; 3. Second blocking component; 31. Sliding part; 32. Guide part; 33. Main body part; 34. Reinforcing part; 4. First rack; 5. Gear; 6. Coupling; 7. Mounting bracket; 8. Rotating shaft; 9. Guide rod; 10. Displacement sensor; 20. Pressure sensor; 30. Medium carrier; 40. Control pump; 50. Pressure proportional valve; 60. Flow proportional valve; 100. Strip steel. Detailed Implementation

[0043] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0044] It should be noted that all directional indications in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0045] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0046] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0047] In related technologies, the alignment device includes a lead screw drive mechanism and two blocking members equipped with displacement detectors. The two blocking members are located on both sides of the strip, and the lead screw drive mechanism drives the two blocking members to move closer together to align the head and tail of the strip. However, the transmission efficiency of the lead screw drive mechanism is not high enough, which affects the movement efficiency of the blocking members and thus the alignment efficiency of the strip, resulting in a less than ideal alignment efficiency. This application provides an alignment device that can at least partially solve the above-mentioned technical problems.

[0048] The present application will now be described in conjunction with the accompanying drawings:

[0049] To facilitate understanding, a simple description of the basic structure of the welding machine is given here. Welding machines that need to weld the head and tail of strip steel usually have a channel through which the strip steel passes. The head of one strip steel and the tail of another strip steel can be joined in the channel, and after alignment, welding and fixing are completed in the channel. For example, the Mibaha welding machine can use this method to weld strip steel. During maintenance, the upper and lower frames of the welding machine can be disassembled so that the channel is divided into upper and lower through slots.

[0050] Figure 1 A top view of a centering device in some or certain embodiments of this application is shown. Figure 2 A front view of a centering device in some or certain embodiments of this application is shown, with reference to... Figure 1 and Figure 2 This application provides a centering device for centering strip 100 entering a welding machine, comprising:

[0051] Pressure cylinder 1 includes a cylinder seat 11 and a telescopic rod 12 that is driven to extend and retract relative to the cylinder seat 11 under pressure. The telescopic rod 12 includes a coaxial smooth rod section 121 and a rack section 122, with the smooth rod section 121 located between the rack section 122 and the cylinder seat 11.

[0052] The first blocking member 2 is connected to the end of the rack segment 122 away from the cylinder seat 11.

[0053] The second blocking member 3 is slidably sleeved on the smooth rod section 121 along the axial direction of the smooth rod section 121 and is opposite to the first blocking member 2.

[0054] The first rack 4 is connected and fixed to the second blocking member 3, and is parallel to the rack segment 122.

[0055] Gear 5 is rotatably mounted on the welding machine and meshes with rack segment 122 and first rack 4 on both sides respectively.

[0056] If it is necessary to center the strip 100 entering the welding machine, the cylinder seat 11 of the pressure cylinder 1 can be installed on the welding machine, so that the telescopic rod 12 in the pressure cylinder 1, which can extend and retract axially relative to the cylinder seat 11, can span the strip 100. The telescopic rod 12 includes a coaxial smooth rod section 121 and a rack section 122. The smooth rod section 121 is located between the rack section 122 and the cylinder seat 11. The first blocking member 2 is connected to the end of the rack section 122 away from the cylinder seat 11. When the telescopic rod 12 of the pressure cylinder 1 extends and retracts, the first blocking member 2 will extend and retract along with the rack section 122. The gear 5 is rotatably mounted on the welding machine and meshes with the rack section 122 on one side. When the rack section 122 extends and retracts, the gear 5 will be driven to rotate by the rack section 122. On the other side of the gear 5, it also meshes with the first rack 4 parallel to the rack segment 122. The first rack 4 is connected and fixed to the second blocking member 3. The second blocking member 3 is slidably sleeved on the smooth rod segment 121 along the axial direction and is opposite to the first blocking member 2. The rotation of the gear 5 can push the second blocking member 3 to extend and retract along the axial direction of the telescopic rod 12, so that the opposing first blocking member 2 and second blocking member 3 can approach each other to complete the alignment of the head and tail of the strip steel 100. As the rack segment 122 moves the first blocking member 2, the first rack 4, driven by the gear 5, also moves the second blocking member 3 closer to the first blocking member 2. The displacement of the rack segment 122 and the first rack 4 is superimposed, which enables the first blocking member 2 and the second blocking member 3 to move quickly to the position where they are aligned. Moreover, the transmission efficiency of the gear 5, rack segment 122, and first rack 4 is also high, which is also conducive to shortening the time required to complete the alignment. This can effectively improve the alignment efficiency of the strip 100 and solve the technical problem of the less-than-ideal alignment efficiency of the strip 100 to a certain extent.

[0057] In some or more embodiments, rack segment 122 includes:

[0058] The rod-shaped body 1221 has multiple meshing teeth 1222 arranged along the axial direction of the body 1221 on the peripheral wall of the body 1221.

[0059] The rack segment 122 adopts the above structure, which facilitates its processing and preparation.

[0060] In some or all embodiments, a plurality of meshing teeth 1222 may cover one end of the body 1221 to the other end of the body 1221, or may only cover a portion of the body 1221 in the axial direction.

[0061] In some or more embodiments, the rack segment 122 and the polished rod segment 121 may be an integral structure. Alternatively, the rack segment 122 and the polished rod segment 121 may be separate structures, with a detachable connection between them. This detachable connection facilitates the disassembly and replacement of the telescopic rod 12, and is convenient for maintenance.

[0062] In some or more embodiments, the centering device further includes:

[0063] Coupling 6 detachably connects the polished rod section 121 and the rack section 122.

[0064] Using a connecting shaft to connect the guide rod section 121 and the rack section 122 helps to improve the coaxiality of the guide rod section 121 and the rack section 122, improves the stability of the centering device, and also helps to improve the centering efficiency.

[0065] In some or more embodiments, the optical rod segment 121 and the rack segment 122 may also be connected by a key or the like.

[0066] In some or more embodiments, the centering device may further include:

[0067] Mounting bracket 7 is connected to the welding machine and has mounting through holes (not shown in the figure).

[0068] The rotating shaft 8 is rotatably mounted on the mounting bracket 7 and rotates coaxially with the gear 5. The gear 5 is located in the mounting through hole, and the rack segment 122 and the first rack 4 both pass through the mounting through hole.

[0069] The mounting bracket 7 connected to the welding machine can provide support for the gear 5. The rotating shaft 8 is rotatably mounted on the mounting bracket 7, and the gear 5 is rotatably engaged with the rotating shaft 8. This facilitates disassembly and assembly, and also facilitates the rotation of the gear 5. The gear 5 is located in the mounting through hole, and the rack segment 122 and the first rack 4 both pass through the mounting through hole. The mounting bracket 7 can provide a certain positioning foundation and support for the rack segment 122 and the first rack 4.

[0070] In some embodiments, the rotating shaft 8 and the mounting bracket 7 can be connected by bearings, and the rotating shaft 8 and the gear 5 can be axially positioned and fitted by, for example, a stepped shaft. The fit between the rotating shaft 8 and the gear 5 is a clearance fit, facilitating installation.

[0071] In some or all embodiments, gear 5 may also be the gear 5 portion of gear 5 shaft, which is then rotatably connected to mounting bracket 7.

[0072] It should be noted that the cylinder seat 11, mounting bracket 7, and other components of the pressure cylinder 1 in this application that need to be connected to the welding machine can be installed in the channel through which the strip steel 100 passes. The cylinder seat 11 and mounting bracket 7 can be detachably connected to the bottom or side wall of the channel as needed.

[0073] In some or more embodiments, the centering device may further include:

[0074] Guide rod 9 is mounted on the welding machine and parallel to telescopic rod 12. Guide rod 9 can slide through the first blocking member 2 and the second blocking member 3.

[0075] The guide rod 9 can slide through the first blocking member 2 and the second blocking member 3, and can guide the first blocking member 2 and the second blocking member 3 to improve the centering stability.

[0076] In some or more embodiments, the centering device may also include at least two parallel guide rods 9, each guide rod 9 being parallel to the telescopic rod 12 and passing through the first blocking member 2 and the second blocking member 3. This can improve the guiding effect.

[0077] In some or all embodiments, the two ends of the guide rod 9 can be connected to the channel of the welding machine via ear plates or block structures.

[0078] In some or more embodiments, the second blocking member 3 includes:

[0079] The sliding part 31 is sleeved on the smooth rod section 121.

[0080] The guide part 32 is fixed to the sliding part 31 and sleeved on the guide rod 9.

[0081] The main body 33 is connected to the guide 32 and is used to contact one side of the strip 100.

[0082] The reinforcing part 34 connects the main body part 33 and the guide part 32.

[0083] The second blocking member 3 adopts the above configuration to facilitate contact with the smooth rod section 121 and the guide rod 9. The reinforcing part 34 connects the main body part 33 and the guide part 32, which also helps to improve the overall strength of the second blocking member 3.

[0084] In some or more embodiments, the sliding part 31 and the guide part 32 can both be cylindrical, and the main body part 33 and the reinforcing part 34 can both be plate-shaped. This facilitates preparation and installation.

[0085] In some or more embodiments, the structure of the first blocking member 2 may be the same as that of the second blocking member 3, which facilitates mass production. The structures of the first blocking member 2 and the second blocking member 3 may also be different, and the first blocking member 2 may be bolted or welded to the end of the rack segment 122 away from the cylinder seat 11.

[0086] In some or more embodiments, the centering device further includes:

[0087] Displacement sensor 10 is installed in the welding machine and is used to detect the position of the first blocking member 2 or the second blocking member 3.

[0088] A displacement sensor 10 is installed in the channel to detect the position of the first blocking member 2 or the second blocking member 3, and can be used to determine whether the strip 100 is aligned or whether the first blocking member 2 or the second blocking member 3 has been reset.

[0089] In some or all embodiments, the displacement sensor 10 may be spaced apart from the second stop 3 and is used to detect the initial position of the second stop 3 relative to the cylinder seat 11. This facilitates reducing the possibility of interference between the second stop 3 and other components, and improves the stability of the alignment device.

[0090] In some or more embodiments, the centering device may further include:

[0091] Pressure sensor 20 is located in pressure cylinder 1 and is used to detect the pressure in the rodless chamber of pressure cylinder 1.

[0092] The controller (not shown in the figure) is electrically connected to the pressure sensor 20.

[0093] A pressure sensor 20, connected to pressure cylinder 1 and used to detect the pressure in the rodless chamber of pressure cylinder 1, along with a controller electrically connected to pressure sensor 20, can provide feedback on the pressure in pressure cylinder 1. This facilitates monitoring the position of the telescopic rod 12 and the first and second blocking members. For example, the first and second blocking members can be moved quickly initially. When the first blocking member 2 or the second blocking member 3 contacts one side of the strip 100, the pressure in pressure cylinder 1 changes. Then, the moving speed of pressure cylinder 1 is slightly reduced to push the strip 100 at a stable speed to complete the centering until the pressure in pressure cylinder 1 remains constant, indicating that the centering is complete. This approach balances centering efficiency and accuracy, and also helps improve centering stability.

[0094] In some or more embodiments, the pressure cylinder 1 can be a hydraulic cylinder, and the controller can be a programmable logic controller or a relay. Each can be set with certain pressure parameter values, and based on the pressure of the pressure cylinder 1 measured by the pressure sensor 20, the pressure cylinder 1 or the hydraulic cylinder can perform different actions.

[0095] In some or more embodiments, a corresponding displacement sensor 10 may also be provided on the first blocking member 2 or the second blocking member 3. This sensor can also be used to detect positional changes of the first and second blocking members.

[0096] Figure 3 This application shows a partial structural schematic diagram of a centering device according to some embodiments or certain embodiments, with reference to... Figure 3 In some or more embodiments, the centering device may further include:

[0097] The medium carrier 30 is equipped with a medium output terminal.

[0098] Control pump 40, with its inlet connected to the medium output end.

[0099] The pressure proportional valve 50 has its input port connected to the outlet of the control pump 40 and its output port connected to the input port of the pressure cylinder 1.

[0100] In the centering device, the cut-off carrier, control pump 40 and pressure proportional valve 50 can control the moving speed of the telescopic rod 12 by controlling the pressure of the medium entering the pressure cylinder 1, so as to facilitate the movement of the telescopic rod 12 to control the centering of the strip steel 100.

[0101] In some or more embodiments, the centering device may further include:

[0102] The output ports of the flow proportional valve 60 and the pressure proportional valve 50 are connected to the input port of the pressure cylinder 1 through the flow proportional valve 60. Based on the pressure proportional valve 50, the flow proportional valve 60 can more precisely control the moving speed of the telescopic rod 12, so that the centering of the strip 100 can be completed stably and effectively at the same time.

[0103] It should be noted that the output port of the pressure proportional valve 50 is connected to the input port of the pressure cylinder 1 through the flow proportional valve 60, which means that the output port of the pressure proportional valve 50 is connected to the medium channel in the flow proportional valve 60, and the medium channel in the flow proportional valve 60 is connected to the input port of the pressure cylinder 1.

[0104] In some or more embodiments, the control pump 40, pressure proportional valve 50, and flow proportional valve 60 may also be electrically connected to the controller. The medium carrier 30 may be an oil tank or a gas cylinder, etc.

[0105] In some or more embodiments, the centering device may further include a touchscreen electrically connected to the controller. The touchscreen can display relevant parameters for easy monitoring.

[0106] It should be noted that the parallelism involved in this application refers to absolute parallelism in relative geometry, and an error of 0 to 3° is allowed.

[0107] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0108] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0109] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A centering device, characterized in that, Used for centering the strip steel entering the welding machine, including: A pressure cylinder, comprising a cylinder seat and a telescopic rod that extends and retracts relative to the cylinder seat under pressure, the telescopic rod comprising a coaxial smooth rod section and a rack section, the smooth rod section being located between the rack section and the cylinder seat; The first blocking element is connected to the end of the rack segment away from the cylinder seat; The second blocking member is slidably sleeved on the optical rod segment along the axial direction of the optical rod segment and is opposite to the first blocking member; The first rack is connected and fixed to the second blocking member, and is parallel to the rack segment; A gear is rotatably mounted on the welding machine and meshes with the rack segment and the first rack on both sides respectively; A coupling that detachably connects the polished rod section and the rack section.

2. The centering device according to claim 1, characterized in that, The rack segment includes: A rod-shaped body with a plurality of meshing teeth disposed on the peripheral wall of the body along the axial direction of the body.

3. The centering device according to any one of claims 1 to 2, characterized in that, The centering device further includes: The mounting bracket is connected to the welding machine and has mounting through holes; A rotating shaft is rotatably mounted on the mounting bracket and rotates coaxially with the gear. The gear is located inside the mounting through hole, and both the rack segment and the first rack pass through the mounting through hole.

4. The centering device according to any one of claims 1 to 2, characterized in that, The centering device further includes: A guide rod is disposed on the welding machine and parallel to the telescopic rod, and the guide rod slidably passes through the first blocking member and the second blocking member.

5. The centering device according to claim 4, characterized in that, The second blocking member includes: The sliding part is sleeved on the optical rod section; A guide portion is fixed to the sliding portion and sleeved on the guide rod; The main body is connected to the guide portion and is used to contact one side of the strip steel; A reinforcing section connects the main body section and the guide section.

6. The centering device according to any one of claims 1 to 2, characterized in that, The centering device further includes: A displacement sensor is provided on the welding machine and is used to detect the position of the first blocking member or the second blocking member.

7. The centering device according to any one of claims 1 to 2, characterized in that, The centering device further includes: A pressure sensor is disposed in the pressure cylinder and is used to detect the pressure in the rodless chamber of the pressure cylinder; The controller is electrically connected to the pressure sensor.

8. The centering device according to any one of claims 1 to 2, characterized in that, The centering device further includes: The media carrier is equipped with a media output terminal; The control pump has its inlet connected to the output end of the medium; The pressure proportional valve has its inlet connected to the outlet of the control pump and its outlet connected to the inlet of the pressure cylinder.

9. The centering device according to claim 8, characterized in that, The centering device further includes: A flow proportional valve, wherein the output port of the pressure proportional valve is connected to the input port of the pressure cylinder through the flow proportional valve.

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